Download PartNetMobility/WashingMachine/100282/mobility.urdf from sdasfdsafg5asdf/Ladder-assets: direct link, hf CLI and curl.
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- Download file 14.5 kB
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https://huggingface.co/datasets/sdasfdsafg5asdf/Ladder-assets/resolve/main/PartNetMobility/WashingMachine/100282/mobility.urdf
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hf download hf://datasets/sdasfdsafg5asdf/Ladder-assets/PartNetMobility/WashingMachine/100282/mobility.urdf
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curl -L -o mobility.urdf https://huggingface.co/datasets/sdasfdsafg5asdf/Ladder-assets/resolve/main/PartNetMobility/WashingMachine/100282/mobility.urdf
14.5 kB
| <robot name="partnet_04569f2f_3e07_4655_9337_bfa41a5ccbc0"> | |
| <link name="base"/> | |
| <link name="link_0"> | |
| <visual name="door_1"> | |
| <origin xyz="0.41306891977786964 0 -0.5009578447043892"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_14.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="door_1"> | |
| <origin xyz="0.41306891977786964 0 -0.5009578447043892"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_9.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="door_1"> | |
| <origin xyz="0.41306891977786964 0 -0.5009578447043892"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_12.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="door_1"> | |
| <origin xyz="0.41306891977786964 0 -0.5009578447043892"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_10.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="door_1"> | |
| <origin xyz="0.41306891977786964 0 -0.5009578447043892"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_11.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="door_1"> | |
| <origin xyz="0.41306891977786964 0 -0.5009578447043892"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_13.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="0.41306891977786964 0 -0.5009578447043892"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_14.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0.41306891977786964 0 -0.5009578447043892"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_9.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0.41306891977786964 0 -0.5009578447043892"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_12.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0.41306891977786964 0 -0.5009578447043892"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_10.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0.41306891977786964 0 -0.5009578447043892"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_11.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0.41306891977786964 0 -0.5009578447043892"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_13.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_0" type="revolute"> | |
| <origin xyz="-0.41306891977786964 0 0.5009578447043892"/> | |
| <axis xyz="0 -1 0"/> | |
| <child link="link_0"/> | |
| <parent link="link_9"/> | |
| <limit lower="-0.0" upper="1.6713272917097697"/> | |
| </joint> | |
| <link name="link_1"> | |
| <visual name="button_3"> | |
| <origin xyz="-0.3340639023446024 -0.4964357740425043 0.07642978875212111"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_25.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.3340639023446024 -0.4964357740425043 0.07642978875212111"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_25.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_1" type="prismatic"> | |
| <origin xyz="0.3340639023446024 0.4964357740425043 -0.07642978875212111"/> | |
| <axis xyz="-4.657845383382128e-06 -0.15216119187547963 -0.9883556908650539"/> | |
| <child link="link_1"/> | |
| <parent link="link_9"/> | |
| <limit lower="0" upper="0.002"/> | |
| </joint> | |
| <link name="link_2"> | |
| <visual name="button_4"> | |
| <origin xyz="-0.29111733658759303 -0.4906258843202211 0.07555088953796019"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_26.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.29111733658759303 -0.4906258843202211 0.07555088953796019"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_26.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_2" type="prismatic"> | |
| <origin xyz="0.29111733658759303 0.4906258843202211 -0.07555088953796019"/> | |
| <axis xyz="6.879132997872837e-06 -0.15219889275132606 -0.9883498859199348"/> | |
| <child link="link_2"/> | |
| <parent link="link_9"/> | |
| <limit lower="0" upper="0.002"/> | |
| </joint> | |
| <link name="link_3"> | |
| <visual name="button_5"> | |
| <origin xyz="-0.2481536478338573 -0.4848625028548582 0.07464954927160374"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_27.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.2481536478338573 -0.4848625028548582 0.07464954927160374"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_27.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_3" type="prismatic"> | |
| <origin xyz="0.2481536478338573 0.4848625028548582 -0.07464954927160374"/> | |
| <axis xyz="-1.2286585355728131e-05 -0.15216120253430832 -0.988355689158692"/> | |
| <child link="link_3"/> | |
| <parent link="link_9"/> | |
| <limit lower="0" upper="0.0020000000000000035"/> | |
| </joint> | |
| <link name="link_4"> | |
| <visual name="button_6"> | |
| <origin xyz="-0.20519039312857965 -0.47912923971095694 0.07372798286684665"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_28.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.20519039312857965 -0.47912923971095694 0.07372798286684665"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_28.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_4" type="prismatic"> | |
| <origin xyz="0.20519039312857965 0.47912923971095694 -0.07372798286684665"/> | |
| <axis xyz="-3.0676534288335765e-05 -0.15207617072810217 -0.9883687759918498"/> | |
| <child link="link_4"/> | |
| <parent link="link_9"/> | |
| <limit lower="0" upper="0.0020000000000000035"/> | |
| </joint> | |
| <link name="link_5"> | |
| <visual name="button_7"> | |
| <origin xyz="-0.2102478774381876 -0.458228074899056 0.15079525576462757"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_30.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.2102478774381876 -0.458228074899056 0.15079525576462757"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_30.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_5" type="prismatic"> | |
| <origin xyz="0.2102478774381876 0.458228074899056 -0.15079525576462757"/> | |
| <axis xyz="0.023807670836812796 -0.322343001028449 -0.9463235094286201"/> | |
| <child link="link_5"/> | |
| <parent link="link_9"/> | |
| <limit lower="0" upper="0.0020000000000000035"/> | |
| </joint> | |
| <link name="link_6"> | |
| <visual name="button_8"> | |
| <origin xyz="0.001819 -0.4736158487474846 0.1368118711470816"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_3.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="button_8"> | |
| <origin xyz="0.001819 -0.4736158487474846 0.1368118711470816"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_4.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="button_8"> | |
| <origin xyz="0.001819 -0.4736158487474846 0.1368118711470816"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_6.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="0.001819 -0.4736158487474846 0.1368118711470816"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_3.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0.001819 -0.4736158487474846 0.1368118711470816"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_4.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0.001819 -0.4736158487474846 0.1368118711470816"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_6.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_6" type="continuous"> | |
| <origin xyz="-0.001819 0.4736158487474846 -0.1368118711470816"/> | |
| <axis xyz="0 -0.277520015262966 -0.960719855695948"/> | |
| <child link="link_6"/> | |
| <parent link="link_9"/> | |
| </joint> | |
| <link name="link_7"> | |
| <visual name="button_9"> | |
| <origin xyz="-0.4008265779448591 -0.45988864320187683 0.1464537703050751"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_29.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.4008265779448591 -0.45988864320187683 0.1464537703050751"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_29.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_7" type="prismatic"> | |
| <origin xyz="0.4008265779448591 0.45988864320187683 -0.1464537703050751"/> | |
| <axis xyz="0.023773032776781503 -0.32210712587310925 -0.9464046927051658"/> | |
| <child link="link_7"/> | |
| <parent link="link_9"/> | |
| <limit lower="0" upper="0.0020000000000000035"/> | |
| </joint> | |
| <link name="link_8"> | |
| <visual name="button_10"> | |
| <origin xyz="-0.3770028939639366 -0.502274832494393 0.0772946306467326"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_24.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.3770028939639366 -0.502274832494393 0.0772946306467326"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_24.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_8" type="prismatic"> | |
| <origin xyz="0.3770028939639366 0.502274832494393 -0.0772946306467326"/> | |
| <axis xyz="-3.067518681339073e-05 -0.15207617075808802 -0.988368775987278"/> | |
| <child link="link_8"/> | |
| <parent link="link_9"/> | |
| <limit lower="0" upper="0.0020000000000000035"/> | |
| </joint> | |
| <link name="link_9"> | |
| <visual name="base_body_11"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_21.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_11"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_36.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_11"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_41.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_11"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_22.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_11"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_33.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_11"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_16.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_11"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_8.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_11"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_35.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_11"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_39.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_11"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_5.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_11"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_37.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_11"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_38.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_11"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_18.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_11"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_17.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_11"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_42.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_11"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_20.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_11"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_32.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_11"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_19.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_11"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_40.obj"/> | |
| </geometry> | |
| </visual> | |
| <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_36.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_22.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_33.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_8.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_39.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_37.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_38.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_42.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_20.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_32.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_40.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_9" type="fixed"> | |
| <origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/> | |
| <child link="link_9"/> | |
| <parent link="base"/> | |
| </joint> | |
| </robot> | |