Download PartNetMobility/Table/20077/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/20077/mobility.urdf
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hf download hf://datasets/sdasfdsafg5asdf/Ladder-assets/PartNetMobility/Table/20077/mobility.urdf
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curl -L -o mobility.urdf https://huggingface.co/datasets/sdasfdsafg5asdf/Ladder-assets/resolve/main/PartNetMobility/Table/20077/mobility.urdf
19.6 kB
| <robot name="partnet_233c497df4d252aea5e91f4d594e20e6"> | |
| <link name="base"/> | |
| <link name="link_0"> | |
| <visual name="wheel_92"> | |
| <origin xyz="-0.7597621346552594 0.2466287361902017 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_36.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="wheel_92"> | |
| <origin xyz="-0.7597621346552594 0.2466287361902017 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_38.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.7597621346552594 0.2466287361902017 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_36.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.7597621346552594 0.2466287361902017 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_38.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_0" type="continuous"> | |
| <origin xyz="0.03998873463621999 -0.10145122223755071 0.48714965770798924"/> | |
| <axis xyz="0 0 1"/> | |
| <child link="link_0"/> | |
| <parent link="link_1"/> | |
| </joint> | |
| <link name="link_1"> | |
| <visual name="caster_stem_94"> | |
| <origin xyz="-0.7197734000190394 0.145177513952651 0.48714965770798924"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_37.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_stem_94"> | |
| <origin xyz="-0.7197734000190394 0.145177513952651 0.48714965770798924"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_43.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_stem_94"> | |
| <origin xyz="-0.7197734000190394 0.145177513952651 0.48714965770798924"/> | |
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| <mesh filename="textured_objs/original_39.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_stem_94"> | |
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| <mesh filename="textured_objs/original_47.obj"/> | |
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| </visual> | |
| <visual name="caster_stem_94"> | |
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| <mesh filename="textured_objs/original_46.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.7197734000190394 0.145177513952651 0.48714965770798924"/> | |
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| <mesh filename="textured_objs/original_37.obj"/> | |
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| </collision> | |
| <collision> | |
| <origin xyz="-0.7197734000190394 0.145177513952651 0.48714965770798924"/> | |
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| <mesh filename="textured_objs/original_43.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.7197734000190394 0.145177513952651 0.48714965770798924"/> | |
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| <mesh filename="textured_objs/original_39.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.7197734000190394 0.145177513952651 0.48714965770798924"/> | |
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| <mesh filename="textured_objs/original_47.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.7197734000190394 0.145177513952651 0.48714965770798924"/> | |
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| <mesh filename="textured_objs/original_46.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_1" type="continuous"> | |
| <origin xyz="0.7197734000190394 -0.145177513952651 -0.48714965770798924"/> | |
| <axis xyz="0 1 0"/> | |
| <child link="link_1"/> | |
| <parent link="link_8"/> | |
| </joint> | |
| <link name="link_2"> | |
| <visual name="wheel_89"> | |
| <origin xyz="-0.761583 0.2425984392936612 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_50.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="wheel_89"> | |
| <origin xyz="-0.761583 0.2425984392936612 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_52.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.761583 0.2425984392936612 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_50.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.761583 0.2425984392936612 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_52.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_2" type="continuous"> | |
| <origin xyz="0.03858105655993327 -0.1121824392936609 -0.46104189111042804"/> | |
| <axis xyz="0 0 -1"/> | |
| <child link="link_2"/> | |
| <parent link="link_3"/> | |
| </joint> | |
| <link name="link_3"> | |
| <visual name="caster_stem_99"> | |
| <origin xyz="-0.7230019434400667 0.1304160000000003 -0.46104189111042804"/> | |
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| <mesh filename="textured_objs/original_61.obj"/> | |
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| </visual> | |
| <visual name="caster_stem_99"> | |
| <origin xyz="-0.7230019434400667 0.1304160000000003 -0.46104189111042804"/> | |
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| <mesh filename="textured_objs/original_53.obj"/> | |
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| </visual> | |
| <visual name="caster_stem_99"> | |
| <origin xyz="-0.7230019434400667 0.1304160000000003 -0.46104189111042804"/> | |
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| <mesh filename="textured_objs/original_57.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_stem_99"> | |
| <origin xyz="-0.7230019434400667 0.1304160000000003 -0.46104189111042804"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_60.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_stem_99"> | |
| <origin xyz="-0.7230019434400667 0.1304160000000003 -0.46104189111042804"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_51.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.7230019434400667 0.1304160000000003 -0.46104189111042804"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_61.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.7230019434400667 0.1304160000000003 -0.46104189111042804"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_53.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.7230019434400667 0.1304160000000003 -0.46104189111042804"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_57.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.7230019434400667 0.1304160000000003 -0.46104189111042804"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_60.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.7230019434400667 0.1304160000000003 -0.46104189111042804"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_51.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_3" type="continuous"> | |
| <origin xyz="-0.036760191215192695 0.1162127361902014 0.46104189111042804"/> | |
| <axis xyz="0 1 0"/> | |
| <child link="link_3"/> | |
| <parent link="link_0"/> | |
| </joint> | |
| <link name="link_4"> | |
| <visual name="wheel_86"> | |
| <origin xyz="0.6649084401958452 0.24362204963035328 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_24.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="wheel_86"> | |
| <origin xyz="0.6649084401958452 0.24362204963035328 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_22.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="0.6649084401958452 0.24362204963035328 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_24.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0.6649084401958452 0.24362204963035328 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_22.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_4" type="continuous"> | |
| <origin xyz="0.04008755980415479 -0.24362204963035328 -0.45933250000000003"/> | |
| <axis xyz="0 0 1"/> | |
| <child link="link_4"/> | |
| <parent link="link_5"/> | |
| </joint> | |
| <link name="link_5"> | |
| <visual name="caster_stem_97"> | |
| <origin xyz="0.704996 0 -0.45933250000000003"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_33.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_stem_97"> | |
| <origin xyz="0.704996 0 -0.45933250000000003"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_29.obj"/> | |
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| </visual> | |
| <visual name="caster_stem_97"> | |
| <origin xyz="0.704996 0 -0.45933250000000003"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_23.obj"/> | |
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| </visual> | |
| <visual name="caster_stem_97"> | |
| <origin xyz="0.704996 0 -0.45933250000000003"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_25.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_stem_97"> | |
| <origin xyz="0.704996 0 -0.45933250000000003"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_32.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="0.704996 0 -0.45933250000000003"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_33.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0.704996 0 -0.45933250000000003"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_29.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0.704996 0 -0.45933250000000003"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_23.obj"/> | |
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| <collision> | |
| <origin xyz="0.704996 0 -0.45933250000000003"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_25.obj"/> | |
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| </collision> | |
| <collision> | |
| <origin xyz="0.704996 0 -0.45933250000000003"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_32.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_5" type="continuous"> | |
| <origin xyz="-0.704996 0 0.45933250000000003"/> | |
| <axis xyz="0 -1 0"/> | |
| <child link="link_5"/> | |
| <parent link="link_8"/> | |
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| <link name="link_6"> | |
| <visual name="wheel_83"> | |
| <origin xyz="0.6638180626269939 0.2422565 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_66.obj"/> | |
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| <visual name="wheel_83"> | |
| <origin xyz="0.6638180626269939 0.2422565 0"/> | |
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| <mesh filename="textured_objs/original_64.obj"/> | |
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| <collision> | |
| <origin xyz="0.6638180626269939 0.2422565 0"/> | |
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| <mesh filename="textured_objs/original_66.obj"/> | |
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| <origin xyz="0.6638180626269939 0.2422565 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_64.obj"/> | |
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| <joint name="joint_6" type="continuous"> | |
| <origin xyz="0.04008743737300613 -0.2422565 0.477061"/> | |
| <axis xyz="0 0 1"/> | |
| <child link="link_6"/> | |
| <parent link="link_7"/> | |
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| <link name="link_7"> | |
| <visual name="caster_stem_95"> | |
| <origin xyz="0.7039055000000001 0 0.477061"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_65.obj"/> | |
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| <visual name="caster_stem_95"> | |
| <origin xyz="0.7039055000000001 0 0.477061"/> | |
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| <mesh filename="textured_objs/original_75.obj"/> | |
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| <visual name="caster_stem_95"> | |
| <origin xyz="0.7039055000000001 0 0.477061"/> | |
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| <mesh filename="textured_objs/original_74.obj"/> | |
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| <visual name="caster_stem_95"> | |
| <origin xyz="0.7039055000000001 0 0.477061"/> | |
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| <mesh filename="textured_objs/original_67.obj"/> | |
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| <origin xyz="0.7039055000000001 0 0.477061"/> | |
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| <mesh filename="textured_objs/original_65.obj"/> | |
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| <origin xyz="0.7039055000000001 0 0.477061"/> | |
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| <mesh filename="textured_objs/original_75.obj"/> | |
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| <collision> | |
| <origin xyz="0.7039055000000001 0 0.477061"/> | |
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| <mesh filename="textured_objs/original_74.obj"/> | |
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| <geometry> | |
| <mesh filename="textured_objs/original_67.obj"/> | |
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| </link> | |
| <joint name="joint_7" type="continuous"> | |
| <origin xyz="-0.7039055000000001 0 -0.477061"/> | |
| <axis xyz="0 -1 0"/> | |
| <child link="link_7"/> | |
| <parent link="link_8"/> | |
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| <link name="link_8"> | |
| <visual name="glass_62"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_19.obj"/> | |
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| </visual> | |
| <visual name="bar_61"> | |
| <origin xyz="0 0 0"/> | |
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| <mesh filename="textured_objs/original_17.obj"/> | |
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| </visual> | |
| <visual name="bar_61"> | |
| <origin xyz="0 0 0"/> | |
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| <mesh filename="textured_objs/original_14.obj"/> | |
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| </visual> | |
| <visual name="bar_61"> | |
| <origin xyz="0 0 0"/> | |
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| <mesh filename="textured_objs/original_13.obj"/> | |
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| </visual> | |
| <visual name="bar_61"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_7.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="tabletop_connector_72"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_76.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="tabletop_connector_73"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_77.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="tabletop_connector_78"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_4.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="tabletop_connector_79"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_6.obj"/> | |
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| </visual> | |
| <visual name="tabletop_connector_80"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_5.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="caster_mounting_plate_91"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_44.obj"/> | |
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| </visual> | |
| <visual name="caster_mounting_plate_91"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_40.obj"/> | |
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| </visual> | |
| <visual name="brake_93"> | |
| <origin xyz="0 0 0"/> | |
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| <mesh filename="textured_objs/original_35.obj"/> | |
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| </visual> | |
| <visual name="brake_93"> | |
| <origin xyz="0 0 0"/> | |
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| <mesh filename="textured_objs/original_41.obj"/> | |
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| </visual> | |
| <visual name="caster_mounting_plate_88"> | |
| <origin xyz="0 0 0"/> | |
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| <mesh filename="textured_objs/original_58.obj"/> | |
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| </visual> | |
| <visual name="caster_mounting_plate_88"> | |
| <origin xyz="0 0 0"/> | |
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| <mesh filename="textured_objs/original_54.obj"/> | |
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| <visual name="brake_100"> | |
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| <mesh filename="textured_objs/original_49.obj"/> | |
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| <visual name="brake_100"> | |
| <origin xyz="0 0 0"/> | |
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| <mesh filename="textured_objs/original_55.obj"/> | |
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| </visual> | |
| <visual name="caster_mounting_plate_85"> | |
| <origin xyz="0 0 0"/> | |
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| <mesh filename="textured_objs/original_30.obj"/> | |
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| <visual name="caster_mounting_plate_85"> | |
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| <visual name="brake_98"> | |
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| <visual name="brake_98"> | |
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| <mesh filename="textured_objs/original_27.obj"/> | |
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| <visual name="caster_mounting_plate_82"> | |
| <origin xyz="0 0 0"/> | |
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| <mesh filename="textured_objs/original_71.obj"/> | |
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| <visual name="caster_mounting_plate_82"> | |
| <origin xyz="0 0 0"/> | |
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| <mesh filename="textured_objs/original_68.obj"/> | |
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| <visual name="caster_mounting_plate_82"> | |
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| <mesh filename="textured_objs/original_72.obj"/> | |
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| <visual name="brake_96"> | |
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| <mesh filename="textured_objs/original_63.obj"/> | |
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| <visual name="brake_96"> | |
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| <mesh filename="textured_objs/original_69.obj"/> | |
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| <collision> | |
| <origin xyz="0 0 0"/> | |
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| <mesh filename="textured_objs/original_19.obj"/> | |
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| <collision> | |
| <origin xyz="0 0 0"/> | |
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| <mesh filename="textured_objs/original_17.obj"/> | |
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| <collision> | |
| <origin xyz="0 0 0"/> | |
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| <mesh filename="textured_objs/original_14.obj"/> | |
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| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_13.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_7.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_76.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_77.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_4.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_6.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_5.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_44.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_40.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_35.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_41.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_58.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_54.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_49.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_55.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_30.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_26.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_21.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_27.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_71.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_68.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_72.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_63.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_69.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_8" type="fixed"> | |
| <origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/> | |
| <child link="link_8"/> | |
| <parent link="base"/> | |
| </joint> | |
| </robot> | |