Hugging Face's logo

Datasets:
sdasfdsafg5asdf
/
Ladder-assets

Modalities:
3D
Image
Text
Dataset card Data Studio Files
xet
 Community
Ladder-assets / PartNetMobility /WashingMachine /103508 /mobility.urdf
sdasfdsafg5asdf's picture
sdasfdsafg5asdf
Add files using upload-large-folder tool
39d5d7f verified
Raw History Blame Contribute Delete
22.3 kB
<?xml version="1.0" ?>
<robot name="partnet_uc5f2e411_5f8e_4b10_8393_75ce97e6e869">
<link name="base"/>
<link name="link_0">
<visual name="door_1">
<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
<geometry>
<mesh filename="textured_objs/original_71.obj"/>
</geometry>
</visual>
<visual name="door_1">
<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
<geometry>
<mesh filename="textured_objs/original_77.obj"/>
</geometry>
</visual>
<visual name="door_1">
<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
<geometry>
<mesh filename="textured_objs/original_76.obj"/>
</geometry>
</visual>
<visual name="door_1">
<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
<geometry>
<mesh filename="textured_objs/original_74.obj"/>
</geometry>
</visual>
<visual name="door_1">
<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
<geometry>
<mesh filename="textured_objs/original_75.obj"/>
</geometry>
</visual>
<visual name="door_1">
<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
<geometry>
<mesh filename="textured_objs/original_69.obj"/>
</geometry>
</visual>
<visual name="door_1">
<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
<geometry>
<mesh filename="textured_objs/original_70.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
<geometry>
<mesh filename="textured_objs/original_71.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
<geometry>
<mesh filename="textured_objs/original_77.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
<geometry>
<mesh filename="textured_objs/original_76.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
<geometry>
<mesh filename="textured_objs/original_74.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
<geometry>
<mesh filename="textured_objs/original_75.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
<geometry>
<mesh filename="textured_objs/original_69.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
<geometry>
<mesh filename="textured_objs/original_70.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_0" type="revolute">
<origin xyz="-0.31725487127900165 0.4720136235792426 0"/>
<axis xyz="0 0 1"/>
<child link="link_0"/>
<parent link="link_4"/>
<limit lower="-0.7916813487046281" upper="0.9236282401553991"/>
</joint>
<link name="link_1">
<visual name="button_2">
<origin xyz="-0.35865137673804465 -0.6424594150776 0.3078113164107364"/>
<geometry>
<mesh filename="textured_objs/original_60.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.35865137673804465 -0.6424594150776 0.3078113164107364"/>
<geometry>
<mesh filename="textured_objs/original_60.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_1" type="continuous">
<origin xyz="0.35865137673804465 0.6424594150776 -0.3078113164107364"/>
<axis xyz="0 -0.43208156565881944 -0.9018345306195718"/>
<child link="link_1"/>
<parent link="link_4"/>
</joint>
<link name="link_2">
<visual name="button_3">
<origin xyz="0.186749 -0.644492289115924 0.308778322577183"/>
<geometry>
<mesh filename="textured_objs/original_64.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.186749 -0.644492289115924 0.308778322577183"/>
<geometry>
<mesh filename="textured_objs/original_64.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_2" type="continuous">
<origin xyz="-0.186749 0.644492289115924 -0.308778322577183"/>
<axis xyz="0 -0.4320736342233448 -0.9018383306386082"/>
<child link="link_2"/>
<parent link="link_4"/>
</joint>
<link name="link_3">
<visual name="button_4">
<origin xyz="0.2893495 -0.644492289115924 0.308778322577183"/>
<geometry>
<mesh filename="textured_objs/original_56.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0.2893495 -0.644492289115924 0.308778322577183"/>
<geometry>
<mesh filename="textured_objs/original_56.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_3" type="continuous">
<origin xyz="-0.2893495 0.644492289115924 -0.308778322577183"/>
<axis xyz="0 -0.43207363422334477 -0.9018383306386082"/>
<child link="link_3"/>
<parent link="link_4"/>
</joint>
<link name="link_4">
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_29.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_21.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_30.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_36.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_41.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_28.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_43.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_52.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_22.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_26.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_4.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_3.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_65.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_33.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_44.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_16.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_8.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_13.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_9.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_45.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_35.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_61.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_39.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_59.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_5.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_63.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_27.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_51.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_55.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_50.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_6.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_31.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_37.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_48.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_15.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_72.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_23.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_66.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_67.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_11.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_38.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_34.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_18.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_25.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_17.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_73.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_12.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_42.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_24.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_20.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_32.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_47.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_53.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_7.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_1.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_10.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_14.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_19.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_40.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_46.obj"/>
</geometry>
</visual>
<visual name="base_body_5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_57.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_41.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_28.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_52.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_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_65.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_44.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_13.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_45.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_61.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_59.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_63.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_51.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_50.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_31.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_48.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_72.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_66.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_67.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_38.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_18.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_25.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_73.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_42.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_47.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_53.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>
<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_19.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_46.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_57.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_4" type="fixed">
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
<child link="link_4"/>
<parent link="base"/>
</joint>
</robot>