Hugging Face's logo

Datasets:
sdasfdsafg5asdf
/
Ladder-assets

Modalities:
3D
Image
Text
Dataset card Data Studio Files
xet
 Community
Ladder-assets / PartNetMobility /Table /21718 /mobility.urdf
sdasfdsafg5asdf's picture
sdasfdsafg5asdf
Add files using upload-large-folder tool
6572736 verified
Raw History Blame Contribute Delete
21.7 kB
<?xml version="1.0" ?>
<robot name="partnet_3cad8d726389e5dca5e91f4d594e20e6">
<link name="base"/>
<link name="link_0">
<visual name="wheel_32">
<origin xyz="0.7005144999999999 0.23213099999999998 0"/>
<geometry>
<mesh filename="textured_objs/original_64.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.7005144999999999 0.23213099999999998 0"/>
<geometry>
<mesh filename="textured_objs/original_64.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_0" type="continuous">
<origin xyz="0.041008712042997275 -0.23213099999999998 0.45721280561512595"/>
<axis xyz="0 0 -1"/>
<child link="link_0"/>
<parent link="link_1"/>
</joint>
<link name="link_1">
<visual name="brake_33">
<origin xyz="0.7415232120429972 0 0.45721280561512595"/>
<geometry>
<mesh filename="textured_objs/original_65.obj"/>
</geometry>
</visual>
<visual name="brake_33">
<origin xyz="0.7415232120429972 0 0.45721280561512595"/>
<geometry>
<mesh filename="textured_objs/original_74.obj"/>
</geometry>
</visual>
<visual name="brake_33">
<origin xyz="0.7415232120429972 0 0.45721280561512595"/>
<geometry>
<mesh filename="textured_objs/original_66.obj"/>
</geometry>
</visual>
<visual name="brake_33">
<origin xyz="0.7415232120429972 0 0.45721280561512595"/>
<geometry>
<mesh filename="textured_objs/original_75.obj"/>
</geometry>
</visual>
<visual name="brake_33">
<origin xyz="0.7415232120429972 0 0.45721280561512595"/>
<geometry>
<mesh filename="textured_objs/original_63.obj"/>
</geometry>
</visual>
<visual name="brake_33">
<origin xyz="0.7415232120429972 0 0.45721280561512595"/>
<geometry>
<mesh filename="textured_objs/original_67.obj"/>
</geometry>
</visual>
<visual name="brake_33">
<origin xyz="0.7415232120429972 0 0.45721280561512595"/>
<geometry>
<mesh filename="textured_objs/original_69.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.7415232120429972 0 0.45721280561512595"/>
<geometry>
<mesh filename="textured_objs/original_65.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.7415232120429972 0 0.45721280561512595"/>
<geometry>
<mesh filename="textured_objs/original_74.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.7415232120429972 0 0.45721280561512595"/>
<geometry>
<mesh filename="textured_objs/original_66.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.7415232120429972 0 0.45721280561512595"/>
<geometry>
<mesh filename="textured_objs/original_75.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.7415232120429972 0 0.45721280561512595"/>
<geometry>
<mesh filename="textured_objs/original_63.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.7415232120429972 0 0.45721280561512595"/>
<geometry>
<mesh filename="textured_objs/original_67.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.7415232120429972 0 0.45721280561512595"/>
<geometry>
<mesh filename="textured_objs/original_69.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_1" type="continuous">
<origin xyz="-0.7415232120429972 0 -0.45721280561512595"/>
<axis xyz="0 -1 0"/>
<child link="link_1"/>
<parent link="link_8"/>
</joint>
<link name="link_2">
<visual name="wheel_29">
<origin xyz="-0.755774 0.2298465 0"/>
<geometry>
<mesh filename="textured_objs/original_36.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.755774 0.2298465 0"/>
<geometry>
<mesh filename="textured_objs/original_36.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_2" type="continuous">
<origin xyz="0.04100849999999989 -0.2298465 0.46258803738496407"/>
<axis xyz="0 0 -1"/>
<child link="link_2"/>
<parent link="link_3"/>
</joint>
<link name="link_3">
<visual name="brake_30">
<origin xyz="-0.7147655 0 0.46258803738496407"/>
<geometry>
<mesh filename="textured_objs/original_37.obj"/>
</geometry>
</visual>
<visual name="brake_30">
<origin xyz="-0.7147655 0 0.46258803738496407"/>
<geometry>
<mesh filename="textured_objs/original_46.obj"/>
</geometry>
</visual>
<visual name="brake_30">
<origin xyz="-0.7147655 0 0.46258803738496407"/>
<geometry>
<mesh filename="textured_objs/original_38.obj"/>
</geometry>
</visual>
<visual name="brake_30">
<origin xyz="-0.7147655 0 0.46258803738496407"/>
<geometry>
<mesh filename="textured_objs/original_39.obj"/>
</geometry>
</visual>
<visual name="brake_30">
<origin xyz="-0.7147655 0 0.46258803738496407"/>
<geometry>
<mesh filename="textured_objs/original_35.obj"/>
</geometry>
</visual>
<visual name="brake_30">
<origin xyz="-0.7147655 0 0.46258803738496407"/>
<geometry>
<mesh filename="textured_objs/original_47.obj"/>
</geometry>
</visual>
<visual name="brake_30">
<origin xyz="-0.7147655 0 0.46258803738496407"/>
<geometry>
<mesh filename="textured_objs/original_41.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.7147655 0 0.46258803738496407"/>
<geometry>
<mesh filename="textured_objs/original_37.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.7147655 0 0.46258803738496407"/>
<geometry>
<mesh filename="textured_objs/original_46.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.7147655 0 0.46258803738496407"/>
<geometry>
<mesh filename="textured_objs/original_38.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.7147655 0 0.46258803738496407"/>
<geometry>
<mesh filename="textured_objs/original_39.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.7147655 0 0.46258803738496407"/>
<geometry>
<mesh filename="textured_objs/original_35.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.7147655 0 0.46258803738496407"/>
<geometry>
<mesh filename="textured_objs/original_47.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.7147655 0 0.46258803738496407"/>
<geometry>
<mesh filename="textured_objs/original_41.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_3" type="continuous">
<origin xyz="0.7147655 0 -0.46258803738496407"/>
<axis xyz="0 1 0"/>
<child link="link_3"/>
<parent link="link_8"/>
</joint>
<link name="link_4">
<visual name="wheel_26">
<origin xyz="-0.757637 0.2284815 0"/>
<geometry>
<mesh filename="textured_objs/original_50.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.757637 0.2284815 0"/>
<geometry>
<mesh filename="textured_objs/original_50.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_4" type="continuous">
<origin xyz="0.04100877547018322 -0.2284815 -0.5007797754701833"/>
<axis xyz="0 0 -1"/>
<child link="link_4"/>
<parent link="link_5"/>
</joint>
<link name="link_5">
<visual name="brake_27">
<origin xyz="-0.7166282245298168 0 -0.5007797754701833"/>
<geometry>
<mesh filename="textured_objs/original_51.obj"/>
</geometry>
</visual>
<visual name="brake_27">
<origin xyz="-0.7166282245298168 0 -0.5007797754701833"/>
<geometry>
<mesh filename="textured_objs/original_49.obj"/>
</geometry>
</visual>
<visual name="brake_27">
<origin xyz="-0.7166282245298168 0 -0.5007797754701833"/>
<geometry>
<mesh filename="textured_objs/original_55.obj"/>
</geometry>
</visual>
<visual name="brake_27">
<origin xyz="-0.7166282245298168 0 -0.5007797754701833"/>
<geometry>
<mesh filename="textured_objs/original_53.obj"/>
</geometry>
</visual>
<visual name="brake_27">
<origin xyz="-0.7166282245298168 0 -0.5007797754701833"/>
<geometry>
<mesh filename="textured_objs/original_61.obj"/>
</geometry>
</visual>
<visual name="brake_27">
<origin xyz="-0.7166282245298168 0 -0.5007797754701833"/>
<geometry>
<mesh filename="textured_objs/original_52.obj"/>
</geometry>
</visual>
<visual name="brake_27">
<origin xyz="-0.7166282245298168 0 -0.5007797754701833"/>
<geometry>
<mesh filename="textured_objs/original_60.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.7166282245298168 0 -0.5007797754701833"/>
<geometry>
<mesh filename="textured_objs/original_51.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.7166282245298168 0 -0.5007797754701833"/>
<geometry>
<mesh filename="textured_objs/original_49.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.7166282245298168 0 -0.5007797754701833"/>
<geometry>
<mesh filename="textured_objs/original_55.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.7166282245298168 0 -0.5007797754701833"/>
<geometry>
<mesh filename="textured_objs/original_53.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.7166282245298168 0 -0.5007797754701833"/>
<geometry>
<mesh filename="textured_objs/original_61.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.7166282245298168 0 -0.5007797754701833"/>
<geometry>
<mesh filename="textured_objs/original_52.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.7166282245298168 0 -0.5007797754701833"/>
<geometry>
<mesh filename="textured_objs/original_60.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_5" type="continuous">
<origin xyz="0.7166282245298168 0 0.5007797754701833"/>
<axis xyz="0 -1 0"/>
<child link="link_5"/>
<parent link="link_8"/>
</joint>
<link name="link_6">
<visual name="wheel_22">
<origin xyz="0.70163 0.22815000000000002 0"/>
<geometry>
<mesh filename="textured_objs/original_22.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.70163 0.22815000000000002 0"/>
<geometry>
<mesh filename="textured_objs/original_22.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_6" type="continuous">
<origin xyz="0.04100877547018311 -0.22815000000000002 -0.500695224529817"/>
<axis xyz="0 0 -1"/>
<child link="link_6"/>
<parent link="link_7"/>
</joint>
<link name="link_7">
<visual name="brake_24">
<origin xyz="0.7426387754701831 0 -0.500695224529817"/>
<geometry>
<mesh filename="textured_objs/original_23.obj"/>
</geometry>
</visual>
<visual name="brake_24">
<origin xyz="0.7426387754701831 0 -0.500695224529817"/>
<geometry>
<mesh filename="textured_objs/original_27.obj"/>
</geometry>
</visual>
<visual name="brake_24">
<origin xyz="0.7426387754701831 0 -0.500695224529817"/>
<geometry>
<mesh filename="textured_objs/original_21.obj"/>
</geometry>
</visual>
<visual name="brake_24">
<origin xyz="0.7426387754701831 0 -0.500695224529817"/>
<geometry>
<mesh filename="textured_objs/original_25.obj"/>
</geometry>
</visual>
<visual name="brake_24">
<origin xyz="0.7426387754701831 0 -0.500695224529817"/>
<geometry>
<mesh filename="textured_objs/original_33.obj"/>
</geometry>
</visual>
<visual name="brake_24">
<origin xyz="0.7426387754701831 0 -0.500695224529817"/>
<geometry>
<mesh filename="textured_objs/original_24.obj"/>
</geometry>
</visual>
<visual name="brake_24">
<origin xyz="0.7426387754701831 0 -0.500695224529817"/>
<geometry>
<mesh filename="textured_objs/original_32.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.7426387754701831 0 -0.500695224529817"/>
<geometry>
<mesh filename="textured_objs/original_23.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.7426387754701831 0 -0.500695224529817"/>
<geometry>
<mesh filename="textured_objs/original_27.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.7426387754701831 0 -0.500695224529817"/>
<geometry>
<mesh filename="textured_objs/original_21.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.7426387754701831 0 -0.500695224529817"/>
<geometry>
<mesh filename="textured_objs/original_25.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.7426387754701831 0 -0.500695224529817"/>
<geometry>
<mesh filename="textured_objs/original_33.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.7426387754701831 0 -0.500695224529817"/>
<geometry>
<mesh filename="textured_objs/original_24.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.7426387754701831 0 -0.500695224529817"/>
<geometry>
<mesh filename="textured_objs/original_32.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_7" type="continuous">
<origin xyz="-0.7426387754701831 0 0.500695224529817"/>
<axis xyz="0 -1 0"/>
<child link="link_7"/>
<parent link="link_8"/>
</joint>
<link name="link_8">
<visual name="other_leaf_43">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_44.obj"/>
</geometry>
</visual>
<visual name="other_leaf_44">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_58.obj"/>
</geometry>
</visual>
<visual name="other_leaf_45">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_30.obj"/>
</geometry>
</visual>
<visual name="other_leaf_46">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_72.obj"/>
</geometry>
</visual>
<visual name="glass_36">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_19.obj"/>
</geometry>
</visual>
<visual name="bar_37">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_3.obj"/>
</geometry>
</visual>
<visual name="bar_38">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_4.obj"/>
</geometry>
</visual>
<visual name="bar_39">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_2.obj"/>
</geometry>
</visual>
<visual name="bar_40">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
</geometry>
</visual>
<visual name="bar_41">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_6.obj"/>
</geometry>
</visual>
<visual name="leg_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_15.obj"/>
</geometry>
</visual>
<visual name="leg_6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_9.obj"/>
</geometry>
</visual>
<visual name="leg_7">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_14.obj"/>
</geometry>
</visual>
<visual name="leg_8">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_13.obj"/>
</geometry>
</visual>
<visual name="leg_9">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_10.obj"/>
</geometry>
</visual>
<visual name="leg_10">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_8.obj"/>
</geometry>
</visual>
<visual name="leg_11">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_12.obj"/>
</geometry>
</visual>
<visual name="leg_12">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_7.obj"/>
</geometry>
</visual>
<visual name="leg_13">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_11.obj"/>
</geometry>
</visual>
<visual name="bar_stretcher_18">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_18.obj"/>
</geometry>
</visual>
<visual name="bar_stretcher_19">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_17.obj"/>
</geometry>
</visual>
<visual name="bar_stretcher_20">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_16.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_31">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_71.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_31">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_68.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_28">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_43.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_28">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_40.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_25">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_54.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_25">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_57.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_23">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_26.obj"/>
</geometry>
</visual>
<visual name="caster_mounting_plate_23">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_29.obj"/>
</geometry>
</visual>
<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_58.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_72.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_19.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_3.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_2.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_6.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_15.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_9.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_14.obj"/>
</geometry>
</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_10.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_8.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_12.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_11.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_18.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_17.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_16.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_43.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_54.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_57.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_29.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>