Download PartNetMobility/WashingMachine/103361/mobility.urdf from sdasfdsafg5asdf/Ladder-assets: direct link, hf CLI and curl.
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- Download file 15.4 kB
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https://huggingface.co/datasets/sdasfdsafg5asdf/Ladder-assets/resolve/main/PartNetMobility/WashingMachine/103361/mobility.urdf
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hf download hf://datasets/sdasfdsafg5asdf/Ladder-assets/PartNetMobility/WashingMachine/103361/mobility.urdf
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curl -L -o mobility.urdf https://huggingface.co/datasets/sdasfdsafg5asdf/Ladder-assets/resolve/main/PartNetMobility/WashingMachine/103361/mobility.urdf
15.4 kB
| <robot name="partnet_265d042dcfed6f15c357c21161963e89"> | |
| <link name="base"/> | |
| <link name="link_0"> | |
| <visual name="door_1"> | |
| <origin xyz="0.3797149673919198 0 -0.47984316401183624"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_2.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="0.3797149673919198 0 -0.47984316401183624"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_2.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_0" type="revolute"> | |
| <origin xyz="-0.3797149673919198 0 0.47984316401183624"/> | |
| <axis xyz="0 -1 0"/> | |
| <child link="link_0"/> | |
| <parent link="link_9"/> | |
| <limit lower="-0.0" upper="1.8158405537749007"/> | |
| </joint> | |
| <link name="link_1"> | |
| <visual name="button_2"> | |
| <origin xyz="-0.3608290187617561 -0.3823583307343096 0.16304735088468345"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_43.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="button_2"> | |
| <origin xyz="-0.3608290187617561 -0.3823583307343096 0.16304735088468345"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_45.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="button_2"> | |
| <origin xyz="-0.3608290187617561 -0.3823583307343096 0.16304735088468345"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_44.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.3608290187617561 -0.3823583307343096 0.16304735088468345"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_43.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.3608290187617561 -0.3823583307343096 0.16304735088468345"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_45.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.3608290187617561 -0.3823583307343096 0.16304735088468345"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_44.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_1" type="prismatic"> | |
| <origin xyz="0.3608290187617561 0.3823583307343096 -0.16304735088468345"/> | |
| <axis xyz="-0.036070642235517744 -0.3630010472679937 -0.9310903009112796"/> | |
| <child link="link_1"/> | |
| <parent link="link_9"/> | |
| <limit lower="0" upper="0.0040000000000000036"/> | |
| </joint> | |
| <link name="link_2"> | |
| <visual name="button_3"> | |
| <origin xyz="-0.3576791566362107 -0.4722581626579402 0.07574386579386791"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_18.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="button_3"> | |
| <origin xyz="-0.3576791566362107 -0.4722581626579402 0.07574386579386791"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_19.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="button_3"> | |
| <origin xyz="-0.3576791566362107 -0.4722581626579402 0.07574386579386791"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_20.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.3576791566362107 -0.4722581626579402 0.07574386579386791"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_18.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.3576791566362107 -0.4722581626579402 0.07574386579386791"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_19.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.3576791566362107 -0.4722581626579402 0.07574386579386791"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_20.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_2" type="prismatic"> | |
| <origin xyz="0.3576791566362107 0.4722581626579402 -0.07574386579386791"/> | |
| <axis xyz="-0.0339493356494014 -0.13315255451362873 -0.9905139271284679"/> | |
| <child link="link_2"/> | |
| <parent link="link_9"/> | |
| <limit lower="0" upper="0.0040000000000000036"/> | |
| </joint> | |
| <link name="link_3"> | |
| <visual name="button_4"> | |
| <origin xyz="-0.31154698804565967 -0.4425076426642484 0.09041005281816578"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_23.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="button_4"> | |
| <origin xyz="-0.31154698804565967 -0.4425076426642484 0.09041005281816578"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_24.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="button_4"> | |
| <origin xyz="-0.31154698804565967 -0.4425076426642484 0.09041005281816578"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_25.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.31154698804565967 -0.4425076426642484 0.09041005281816578"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_23.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.31154698804565967 -0.4425076426642484 0.09041005281816578"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_24.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.31154698804565967 -0.4425076426642484 0.09041005281816578"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_25.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_3" type="prismatic"> | |
| <origin xyz="0.31154698804565967 0.4425076426642484 -0.09041005281816578"/> | |
| <axis xyz="-0.04174757414778494 -0.17170546335373266 -0.9842633661308621"/> | |
| <child link="link_3"/> | |
| <parent link="link_9"/> | |
| <limit lower="0" upper="0.0040000000000000036"/> | |
| </joint> | |
| <link name="link_4"> | |
| <visual name="button_5"> | |
| <origin xyz="-0.22513457068909112 -0.3906119550722728 0.12174444640461211"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_30.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="button_5"> | |
| <origin xyz="-0.22513457068909112 -0.3906119550722728 0.12174444640461211"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_28.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="button_5"> | |
| <origin xyz="-0.22513457068909112 -0.3906119550722728 0.12174444640461211"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_29.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.22513457068909112 -0.3906119550722728 0.12174444640461211"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_30.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.22513457068909112 -0.3906119550722728 0.12174444640461211"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_28.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.22513457068909112 -0.3906119550722728 0.12174444640461211"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_29.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_4" type="prismatic"> | |
| <origin xyz="0.22513457068909112 0.3906119550722728 -0.12174444640461211"/> | |
| <axis xyz="-0.11330214969642953 -0.23553844740888855 -0.9652379305986574"/> | |
| <child link="link_4"/> | |
| <parent link="link_9"/> | |
| <limit lower="0" upper="0.0040000000000000036"/> | |
| </joint> | |
| <link name="link_5"> | |
| <visual name="button_6"> | |
| <origin xyz="-0.2327771832016994 -0.42433130850754514 0.08807514577037141"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_33.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="button_6"> | |
| <origin xyz="-0.2327771832016994 -0.42433130850754514 0.08807514577037141"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_34.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="button_6"> | |
| <origin xyz="-0.2327771832016994 -0.42433130850754514 0.08807514577037141"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_35.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.2327771832016994 -0.42433130850754514 0.08807514577037141"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_33.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.2327771832016994 -0.42433130850754514 0.08807514577037141"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_34.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.2327771832016994 -0.42433130850754514 0.08807514577037141"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_35.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_5" type="prismatic"> | |
| <origin xyz="0.2327771832016994 0.42433130850754514 -0.08807514577037141"/> | |
| <axis xyz="-0.03565079446701932 -0.18431477263845827 -0.9822204871825388"/> | |
| <child link="link_5"/> | |
| <parent link="link_9"/> | |
| <limit lower="0" upper="0.0040000000000000036"/> | |
| </joint> | |
| <link name="link_6"> | |
| <visual name="button_7"> | |
| <origin xyz="-0.18792519812181785 -0.43450764936736525 0.07856235507666556"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_40.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="button_7"> | |
| <origin xyz="-0.18792519812181785 -0.43450764936736525 0.07856235507666556"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_39.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="button_7"> | |
| <origin xyz="-0.18792519812181785 -0.43450764936736525 0.07856235507666556"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_38.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.18792519812181785 -0.43450764936736525 0.07856235507666556"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_40.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.18792519812181785 -0.43450764936736525 0.07856235507666556"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_39.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.18792519812181785 -0.43450764936736525 0.07856235507666556"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_38.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_6" type="prismatic"> | |
| <origin xyz="0.18792519812181785 0.43450764936736525 -0.07856235507666556"/> | |
| <axis xyz="-0.04316763294892718 -0.1596479304816682 -0.9862297368050242"/> | |
| <child link="link_6"/> | |
| <parent link="link_9"/> | |
| <limit lower="0" upper="0.0040000000000000036"/> | |
| </joint> | |
| <link name="link_7"> | |
| <visual name="button_8"> | |
| <origin xyz="-0.1786271017697907 -0.384751300227177 0.15691807770261884"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_48.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="button_8"> | |
| <origin xyz="-0.1786271017697907 -0.384751300227177 0.15691807770261884"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_50.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="button_8"> | |
| <origin xyz="-0.1786271017697907 -0.384751300227177 0.15691807770261884"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_49.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.1786271017697907 -0.384751300227177 0.15691807770261884"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_48.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.1786271017697907 -0.384751300227177 0.15691807770261884"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_50.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.1786271017697907 -0.384751300227177 0.15691807770261884"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_49.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_7" type="prismatic"> | |
| <origin xyz="0.1786271017697907 0.384751300227177 -0.15691807770261884"/> | |
| <axis xyz="-0.036063342924578044 -0.3629964107870802 -0.9310923912549183"/> | |
| <child link="link_7"/> | |
| <parent link="link_9"/> | |
| <limit lower="0" upper="0.0040000000000000036"/> | |
| </joint> | |
| <link name="link_8"> | |
| <visual name="button_9"> | |
| <origin xyz="-0.013725999999999999 -0.424847460063829 0.12910716439356318"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_13.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="button_9"> | |
| <origin xyz="-0.013725999999999999 -0.424847460063829 0.12910716439356318"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_14.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.013725999999999999 -0.424847460063829 0.12910716439356318"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_13.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.013725999999999999 -0.424847460063829 0.12910716439356318"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_14.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_8" type="continuous"> | |
| <origin xyz="0.013725999999999999 0.424847460063829 -0.12910716439356318"/> | |
| <axis xyz="0 -0.29076124136048176 -0.9567956419855349"/> | |
| <child link="link_8"/> | |
| <parent link="link_9"/> | |
| </joint> | |
| <link name="link_9"> | |
| <visual name="base_body_10"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_4.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_10"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_3.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_10"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_8.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_10"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_9.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_10"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_5.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_10"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_6.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_10"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_11.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_10"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_7.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_10"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_1.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="base_body_10"> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_10.obj"/> | |
| </geometry> | |
| </visual> | |
| <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_3.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_9.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_11.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_1.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_10.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> | |