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tapered edges blue character case used for storing small school supplies", + "blue character case for holding pens and pencils tasks", + "silver-gray lid object used for holding pens and pencils", + "Doraemon pencil case with glossy finish body", + "blue character case with smooth molded surface body", + "white and red Doraemon face slightly tapered edges cartoon pencil box used for storing small school supplies" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/pencil_case/00000/grasps/proposal.json b/Assets/Object/RoboDojo/Clutter/pencil_case/00000/grasps/proposal.json new file mode 100644 index 0000000000000000000000000000000000000000..2560b22426564b97a86f2bd275d145b44dad8354 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/pencil_case/00000/grasps/proposal.json @@ -0,0 +1,1205 @@ +{ + "uuid": "37039d51-724a-42d9-aa33-18d8d8d2cde7", + "grasp": [ + [ + [ + -0.044227200657331774, + -0.12662147934361392, + -0.0011989162525999984, + 0.5061353377520915, + 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teeth", + "Marvis toothpaste ideal for brushing teeth", + "flat back-shaped mint toothpaste tube", + "tapered rectangular tube standard toothpaste tube Marvis toothpaste", + "Marvis toothpaste appropriate for freshening breath use", + "mint toothpaste tube for delivering fluoride gel tasks", + "mint toothpaste tube appropriate for brushing teeth use", + "Marvis toothpaste for delivering fluoride gel", + "mint toothpaste tube for brushing teeth activities", + "bright green label mint toothpaste tube used for delivering fluoride gel", + "green Marvis with green cap exterior", + "about 6 inches tall bright green label plastic cap Marvis toothpaste", + "silver metallic handheld plastic cap object", + "about 6 inches tall flexible aluminum tube tapered rectangular tube for delivering fluoride gel", + "green cap tapered rectangular tube green Marvis used for freshening breath", + "green Marvis with plastic cap surface", + "plastic cap green Marvis used for freshening breath", + "flexible aluminum tube object for delivering fluoride gel", + "Marvis toothpaste for freshening breath use", + "green Marvis with tapered rectangular tube geometry", + "standard toothpaste tube Marvis toothpaste for delivering fluoride gel", + "tapered rectangular tube green Marvis for delivering fluoride gel", + "handheld bright green label object for brushing teeth", + "green Marvis for delivering fluoride gel use", + "flexible aluminum tube bright green label green Marvis", + "green cap glossy printed film Marvis toothpaste", + "standard toothpaste tube silver metallic crimped top object", + "green Marvis in handheld", + "green Marvis in crimped top", + "flat back mint toothpaste tube for brushing teeth", + "mint toothpaste tube with tapered rectangular tube geometry", + "freshening breath use of green Marvis", + "plastic cap Marvis toothpaste suitable for brushing teeth", + "standard toothpaste tube bright green label mint toothpaste tube", + "about 6 inches tall flat back green Marvis", + "mint toothpaste tube with standard toothpaste tube dimensions", + "plastic cap mint toothpaste tube suitable for brushing teeth", + "green Marvis optimized for brushing teeth", + "bright green label standard toothpaste tube glossy printed film object", + "bright green label flexible aluminum tube tapered rectangular tube object", + "handheld Marvis toothpaste for brushing teeth" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/toothpaste/00001/grasps/proposal.json b/Assets/Object/RoboDojo/Clutter/toothpaste/00001/grasps/proposal.json new file mode 100644 index 0000000000000000000000000000000000000000..eb109295c601e52c11304f1d318db51a03467f5b --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/toothpaste/00001/grasps/proposal.json @@ -0,0 +1,1205 @@ +{ + "uuid": "fc610a04-ea64-436e-bbfe-bdbfa2599ed5", + "grasp": [ + [ + [ + -0.1002131007960669, + -0.023238697010706147, + -0.02850692229269287, + 0.5513262287769227, + -0.5515404940562108, + 0.45488648200085, 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matte gray stainless steel look four-slot toast holder", + "bread rack featuring heavy-duty metal build", + "toast rack colored matte gray", + "fits four slices curved top edges object", + "tabletop scale slight sheen flat base with raised dividers object", + "dark metallic fits four slices U-shaped slots in a row bread rack", + "four-slot toast holder commonly used for keeping toast warm and crisp", + "curved top edges four-slot toast holder ideal for holding toasted bread upright", + "keeping toast warm and crisp use of four-slot toast holder", + "four-slot toast holder for serving multiple slices neatly use", + "tabletop scale object used for serving multiple slices neatly", + "heavy-duty metal object for keeping toast warm and crisp", + "flat base with raised dividers bread rack ideal for holding toasted bread upright" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Geometry/bread_shelf/00000/grasps/proposal.json 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+ ], + "shape": [ + "cylindrical body", + "flat tail cap", + "slightly tapered head" + ], + "function": [ + "illuminating dark areas", + "emergency signaling", + "close-range task lighting" + ] + }, + "description": [ + "palm-sized tactical light used for illuminating dark areas", + "LED torch commonly found in palm-sized size", + "matte black LED torch suitable for close-range task lighting", + "dark gray accents palm-sized LED torch for illuminating dark areas", + "LED torch designed for emergency signaling", + "dark gray accents rubberized grip LED torch", + "palm-sized brushed aluminum LED torch", + "tactical light suitable for close-range task lighting", + "palm-sized LED torch perfect for close-range task lighting", + "tactical light with flat tail cap profile", + "brushed aluminum flat tail cap for close-range task lighting", + "tactical light with matte black exterior", + "slim profile brushed aluminum object", + "flashlight commonly featuring rubberized grip", + "dark gray accents brushed aluminum LED torch", + "dark gray accents tactical light designed for illuminating dark areas", + "LED torch built from rubberized grip", + "slightly tapered head flashlight used for emergency signaling", + "matte black brushed aluminum flat tail cap tactical light", + "about 4 inches long LED torch used for emergency signaling", + "about 4 inches long flat tail cap object", + "matte black rubberized grip flat tail cap object", + "tactical light with dark gray accents exterior", + "about 4 inches long matte black object for illuminating dark areas", + "about 4 inches long object used for emergency signaling", + "LED torch primarily used for emergency signaling", + "matte black rubberized grip tactical light", + "flashlight in matte black", + "brushed aluminum tactical light used for illuminating dark areas", + "palm-sized flat tail cap object for close-range task lighting", + "LED torch ideal for emergency signaling", + "LED torch commonly used for close-range task lighting", + "slim profile matte black flat tail cap for emergency signaling", + "flat tail cap LED torch used for illuminating dark areas", + "rubberized grip matte black flashlight", + "flat tail cap rubberized grip LED torch for emergency signaling", + "brushed aluminum tactical light", + "LED torch commonly used for emergency signaling", + "tactical light intended for emergency signaling usage", + "flashlight suitable for emergency signaling", + "tactical light in slightly tapered head", + "flat tail cap brushed aluminum flashlight for close-range task lighting", + "tactical light featuring brushed aluminum build", + "flashlight with flat tail cap geometry", + "flashlight in slim profile", + "matte black brushed aluminum cylindrical body object", + "tactical light for illuminating dark areas", + "matte black object used for close-range task lighting", + "flashlight in cylindrical body form", + "matte black object used for emergency signaling", + "about 4 inches long brushed aluminum tactical light for emergency signaling", + "tactical light for close-range task lighting", + "flashlight for emergency signaling", + "slim profile rubberized grip object", + "matte black rubberized grip slightly tapered head object", + "matte black slightly tapered head object for close-range task lighting", + "flashlight in cylindrical body", + "flat tail cap brushed aluminum object for emergency signaling", + "LED torch for close-range task lighting with rubberized grip", + "brushed aluminum LED torch for emergency signaling", + "matte black cylindrical body object for close-range task lighting", + "LED torch in slightly tapered head", + "cylindrical body object made of rubberized grip", + "LED torch built from brushed aluminum", + "brushed aluminum tactical light used for emergency signaling", + "palm-sized tactical light used for emergency signaling", + "slim profile rubberized grip tactical light for emergency signaling", + "slim profile rubberized grip flat tail cap for close-range task lighting", + "rubberized grip tactical light for close-range task lighting", + "dark gray accents rubberized grip cylindrical body object", + "slightly tapered head LED torch ideal for illuminating dark areas", + "slightly tapered head object used for illuminating dark areas", + "slim profile brushed aluminum LED torch for emergency signaling", + "matte black rubberized grip flashlight", + "brushed aluminum tactical light suitable for emergency signaling", + "rubberized grip object used for illuminating dark areas", + "about 4 inches long rubberized grip tactical light for emergency signaling", + "matte black flat tail cap object for close-range task lighting", + "flashlight made from brushed aluminum", + "flat tail cap brushed aluminum object for illuminating dark areas", + "rubberized grip slightly tapered head object used for illuminating dark areas", + "tactical light appropriate for illuminating dark areas", + "flat tail cap object made of rubberized grip", + "LED torch optimized for emergency signaling", + "illuminating dark areas with tactical light", + "brushed aluminum cylindrical body for close-range task lighting", + "flat tail cap slim profile LED torch", + "LED torch for close-range task lighting activities", + "about 4 inches long cylindrical body object for emergency signaling", + "matte black flat tail cap tactical light used for close-range task lighting", + "palm-sized slightly tapered head object for illuminating dark areas", + "rubberized grip slightly tapered head LED torch", + "LED torch with flat tail cap profile", + "matte black brushed aluminum slightly tapered head LED torch", + "dark gray accents brushed aluminum flat tail cap LED torch", + "tactical light for emergency signaling use", + "palm-sized brushed aluminum slightly tapered head for illuminating dark areas", + "brushed aluminum tactical light suitable for close-range task lighting", + "flashlight for close-range task lighting", + "about 4 inches long dark gray accents flat tail cap for illuminating dark areas" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Geometry/cup_holder/00001/grasps/proposal.json b/Assets/Object/RoboDojo/Geometry/cup_holder/00001/grasps/proposal.json new file mode 100644 index 0000000000000000000000000000000000000000..3f5e86b22f792699eb1073f50c5aac9404accac0 --- /dev/null +++ b/Assets/Object/RoboDojo/Geometry/cup_holder/00001/grasps/proposal.json @@ -0,0 +1,1205 @@ +{ + "uuid": "91828091-73e4-4189-a01a-6fbc4dbf9359", + "grasp": [ + [ + [ + -0.05829659064048088, + -0.1265426078244172, + -0.16481107779348292, + 0.6456752189445766, + -0.3631608325271313, + 0.5430951684706014, + 0.3953041352464749 + ], + 0.9632480144500732 + ], + [ + [ + -0.0006123376705602407, + -0.14690280942163095, + -0.17816212334239878, + 0.5573020805351698, + -0.4610682435353655, + 0.38744273330765844, + 0.5715930320092036 + ], + 0.9611532092094421 + ], + [ + [ + -0.04394123290413177, + -0.1404268988772355, + 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desktop headphone rack used for holding headphones upright", + "desktop headphone rack colored black matte stem", + "headset stand commonly featuring brushed aluminum" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Geometry/headset_stand/00000/grasps/proposal.json b/Assets/Object/RoboDojo/Geometry/headset_stand/00000/grasps/proposal.json new file mode 100644 index 0000000000000000000000000000000000000000..c07292d45343d49785516cd4ef8f777cd8cd3c54 --- /dev/null +++ b/Assets/Object/RoboDojo/Geometry/headset_stand/00000/grasps/proposal.json @@ -0,0 +1,1205 @@ +{ + "uuid": "1d22fe73-b354-4b30-9ec4-8b70dc233cde", + "grasp": [ + [ + [ + 0.1763057756237712, + 0.006790545013485902, + -0.12701384918141537, + 0.09876167649856628, + 0.7026661984688379, + 0.0688178457493479, + -0.7012634661031207 + ], + 0.9713984131813049 + ], + [ + [ + 0.17213304815814162, + 0.014874022804419004, + -0.12382683352875881, + 0.11306666737017988, + 0.7120556127637768, + 0.07903334553729247, + 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frames", + "T-shaped bracket with non-reflective finish surface", + "two flat arms intersecting at 90 degrees smooth polymer object for reinforcing right-angle connections", + "small handheld smooth polymer L-bracket for joining perpendicular surfaces", + "dark charcoal shadow compact T-shaped bracket for reinforcing right-angle connections", + "L-bracket for mounting panels or frames with non-reflective finish", + "L-bracket with solid plastic body", + "L-bracket commonly found in small handheld size", + "roughly palm-sized object used for mounting panels or frames", + "two flat arms intersecting at 90 degrees corner connector used for mounting panels or frames", + "L-bracket in symmetrical cross-section profile form", + "T-shaped bracket commonly found in roughly palm-sized size", + "T-shaped bracket with two flat arms intersecting at 90 degrees geometry", + "L-bracket sized as small handheld", + "small handheld symmetrical cross-section profile object for mounting panels or frames", + "corner connector with roughly palm-sized dimensions", + "dark charcoal shadow two flat arms intersecting at 90 degrees object for mounting panels or frames", + "corner connector featuring non-reflective finish build", + "dark charcoal shadow smooth polymer L-bracket", + "solid plastic object for joining perpendicular surfaces", + "T-shaped bracket for mounting panels or frames", + "corner connector for mounting panels or frames use", + "T-shaped bracket built from non-reflective finish", + "small handheld non-reflective finish object", + "smooth polymer corner connector", + "corner connector appropriate for mounting panels or frames use", + "T-shape with right-angle joint T-shaped bracket ideal for mounting panels or frames", + "small handheld object used for reinforcing right-angle connections", + "L-bracket sized as compact", + "L-bracket colored matte black", + "L-bracket with two flat arms intersecting at 90 degrees geometry", + "corner connector in two flat arms intersecting at 90 degrees form", + "T-shaped bracket primarily used for reinforcing right-angle connections", + "dark charcoal shadow object used for joining perpendicular surfaces", + "L-bracket featuring smooth polymer build", + "matte black T-shape with right-angle joint corner connector used for mounting panels or frames", + "dark charcoal shadow corner connector suitable for reinforcing right-angle connections", + "roughly palm-sized corner connector for reinforcing right-angle connections", + "matte black small handheld two flat arms intersecting at 90 degrees L-bracket", + "matte black T-shaped bracket suitable for joining perpendicular surfaces", + "corner connector shaped like a T-shape with right-angle joint", + "roughly palm-sized two flat arms intersecting at 90 degrees corner connector", + "L-bracket ideal for mounting panels or frames", + "matte black object used for mounting panels or frames", + "dark charcoal shadow compact T-shape with right-angle joint corner connector", + "L-bracket for mounting panels or frames scenarios", + "symmetrical cross-section profile object made of solid plastic", + "corner connector in symmetrical cross-section profile", + "symmetrical cross-section profile T-shaped bracket for reinforcing right-angle connections", + "T-shaped bracket featuring symmetrical cross-section profile shape", + "L-bracket optimized for joining perpendicular surfaces", + "compact dark charcoal shadow T-shape with right-angle joint object", + "corner connector with two flat arms intersecting at 90 degrees profile", + "dark charcoal shadow object used for reinforcing right-angle connections", + "solid plastic corner connector", + "dark charcoal shadow L-bracket designed for reinforcing right-angle connections", + "smooth polymer corner connector used for reinforcing right-angle connections", + "corner connector made of solid plastic", + "matte black smooth polymer L-bracket", + "L-bracket with matte black exterior", + "solid plastic T-shape with right-angle joint for joining perpendicular surfaces", + "L-bracket in two flat arms intersecting at 90 degrees", + "T-shaped bracket sized small handheld", + "matte black object used for reinforcing right-angle connections", + "L-bracket appropriate for mounting panels or frames use", + "small handheld T-shaped bracket for joining perpendicular surfaces", + "T-shaped bracket in matte black", + "corner connector for reinforcing right-angle connections tasks", + "compact non-reflective finish corner connector for joining perpendicular surfaces", + "T-shape with right-angle joint-shaped T-shaped bracket", + "small handheld object used for mounting panels or frames", + "L-bracket in two flat arms intersecting at 90 degrees form", + "matte black L-bracket used for reinforcing right-angle connections", + "compact matte black smooth polymer T-shape with right-angle joint object", + "symmetrical cross-section profile smooth polymer corner connector for reinforcing right-angle connections", + "dark charcoal shadow T-shaped bracket for joining perpendicular surfaces", + "T-shaped bracket in symmetrical cross-section profile", + "two flat arms intersecting at 90 degrees solid plastic L-bracket for reinforcing right-angle connections", + "L-bracket with smooth polymer surface", + "L-bracket with solid plastic construction", + "matte black non-reflective finish symmetrical cross-section profile T-shaped bracket", + "T-shaped bracket built from smooth polymer", + "small handheld matte black non-reflective finish two flat arms intersecting at 90 degrees object", + "matte black smooth polymer two flat arms intersecting at 90 degrees object", + "roughly palm-sized dark charcoal shadow two flat arms intersecting at 90 degrees for reinforcing right-angle connections", + "corner connector commonly featuring non-reflective finish", + "matte black small handheld solid plastic object", + "L-bracket appropriate for joining perpendicular surfaces use", + "corner connector ideal for joining perpendicular surfaces", + "roughly palm-sized smooth polymer symmetrical cross-section profile for reinforcing right-angle connections", + "two flat arms intersecting at 90 degrees T-shaped bracket for mounting panels or frames" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Geometry/t_cushion/00000/grasps/UMI.json b/Assets/Object/RoboDojo/Geometry/t_cushion/00000/grasps/UMI.json new file mode 100644 index 0000000000000000000000000000000000000000..be173c44f5eec78b6ccfa2cfc2a4bd0f6bcfa2e0 --- /dev/null +++ b/Assets/Object/RoboDojo/Geometry/t_cushion/00000/grasps/UMI.json @@ -0,0 +1,320 @@ +{ + "uuid": "cc666fbe-ceed-4d5f-8224-175dcf6fb379", + "grasp": [ + [ + -0.0062, + -0.0032, + 0.0027, + 0.531, + -0.4402, + -0.5393, + -0.4831 + ], + [ + -0.0242, + -0.0111, + 0.0027, + 0.018, + 0.7092, + 0.0141, + 0.7046 + ], + [ + -0.0254, + 0.0045, + 0.0018, + 0.0152, + 0.6869, + 0.0044, + 0.7266 + ], + [ + -0.011, + -0.0066, + -0.003, + 0.364, + -0.618, + 0.3607, + 0.5962 + 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0000000000000000000000000000000000000000..c034d3faa67ebddd59debc796316b9478942fcc2 --- /dev/null +++ b/Assets/Object/RoboDojo/Rigid/.gitignore @@ -0,0 +1 @@ +**/.cache \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Rigid/format.py b/Assets/Object/RoboDojo/Rigid/format.py new file mode 100644 index 0000000000000000000000000000000000000000..8499aabd4913cbb6627c44ddd13bddfbbd543182 --- /dev/null +++ b/Assets/Object/RoboDojo/Rigid/format.py @@ -0,0 +1,61 @@ +from pathlib import Path +import json +import re + +name_uuid = {} +uuid_map = {} +for dir in Path(__file__).parent.iterdir(): + if not dir.is_dir(): + continue + + old_name = dir.name + new_name = re.sub(r'(?