Download PartNetMobility/Table/19384/mobility.urdf from sdasfdsafg5asdf/Ladder-assets: direct link, hf CLI and curl.
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https://huggingface.co/datasets/sdasfdsafg5asdf/Ladder-assets/resolve/main/PartNetMobility/Table/19384/mobility.urdf
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hf download hf://datasets/sdasfdsafg5asdf/Ladder-assets/PartNetMobility/Table/19384/mobility.urdf
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curl -L -o mobility.urdf https://huggingface.co/datasets/sdasfdsafg5asdf/Ladder-assets/resolve/main/PartNetMobility/Table/19384/mobility.urdf
14.4 kB
| <robot name="partnet_174832b73cd6d91c9856fa70a578baeb"> | |
| <link name="base"/> | |
| <link name="link_0"> | |
| <visual name="glass_27"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/new_8.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="bar_23"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/new_0.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="bar_23"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/new_7.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="bar_24"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/new_3.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="bar_24"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/new_6.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="bar_25"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/new_2.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="bar_25"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/new_5.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="bar_26"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/new_1.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="bar_26"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/new_4.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/new_8.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/new_0.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/new_7.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/new_3.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/new_6.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/new_2.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/new_5.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/new_1.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/new_4.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_0" type="fixed"> | |
| <origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/> | |
| <child link="link_0"/> | |
| <parent link="base"/> | |
| </joint> | |
| <link name="link_1"> | |
| <visual name="caster_mounting_plate_15"> | |
| <origin xyz="-0.797385 0 -0.45439450000000003"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_19.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_mounting_plate_15"> | |
| <origin xyz="-0.797385 0 -0.45439450000000003"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_14.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_mounting_plate_15"> | |
| <origin xyz="-0.797385 0 -0.45439450000000003"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_15.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_mounting_plate_15"> | |
| <origin xyz="-0.797385 0 -0.45439450000000003"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_17.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_mounting_plate_15"> | |
| <origin xyz="-0.797385 0 -0.45439450000000003"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_18.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_mounting_plate_15"> | |
| <origin xyz="-0.797385 0 -0.45439450000000003"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_20.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.797385 0 -0.45439450000000003"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_19.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.797385 0 -0.45439450000000003"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_14.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.797385 0 -0.45439450000000003"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_15.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.797385 0 -0.45439450000000003"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_17.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.797385 0 -0.45439450000000003"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_18.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.797385 0 -0.45439450000000003"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_20.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_1" type="continuous"> | |
| <origin xyz="0.797385 0 0.45439450000000003"/> | |
| <axis xyz="0 1 0"/> | |
| <child link="link_1"/> | |
| <parent link="link_0"/> | |
| </joint> | |
| <link name="link_2"> | |
| <visual name="wheel_16"> | |
| <origin xyz="0 0.18953 -0.409591"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_16.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="0 0.18953 -0.409591"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_16.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_2" type="continuous"> | |
| <origin xyz="-0.797385 -0.18953 -0.04480350000000005"/> | |
| <axis xyz="1 0 0"/> | |
| <child link="link_2"/> | |
| <parent link="link_1"/> | |
| </joint> | |
| <link name="link_3"> | |
| <visual name="caster_mounting_plate_13"> | |
| <origin xyz="0.7378236123256089 0 -0.46174722434282295"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_27.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_mounting_plate_13"> | |
| <origin xyz="0.7378236123256089 0 -0.46174722434282295"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_31.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_mounting_plate_13"> | |
| <origin xyz="0.7378236123256089 0 -0.46174722434282295"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_26.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_mounting_plate_13"> | |
| <origin xyz="0.7378236123256089 0 -0.46174722434282295"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_30.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_mounting_plate_13"> | |
| <origin xyz="0.7378236123256089 0 -0.46174722434282295"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_29.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_mounting_plate_13"> | |
| <origin xyz="0.7378236123256089 0 -0.46174722434282295"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_32.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="0.7378236123256089 0 -0.46174722434282295"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_27.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0.7378236123256089 0 -0.46174722434282295"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_31.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0.7378236123256089 0 -0.46174722434282295"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_26.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0.7378236123256089 0 -0.46174722434282295"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_30.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0.7378236123256089 0 -0.46174722434282295"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_29.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0.7378236123256089 0 -0.46174722434282295"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_32.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_3" type="continuous"> | |
| <origin xyz="-0.7378236123256089 0 0.46174722434282295"/> | |
| <axis xyz="0 1 0"/> | |
| <child link="link_3"/> | |
| <parent link="link_0"/> | |
| </joint> | |
| <link name="link_4"> | |
| <visual name="wheel_14"> | |
| <origin xyz="0 0.18953 -0.409591"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_28.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="0 0.18953 -0.409591"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_28.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_4" type="continuous"> | |
| <origin xyz="0.7378236123256089 -0.18953 -0.052156224342822965"/> | |
| <axis xyz="-1 0 0"/> | |
| <child link="link_4"/> | |
| <parent link="link_3"/> | |
| </joint> | |
| <link name="link_5"> | |
| <visual name="caster_mounting_plate_11"> | |
| <origin xyz="0.7353071140952109 0 0.4420390869193078"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_38.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_mounting_plate_11"> | |
| <origin xyz="0.7353071140952109 0 0.4420390869193078"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_43.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_mounting_plate_11"> | |
| <origin xyz="0.7353071140952109 0 0.4420390869193078"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_41.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_mounting_plate_11"> | |
| <origin xyz="0.7353071140952109 0 0.4420390869193078"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_42.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_mounting_plate_11"> | |
| <origin xyz="0.7353071140952109 0 0.4420390869193078"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_44.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_mounting_plate_11"> | |
| <origin xyz="0.7353071140952109 0 0.4420390869193078"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_39.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="0.7353071140952109 0 0.4420390869193078"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_38.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0.7353071140952109 0 0.4420390869193078"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_43.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0.7353071140952109 0 0.4420390869193078"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_41.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0.7353071140952109 0 0.4420390869193078"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_42.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0.7353071140952109 0 0.4420390869193078"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_44.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0.7353071140952109 0 0.4420390869193078"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_39.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_5" type="continuous"> | |
| <origin xyz="-0.7353071140952109 0 -0.4420390869193078"/> | |
| <axis xyz="0 1 0"/> | |
| <child link="link_5"/> | |
| <parent link="link_0"/> | |
| </joint> | |
| <link name="link_6"> | |
| <visual name="wheel_12"> | |
| <origin xyz="0 0.18953 0.485552"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_40.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="0 0.18953 0.485552"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_40.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_6" type="continuous"> | |
| <origin xyz="0.7353071140952109 -0.18953 -0.04351291308069216"/> | |
| <axis xyz="-1 0 0"/> | |
| <child link="link_6"/> | |
| <parent link="link_5"/> | |
| </joint> | |
| <link name="link_7"> | |
| <visual name="caster_mounting_plate_9"> | |
| <origin xyz="-0.7927839366774556 0 0.4515961952848435"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_5.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_mounting_plate_9"> | |
| <origin xyz="-0.7927839366774556 0 0.4515961952848435"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_6.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_mounting_plate_9"> | |
| <origin xyz="-0.7927839366774556 0 0.4515961952848435"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_7.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_mounting_plate_9"> | |
| <origin xyz="-0.7927839366774556 0 0.4515961952848435"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_3.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_mounting_plate_9"> | |
| <origin xyz="-0.7927839366774556 0 0.4515961952848435"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_2.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_mounting_plate_9"> | |
| <origin xyz="-0.7927839366774556 0 0.4515961952848435"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_8.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.7927839366774556 0 0.4515961952848435"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_5.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.7927839366774556 0 0.4515961952848435"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_6.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.7927839366774556 0 0.4515961952848435"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_7.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.7927839366774556 0 0.4515961952848435"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_3.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.7927839366774556 0 0.4515961952848435"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_2.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.7927839366774556 0 0.4515961952848435"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_8.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_7" type="continuous"> | |
| <origin xyz="0.7927839366774556 0 -0.4515961952848435"/> | |
| <axis xyz="0 1 0"/> | |
| <child link="link_7"/> | |
| <parent link="link_0"/> | |
| </joint> | |
| <link name="link_8"> | |
| <visual name="wheel_10"> | |
| <origin xyz="0 0.18953 0.4989015"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_4.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="0 0.18953 0.4989015"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_4.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_8" type="continuous"> | |
| <origin xyz="-0.7927839366774556 -0.18953 -0.04730530471515648"/> | |
| <axis xyz="-1 0 0"/> | |
| <child link="link_8"/> | |
| <parent link="link_7"/> | |
| </joint> | |
| </robot> | |