Hugging Face's logo

Datasets:
sdasfdsafg5asdf
/
Ladder-assets

Modalities:
3D
Image
Text
Dataset card Data Studio Files
xet
 Community
Ladder-assets / PartNetMobility /WashingMachine /103425 /mobility.urdf
sdasfdsafg5asdf's picture
sdasfdsafg5asdf
Add files using upload-large-folder tool
39b0bcd verified
Raw History Blame Contribute Delete
19.3 kB
<?xml version="1.0" ?>
<robot name="partnet_8b04de89_4f3f_45d8_8d7a_6bb5958e5340">
<link name="base"/>
<link name="link_0">
<visual name="door_1">
<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
<geometry>
<mesh filename="textured_objs/original_17.obj"/>
</geometry>
</visual>
<visual name="door_1">
<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
<geometry>
<mesh filename="textured_objs/original_11.obj"/>
</geometry>
</visual>
<visual name="door_1">
<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
<geometry>
<mesh filename="textured_objs/original_14.obj"/>
</geometry>
</visual>
<visual name="door_1">
<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
<geometry>
<mesh filename="textured_objs/original_16.obj"/>
</geometry>
</visual>
<visual name="door_1">
<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
<geometry>
<mesh filename="textured_objs/original_15.obj"/>
</geometry>
</visual>
<visual name="door_1">
<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
<geometry>
<mesh filename="textured_objs/original_12.obj"/>
</geometry>
</visual>
<visual name="door_1">
<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
<geometry>
<mesh filename="textured_objs/original_13.obj"/>
</geometry>
</visual>
<visual name="door_1">
<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
<geometry>
<mesh filename="textured_objs/original_18.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
<geometry>
<mesh filename="textured_objs/original_17.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
<geometry>
<mesh filename="textured_objs/original_11.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
<geometry>
<mesh filename="textured_objs/original_14.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
<geometry>
<mesh filename="textured_objs/original_16.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
<geometry>
<mesh filename="textured_objs/original_15.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
<geometry>
<mesh filename="textured_objs/original_12.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
<geometry>
<mesh filename="textured_objs/original_13.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
<geometry>
<mesh filename="textured_objs/original_18.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_0" type="revolute">
<origin xyz="-0.38394308453425735 0 0.493654347360135"/>
<axis xyz="0 -1 0"/>
<child link="link_0"/>
<parent link="link_9"/>
<limit lower="-0.0" upper="1.7090264035528477"/>
</joint>
<link name="link_1">
<visual name="button_2">
<origin xyz="-0.31767773921419673 -0.2682714258558344 0.14778308653198355"/>
<geometry>
<mesh filename="textured_objs/original_47.obj"/>
</geometry>
</visual>
<visual name="button_2">
<origin xyz="-0.31767773921419673 -0.2682714258558344 0.14778308653198355"/>
<geometry>
<mesh filename="textured_objs/original_46.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.31767773921419673 -0.2682714258558344 0.14778308653198355"/>
<geometry>
<mesh filename="textured_objs/original_47.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.31767773921419673 -0.2682714258558344 0.14778308653198355"/>
<geometry>
<mesh filename="textured_objs/original_46.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_1" type="prismatic">
<origin xyz="0.31767773921419673 0.2682714258558344 -0.14778308653198355"/>
<axis xyz="-0.08684480220010744 -0.3998161743444751 -0.9124719212465515"/>
<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="-0.2818228813899932 -0.3688154185906545 0.12702605967754443"/>
<geometry>
<mesh filename="textured_objs/original_50.obj"/>
</geometry>
</visual>
<visual name="button_3">
<origin xyz="-0.2818228813899932 -0.3688154185906545 0.12702605967754443"/>
<geometry>
<mesh filename="textured_objs/original_49.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.2818228813899932 -0.3688154185906545 0.12702605967754443"/>
<geometry>
<mesh filename="textured_objs/original_50.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.2818228813899932 -0.3688154185906545 0.12702605967754443"/>
<geometry>
<mesh filename="textured_objs/original_49.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_2" type="prismatic">
<origin xyz="0.2818228813899932 0.3688154185906545 -0.12702605967754443"/>
<axis xyz="-0.08389114127803196 -0.26658849421047365 -0.9601525145359261"/>
<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="-0.27733079936536126 -0.4187712621673818 0.09015500546935648"/>
<geometry>
<mesh filename="textured_objs/original_53.obj"/>
</geometry>
</visual>
<visual name="button_4">
<origin xyz="-0.27733079936536126 -0.4187712621673818 0.09015500546935648"/>
<geometry>
<mesh filename="textured_objs/original_52.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.27733079936536126 -0.4187712621673818 0.09015500546935648"/>
<geometry>
<mesh filename="textured_objs/original_53.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.27733079936536126 -0.4187712621673818 0.09015500546935648"/>
<geometry>
<mesh filename="textured_objs/original_52.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_3" type="prismatic">
<origin xyz="0.27733079936536126 0.4187712621673818 -0.09015500546935648"/>
<axis xyz="-0.025892270741828118 -0.19397490139656193 -0.9806647377896414"/>
<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="-0.1980649069448888 -0.3596410539860462 0.11705225285575382"/>
<geometry>
<mesh filename="textured_objs/original_56.obj"/>
</geometry>
</visual>
<visual name="button_5">
<origin xyz="-0.1980649069448888 -0.3596410539860462 0.11705225285575382"/>
<geometry>
<mesh filename="textured_objs/original_55.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.1980649069448888 -0.3596410539860462 0.11705225285575382"/>
<geometry>
<mesh filename="textured_objs/original_56.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.1980649069448888 -0.3596410539860462 0.11705225285575382"/>
<geometry>
<mesh filename="textured_objs/original_55.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_4" type="prismatic">
<origin xyz="0.1980649069448888 0.3596410539860462 -0.11705225285575382"/>
<axis xyz="-0.08309591294991464 -0.2667454715756602 -0.9601780681961546"/>
<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="-0.1846102132331198 -0.43863392073047763 0.07222839785642145"/>
<geometry>
<mesh filename="textured_objs/original_59.obj"/>
</geometry>
</visual>
<visual name="button_6">
<origin xyz="-0.1846102132331198 -0.43863392073047763 0.07222839785642145"/>
<geometry>
<mesh filename="textured_objs/original_58.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.1846102132331198 -0.43863392073047763 0.07222839785642145"/>
<geometry>
<mesh filename="textured_objs/original_59.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.1846102132331198 -0.43863392073047763 0.07222839785642145"/>
<geometry>
<mesh filename="textured_objs/original_58.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_5" type="prismatic">
<origin xyz="0.1846102132331198 0.43863392073047763 -0.07222839785642145"/>
<axis xyz="-0.04065334067879068 -0.14566281282898277 -0.9884986853053489"/>
<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="-0.35737505481025833 -0.39616727705539556 0.15958537506323675"/>
<geometry>
<mesh filename="textured_objs/original_62.obj"/>
</geometry>
</visual>
<visual name="button_7">
<origin xyz="-0.35737505481025833 -0.39616727705539556 0.15958537506323675"/>
<geometry>
<mesh filename="textured_objs/original_61.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.35737505481025833 -0.39616727705539556 0.15958537506323675"/>
<geometry>
<mesh filename="textured_objs/original_62.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.35737505481025833 -0.39616727705539556 0.15958537506323675"/>
<geometry>
<mesh filename="textured_objs/original_61.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_6" type="prismatic">
<origin xyz="0.35737505481025833 0.39616727705539556 -0.15958537506323675"/>
<axis xyz="-0.04318331230115594 -0.33953803707996705 -0.9396005124065141"/>
<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="-0.13848675496509236 -0.31128208139080893 0.16627863107294438"/>
<geometry>
<mesh filename="textured_objs/original_65.obj"/>
</geometry>
</visual>
<visual name="button_8">
<origin xyz="-0.13848675496509236 -0.31128208139080893 0.16627863107294438"/>
<geometry>
<mesh filename="textured_objs/original_64.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.13848675496509236 -0.31128208139080893 0.16627863107294438"/>
<geometry>
<mesh filename="textured_objs/original_65.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.13848675496509236 -0.31128208139080893 0.16627863107294438"/>
<geometry>
<mesh filename="textured_objs/original_64.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_7" type="prismatic">
<origin xyz="0.13848675496509236 0.31128208139080893 -0.16627863107294438"/>
<axis xyz="-0.08367543771551286 -0.4402954279531197 -0.893945388290972"/>
<child link="link_7"/>
<parent link="link_9"/>
<limit lower="0" upper="0.0020000000000000035"/>
</joint>
<link name="link_8">
<visual name="button_9">
<origin xyz="-0.0026934999999999997 -0.4207126754153561 0.1278276927252227"/>
<geometry>
<mesh filename="textured_objs/original_42.obj"/>
</geometry>
</visual>
<visual name="button_9">
<origin xyz="-0.0026934999999999997 -0.4207126754153561 0.1278276927252227"/>
<geometry>
<mesh filename="textured_objs/original_39.obj"/>
</geometry>
</visual>
<visual name="button_9">
<origin xyz="-0.0026934999999999997 -0.4207126754153561 0.1278276927252227"/>
<geometry>
<mesh filename="textured_objs/original_41.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.0026934999999999997 -0.4207126754153561 0.1278276927252227"/>
<geometry>
<mesh filename="textured_objs/original_42.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.0026934999999999997 -0.4207126754153561 0.1278276927252227"/>
<geometry>
<mesh filename="textured_objs/original_39.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.0026934999999999997 -0.4207126754153561 0.1278276927252227"/>
<geometry>
<mesh filename="textured_objs/original_41.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_8" type="continuous">
<origin xyz="0.0026934999999999997 0.4207126754153561 -0.1278276927252227"/>
<axis xyz="0 0.2907134619835902 0.9568101603878985"/>
<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_29.obj"/>
</geometry>
</visual>
<visual name="base_body_10">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_21.obj"/>
</geometry>
</visual>
<visual name="base_body_10">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_30.obj"/>
</geometry>
</visual>
<visual name="base_body_10">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_36.obj"/>
</geometry>
</visual>
<visual name="base_body_10">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_43.obj"/>
</geometry>
</visual>
<visual name="base_body_10">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_26.obj"/>
</geometry>
</visual>
<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_33.obj"/>
</geometry>
</visual>
<visual name="base_body_10">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_2.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_35.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_27.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_37.obj"/>
</geometry>
</visual>
<visual name="base_body_10">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_23.obj"/>
</geometry>
</visual>
<visual name="base_body_10">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_34.obj"/>
</geometry>
</visual>
<visual name="base_body_10">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_24.obj"/>
</geometry>
</visual>
<visual name="base_body_10">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_20.obj"/>
</geometry>
</visual>
<visual name="base_body_10">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_32.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_10.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_29.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_30.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_43.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_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_33.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_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_5.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_6.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_23.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_34.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_24.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_7.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>