Download PartNetMobility/WashingMachine/103778/mobility.urdf from sdasfdsafg5asdf/Ladder-assets: direct link, hf CLI and curl.
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- Download file 17.4 kB
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https://huggingface.co/datasets/sdasfdsafg5asdf/Ladder-assets/resolve/main/PartNetMobility/WashingMachine/103778/mobility.urdf
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hf download hf://datasets/sdasfdsafg5asdf/Ladder-assets/PartNetMobility/WashingMachine/103778/mobility.urdf
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curl -L -o mobility.urdf https://huggingface.co/datasets/sdasfdsafg5asdf/Ladder-assets/resolve/main/PartNetMobility/WashingMachine/103778/mobility.urdf
17.4 kB
| <robot name="partnet_62e22f4d1846d8c1fdc6c1669e5c540"> | |
| <link name="base"/> | |
| <link name="link_0"> | |
| <visual name="door_1"> | |
| <origin xyz="0.3505438306555218 0 -0.6806900316849398"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_31.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="door_1"> | |
| <origin xyz="0.3505438306555218 0 -0.6806900316849398"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_28.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="door_1"> | |
| <origin xyz="0.3505438306555218 0 -0.6806900316849398"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_17.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="door_1"> | |
| <origin xyz="0.3505438306555218 0 -0.6806900316849398"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_15.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="0.3505438306555218 0 -0.6806900316849398"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_31.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0.3505438306555218 0 -0.6806900316849398"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_28.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0.3505438306555218 0 -0.6806900316849398"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_17.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0.3505438306555218 0 -0.6806900316849398"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_15.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_0" type="revolute"> | |
| <origin xyz="-0.3505438306555218 0 0.6806900316849398"/> | |
| <axis xyz="0 -1 0"/> | |
| <child link="link_0"/> | |
| <parent link="link_8"/> | |
| <limit lower="-0.0" upper="1.8975219627682356"/> | |
| </joint> | |
| <link name="link_1"> | |
| <visual name="button_2"> | |
| <origin xyz="0.1254727105552122 -0.46922082066593773 0.007191497597979165"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_37.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="button_2"> | |
| <origin xyz="0.1254727105552122 -0.46922082066593773 0.007191497597979165"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_9.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="0.1254727105552122 -0.46922082066593773 0.007191497597979165"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_37.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0.1254727105552122 -0.46922082066593773 0.007191497597979165"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_9.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_1" type="prismatic"> | |
| <origin xyz="-0.1254727105552122 0.46922082066593773 -0.007191497597979165"/> | |
| <axis xyz="0.057221323792074306 0 -0.9983615177396826"/> | |
| <child link="link_1"/> | |
| <parent link="link_8"/> | |
| <limit lower="0" upper="0.0020000000000000035"/> | |
| </joint> | |
| <link name="link_2"> | |
| <visual name="button_3"> | |
| <origin xyz="0.07681543618556444 -0.4700815299895653 0.004343945367298942"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_36.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="button_3"> | |
| <origin xyz="0.07681543618556444 -0.4700815299895653 0.004343945367298942"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_7.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="0.07681543618556444 -0.4700815299895653 0.004343945367298942"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_36.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="0.07681543618556444 -0.4700815299895653 0.004343945367298942"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_7.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_2" type="prismatic"> | |
| <origin xyz="-0.07681543618556444 0.4700815299895653 -0.004343945367298942"/> | |
| <axis xyz="0.05646021769965069 0 -0.9984048496563447"/> | |
| <child link="link_2"/> | |
| <parent link="link_8"/> | |
| <limit lower="0" upper="0.0020000000000000035"/> | |
| </joint> | |
| <link name="link_3"> | |
| <visual name="button_4"> | |
| <origin xyz="0.026295263185476956 -0.4705311323852867 0.0014205888183748611"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_35.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="button_4"> | |
| <origin xyz="0.026295263185476956 -0.4705311323852867 0.0014205888183748611"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_5.obj"/> | |
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| </visual> | |
| <collision> | |
| <origin xyz="0.026295263185476956 -0.4705311323852867 0.0014205888183748611"/> | |
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| <mesh filename="textured_objs/original_35.obj"/> | |
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| <collision> | |
| <origin xyz="0.026295263185476956 -0.4705311323852867 0.0014205888183748611"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_5.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_3" type="prismatic"> | |
| <origin xyz="-0.026295263185476956 0.4705311323852867 -0.0014205888183748611"/> | |
| <axis xyz="0.056956749082280156 0.00016876671139097167 -0.9983766324648106"/> | |
| <child link="link_3"/> | |
| <parent link="link_8"/> | |
| <limit lower="0" upper="0.0020000000000000035"/> | |
| </joint> | |
| <link name="link_4"> | |
| <visual name="button_5"> | |
| <origin xyz="-0.025673077525130164 -0.47040859730475854 -0.0014714584114564418"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_34.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="button_5"> | |
| <origin xyz="-0.025673077525130164 -0.47040859730475854 -0.0014714584114564418"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_4.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="-0.025673077525130164 -0.47040859730475854 -0.0014714584114564418"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_34.obj"/> | |
| </geometry> | |
| </collision> | |
| <collision> | |
| <origin xyz="-0.025673077525130164 -0.47040859730475854 -0.0014714584114564418"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_4.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_4" type="prismatic"> | |
| <origin xyz="0.025673077525130164 0.47040859730475854 0.0014714584114564418"/> | |
| <axis xyz="0.05722132379207521 0 -0.9983615177396826"/> | |
| <child link="link_4"/> | |
| <parent link="link_8"/> | |
| <limit lower="0" upper="0.0020000000000000035"/> | |
| </joint> | |
| <link name="link_5"> | |
| <visual name="button_6"> | |
| <origin xyz="0.10969627580945299 -0.4090461987727474 0.0062338618710563645"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_11.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="0.10969627580945299 -0.4090461987727474 0.0062338618710563645"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_11.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_5" type="prismatic"> | |
| <origin xyz="-0.10969627580945299 0.4090461987727474 -0.0062338618710563645"/> | |
| <axis xyz="0.05671033450071591 -7.1308825345771066e-06 -0.9983906739898802"/> | |
| <child link="link_5"/> | |
| <parent link="link_8"/> | |
| <limit lower="0" upper="0.0020000000000000035"/> | |
| </joint> | |
| <link name="link_6"> | |
| <visual name="button_7"> | |
| <origin xyz="0.038726023511953006 -0.40904404153236845 0.0022069225049517675"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_8.obj"/> | |
| </geometry> | |
| </visual> | |
| <collision> | |
| <origin xyz="0.038726023511953006 -0.40904404153236845 0.0022069225049517675"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_8.obj"/> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="joint_6" type="prismatic"> | |
| <origin xyz="-0.038726023511953006 0.40904404153236845 -0.0022069225049517675"/> | |
| <axis xyz="0.05678819114138993 -1.0219296854522412e-05 -0.9983862485243148"/> | |
| <child link="link_6"/> | |
| <parent link="link_8"/> | |
| <limit lower="0" upper="0.0020000000000000035"/> | |
| </joint> | |
| <link name="link_7"> | |
| <visual name="button_8"> | |
| <origin xyz="-0.10361798531120239 -0.41190382455618996 -0.00589765830153544"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_6.obj"/> | |
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| </visual> | |
| <visual name="button_8"> | |
| <origin xyz="-0.10361798531120239 -0.41190382455618996 -0.00589765830153544"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_33.obj"/> | |
| </geometry> | |
| </visual> | |
| <visual name="button_8"> | |
| <origin xyz="-0.10361798531120239 -0.41190382455618996 -0.00589765830153544"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_10.obj"/> | |
| </geometry> | |
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| <collision> | |
| <origin xyz="-0.10361798531120239 -0.41190382455618996 -0.00589765830153544"/> | |
| <geometry> | |
| <mesh filename="textured_objs/original_6.obj"/> | |
| </geometry> | |
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| <origin xyz="-0.10361798531120239 -0.41190382455618996 -0.00589765830153544"/> | |
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| <mesh filename="textured_objs/original_33.obj"/> | |
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| <geometry> | |
| <mesh filename="textured_objs/original_10.obj"/> | |
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| </link> | |
| <joint name="joint_7" type="continuous"> | |
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| <axis xyz="-0.05682535370526588 0 0.9983841340767948"/> | |
| <child link="link_7"/> | |
| <parent link="link_8"/> | |
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| <link name="link_8"> | |
| <visual name="base_body_9"> | |
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| <mesh filename="textured_objs/original_29.obj"/> | |
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| <visual name="base_body_9"> | |
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| <origin xyz="0 0 0"/> | |
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| <mesh filename="textured_objs/original_44.obj"/> | |
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| <visual name="base_body_9"> | |
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| <origin xyz="0 0 0"/> | |
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| <origin xyz="0 0 0"/> | |
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| <origin xyz="0 0 0"/> | |
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| <visual name="base_body_9"> | |
| <origin xyz="0 0 0"/> | |
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| <visual name="base_body_9"> | |
| <origin xyz="0 0 0"/> | |
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| <mesh filename="textured_objs/original_20.obj"/> | |
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| <visual name="base_body_9"> | |
| <origin xyz="0 0 0"/> | |
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| <mesh filename="textured_objs/original_32.obj"/> | |
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| <visual name="base_body_9"> | |
| <origin xyz="0 0 0"/> | |
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| <visual name="base_body_9"> | |
| <origin xyz="0 0 0"/> | |
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| <mesh filename="textured_objs/original_14.obj"/> | |
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| <visual name="base_body_9"> | |
| <origin xyz="0 0 0"/> | |
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| <mesh filename="textured_objs/original_19.obj"/> | |
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| <visual name="base_body_9"> | |
| <origin xyz="0 0 0"/> | |
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| <visual name="base_body_9"> | |
| <origin xyz="0 0 0"/> | |
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| <origin xyz="0 0 0"/> | |
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| </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_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> | |
| </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> | |