diff --git a/.gitattributes b/.gitattributes index 3cb7f773f54bf394b0204b775f73163e5ae814fe..e9dc910642598fc226e567e63c3b4d2a3f6127eb 100644 --- a/.gitattributes +++ b/.gitattributes @@ -1310,3 +1310,64 @@ Assets/Room/Simple_Room_green/base0.usd filter=lfs diff=lfs merge=lfs -text Assets/Room/Simple_Room_green/SubUSDs/textures/abandoned_parking_4k.hdr filter=lfs diff=lfs merge=lfs -text Assets/Room/Simple_Room_nolight/simple_room_nolight.usd filter=lfs diff=lfs merge=lfs -text Assets/Room/Simple_Room_nolight/SubUSDs/textures/abandoned_parking_4k.hdr filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Articulation/toaster/00001/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Articulation/toaster/00004/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Articulation/toaster/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Articulation/toaster/00002/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Articulation/laptop/00001/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Articulation/laptop/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Articulation/laptop/00003/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Articulation/laptop/00002/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/can/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/house/00001/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/house/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/house/00002/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/candle/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/sandwich/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/screwdriver/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/key/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/shampoo/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/gamepad/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/bridge/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/kettle/00001/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/kettle/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/dog_toy/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/plate/00001/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/plate/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/trophy/00001/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/trophy/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/cutter/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/graphics_card/00001/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/graphics_card/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/stapler/00001/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/stapler/00004/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/stapler/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/stapler/00003/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/stapler/00002/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/darts_board/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/meta_quest/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/lamp/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/coffee_bag/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/plane/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/hammer/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/box/00001/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/box/00004/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/box/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/box/00003/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/box/00002/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/chinese_pavillion/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/power_bank/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/pokeball/00001/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/pokeball/00005/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/pokeball/00008/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/pokeball/00006/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/pokeball/00004/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/pokeball/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/pokeball/00007/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/pokeball/00003/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/pokeball/00002/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/toy/00001/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/toy/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/toy/00002/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/foosball_table/00000/object.usdz filter=lfs diff=lfs merge=lfs -text +Assets/Object/RoboDojo/Clutter/glasses/00001/object.usdz filter=lfs diff=lfs merge=lfs -text diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/arrange_largest_number_13.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/arrange_largest_number_13.json new file mode 100644 index 0000000000000000000000000000000000000000..8fb4d3b2a21e73df358c431a689204ab5a0897a9 --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/arrange_largest_number_13.json @@ -0,0 +1,601 @@ +{ + "Rigid": { + "number": [ + { + "category": "number", + "category_idx": 3, + "group": "texture0", + "xlim": [ + -0.4, + 0.4 + ], + "ylim": [ + -0.25, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 45, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.015, + "check_mode": "bbox", + "need_check_stable": true, + "label": "digit_0", + "default_pos": [ + 0.36114942549031936, + -0.1153940064286862, + 0.7728975275028648 + ], + "default_ori": [ + 0.9999693410038564, + 7.19738339407781e-05, + -0.00470046054968123, + -0.006262391132874873 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "size": [ + 0.035704944518354285, + 0.0508427371795506, + 0.016 + ], + "mass": 0.1, + "friction": 0.0, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "number", + "category_idx": 5, + "group": "texture0", + "xlim": [ + -0.4, + 0.4 + ], + "ylim": [ + -0.25, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 45, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.015, + "check_mode": "bbox", + "need_check_stable": true, + "label": "digit_1", + "default_pos": [ + 0.133042192425495, + -0.17390167978416193, + 0.7729028287988347 + ], + "default_ori": [ + 0.9269747444038943, + -0.0016685545399270098, + 0.0006752149655650244, + -0.37511942531390235 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "size": [ + 0.03459529872196014, + 0.05041107344995797, + 0.016 + ], + "mass": 0.1, + "friction": 0.0, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "number", + "category_idx": 4, + "group": "texture0", + "xlim": [ + -0.4, + 0.4 + ], + "ylim": [ + -0.25, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 45, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.015, + "check_mode": "bbox", + "need_check_stable": true, + "label": "digit_2", + "default_pos": [ + 0.2784329395480878, + -0.19431757708203676, + 0.7727792279035809 + ], + "default_ori": [ + 0.9858506275743533, + -0.008648771273280714, + -0.005220991401875573, + 0.1673214873096041 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "size": [ + 0.040207546072136204, + 0.049115408276670734, + 0.016 + ], + "mass": 0.1, + "friction": 0.0, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "number", + "category_idx": 2, + "group": "texture0", + "xlim": [ + -0.4, + 0.4 + ], + "ylim": [ + -0.25, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 45, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.015, + "check_mode": "bbox", + "need_check_stable": true, + "label": "digit_3", + "default_pos": [ + -0.07694067755892894, + -0.22629678706168296, + 0.772702266780354 + ], + "default_ori": [ + 0.9658779244791703, + -0.0001388725524340586, + 0.0024475862056724893, + 0.2589861483554486 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "size": [ + 0.03478703794145784, + 0.0481029599305475, + 0.015 + ], + "mass": 0.1, + "friction": 0.0, + "type": "rigid" + }, + "visual": {} + } + ] + }, + "Geometry": { + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ], + "cube_cushion": [ + { + "category": "cube_cushion", + "category_idx": 1, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.1, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.0, + "check_mode": "bbox", + "need_check_stable": true, + "label": "mat_0", + "symmetric_index": 0, + "symmetric_total": 4, + "dynamic_layout": { + "type": "x_symmetric_line", + "center": 0.0, + "spacing": 0.085 + }, + "shared_y": -0.06159944254236079, + "default_pos": [ + -0.12715943175506478, + -0.06117064010869697, + 0.7675 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.05, + "friction": 0.3, + "size": [ + 0.12, + 0.12, + 0.005 + ], + "type": "geometry" + }, + "visual": {} + }, + { + "category": "cube_cushion", + "category_idx": 1, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.1, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.0, + "check_mode": "bbox", + "need_check_stable": true, + "label": "mat_1", + "symmetric_index": 1, + "symmetric_total": 4, + "dynamic_layout": { + "type": "x_symmetric_line", + "center": 0.0, + "spacing": 0.085 + }, + "shared_y": -0.06159944254236079, + "default_pos": [ + -0.041976567759325734, + -0.0611548441437178, + 0.7675 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.05, + "friction": 0.3, + "size": [ + 0.12, + 0.12, + 0.005 + ], + "type": "geometry" + }, + "visual": {} + }, + { + "category": "cube_cushion", + "category_idx": 1, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.1, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.0, + "check_mode": "bbox", + "need_check_stable": true, + "label": "mat_2", + "symmetric_index": 2, + "symmetric_total": 4, + "dynamic_layout": { + "type": "x_symmetric_line", + "center": 0.0, + "spacing": 0.085 + }, + "shared_y": -0.06159944254236079, + "default_pos": [ + 0.042527111934029756, + -0.06250705081952106, + 0.7675 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.05, + "friction": 0.3, + "size": [ + 0.12, + 0.12, + 0.005 + ], + "type": "geometry" + }, + "visual": {} + }, + { + "category": "cube_cushion", + "category_idx": 1, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.1, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.0, + "check_mode": "bbox", + "need_check_stable": true, + "label": "mat_3", + "symmetric_index": 3, + "symmetric_total": 4, + "dynamic_layout": { + "type": "x_symmetric_line", + "center": 0.0, + "spacing": 0.085 + }, + "shared_y": -0.06159944254236079, + "default_pos": [ + 0.1274866336908602, + -0.060844638797876514, + 0.7675 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.05, + "friction": 0.3, + "size": [ + 0.12, + 0.12, + 0.005 + ], + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Room": { + "default": "Simple_Room_nolight", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0122", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0564", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/arrange_largest_number_8.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/arrange_largest_number_8.json new file mode 100644 index 0000000000000000000000000000000000000000..50f0bcfebf23cd7de3052c35e8b2d95640e843ff --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/arrange_largest_number_8.json @@ -0,0 +1,601 @@ +{ + "Rigid": { + "number": [ + { + "category": "number", + "category_idx": 1, + "group": "texture0", + "xlim": [ + -0.4, + 0.4 + ], + "ylim": [ + -0.25, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 45, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.015, + "check_mode": "bbox", + "need_check_stable": true, + "label": "digit_0", + "default_pos": [ + 0.009943707323206898, + -0.24615270900764144, + 0.7727029469805936 + ], + "default_ori": [ + 0.9995380749239035, + 0.00044412471221720747, + 0.019715655061944306, + 0.02312428325668777 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "size": [ + 0.021737104331394544, + 0.049513135089066886, + 0.015 + ], + "mass": 0.1, + "friction": 0.0, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "number", + "category_idx": 0, + "group": "texture0", + "xlim": [ + -0.4, + 0.4 + ], + "ylim": [ + -0.25, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 45, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.015, + "check_mode": "bbox", + "need_check_stable": true, + "label": "digit_1", + "default_pos": [ + 0.33160647328924575, + -0.10501485834059784, + 0.7718999522521657 + ], + "default_ori": [ + 0.9731018607214651, + -0.001713129805122497, + 0.0007246890813601497, + 0.2303677683019667 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "size": [ + 0.046281778219316116, + 0.05202684144750904, + 0.014 + ], + "mass": 0.1, + "friction": 0.0, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "number", + "category_idx": 9, + "group": "texture0", + "xlim": [ + -0.4, + 0.4 + ], + "ylim": [ + -0.25, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 45, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.015, + "check_mode": "bbox", + "need_check_stable": true, + "label": "digit_2", + "default_pos": [ + 0.11981401163641658, + -0.18528091134387156, + 0.7732239246271773 + ], + "default_ori": [ + 0.9445039898504771, + 0.0018923682032090153, + -0.004529719808828388, + 0.3284632608642357 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "size": [ + 0.038260609221882645, + 0.05015328651243527, + 0.017 + ], + "mass": 0.1, + "friction": 0.0, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "number", + "category_idx": 7, + "group": "texture0", + "xlim": [ + -0.4, + 0.4 + ], + "ylim": [ + -0.25, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 45, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.015, + "check_mode": "bbox", + "need_check_stable": true, + "label": "digit_3", + "default_pos": [ + -0.15729297798679293, + -0.2233325448464445, + 0.7728965898524592 + ], + "default_ori": [ + 0.9873889134401755, + 0.002438519325671176, + -0.004470229400330102, + 0.15823148955892596 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "size": [ + 0.03618808143497, + 0.05204950476736495, + 0.016 + ], + "mass": 0.1, + "friction": 0.0, + "type": "rigid" + }, + "visual": {} + } + ] + }, + "Geometry": { + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ], + "cube_cushion": [ + { + "category": "cube_cushion", + "category_idx": 1, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.1, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.0, + "check_mode": "bbox", + "need_check_stable": true, + "label": "mat_0", + "symmetric_index": 0, + "symmetric_total": 4, + "dynamic_layout": { + "type": "x_symmetric_line", + "center": 0.0, + "spacing": 0.085 + }, + "shared_y": -0.06217791873880487, + "default_pos": [ + -0.12756428152507693, + -0.06240739511446288, + 0.7675 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.05, + "friction": 0.3, + "size": [ + 0.12, + 0.12, + 0.005 + ], + "type": "geometry" + }, + "visual": {} + }, + { + "category": "cube_cushion", + "category_idx": 1, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.1, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.0, + "check_mode": "bbox", + "need_check_stable": true, + "label": "mat_1", + "symmetric_index": 1, + "symmetric_total": 4, + "dynamic_layout": { + "type": "x_symmetric_line", + "center": 0.0, + "spacing": 0.085 + }, + "shared_y": -0.06217791873880487, + "default_pos": [ + -0.043002126743821145, + -0.06316840418566566, + 0.7675 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.05, + "friction": 0.3, + "size": [ + 0.12, + 0.12, + 0.005 + ], + "type": "geometry" + }, + "visual": {} + }, + { + "category": "cube_cushion", + "category_idx": 1, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.1, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.0, + "check_mode": "bbox", + "need_check_stable": true, + "label": "mat_2", + "symmetric_index": 2, + "symmetric_total": 4, + "dynamic_layout": { + "type": "x_symmetric_line", + "center": 0.0, + "spacing": 0.085 + }, + "shared_y": -0.06217791873880487, + "default_pos": [ + 0.04199595368079447, + -0.0631194076957935, + 0.7675 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.05, + "friction": 0.3, + "size": [ + 0.12, + 0.12, + 0.005 + ], + "type": "geometry" + }, + "visual": {} + }, + { + "category": "cube_cushion", + "category_idx": 1, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.1, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.0, + "check_mode": "bbox", + "need_check_stable": true, + "label": "mat_3", + "symmetric_index": 3, + "symmetric_total": 4, + "dynamic_layout": { + "type": "x_symmetric_line", + "center": 0.0, + "spacing": 0.085 + }, + "shared_y": -0.06217791873880487, + "default_pos": [ + 0.1269994432419729, + -0.06132630718070655, + 0.7675 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.05, + "friction": 0.3, + "size": [ + 0.12, + 0.12, + 0.005 + ], + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Room": { + "default": "Simple_Room_nolight", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0122", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0564", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/arrange_largest_number_random_26.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/arrange_largest_number_random_26.json new file mode 100644 index 0000000000000000000000000000000000000000..d7ab986d4a62aad0e84b983ad15e31b1e10492ba --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/arrange_largest_number_random_26.json @@ -0,0 +1,1172 @@ +{ + "Rigid": { + "number": [ + { + "category": "number", + "category_idx": 37, + "group": "texture0", + "xlim": [ + -0.4, + 0.4 + ], + "ylim": [ + -0.25, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 45, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.015, + "check_mode": "bbox", + "need_check_stable": true, + "label": "digit_0", + "default_pos": [ + -0.15286880691638982, + -0.21160727397743037, + 0.7728965898524592 + ], + "default_ori": [ + 0.9415043072173407, + -1.635335619252316e-05, + -0.005092058519006695, + -0.3369624758987298 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "size": [ + 0.03618808143497, + 0.05204950476736495, + 0.016 + ], + "mass": 0.1, + "friction": 0.0, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "number", + "category_idx": 31, + "group": "texture0", + "xlim": [ + -0.4, + 0.4 + ], + "ylim": [ + -0.25, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 45, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.015, + "check_mode": "bbox", + "need_check_stable": true, + "label": "digit_1", + "default_pos": [ + 0.25250735328597945, + -0.05167467928667148, + 0.7727029469805936 + ], + "default_ori": [ + 0.9959400208690662, + -0.0008341235762609353, + 0.019703008377938074, + 0.0878326279354235 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "size": [ + 0.021737104331394544, + 0.049513135089066886, + 0.015 + ], + "mass": 0.1, + "friction": 0.0, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "number", + "category_idx": 34, + "group": "texture0", + "xlim": [ + -0.4, + 0.4 + ], + "ylim": [ + -0.25, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 45, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.015, + "check_mode": "bbox", + "need_check_stable": true, + "label": "digit_2", + "default_pos": [ + 0.17025704646533027, + -0.19663200273205858, + 0.7727792279035809 + ], + "default_ori": [ + 0.9611545245887303, + -0.00801509825954616, + -0.0061496500425475, + 0.2758258868686109 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "size": [ + 0.040207546072136204, + 0.049115408276670734, + 0.016 + ], + "mass": 0.1, + "friction": 0.0, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "number", + "category_idx": 38, + "group": "texture0", + "xlim": [ + -0.4, + 0.4 + ], + "ylim": [ + -0.25, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 45, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.015, + "check_mode": "bbox", + "need_check_stable": true, + "label": "digit_3", + "default_pos": [ + 0.3503742143572586, + -0.081862841626212, + 0.7724990821402562 + ], + "default_ori": [ + 0.9814400125025857, + -0.0025455520720629957, + 0.0036564695868786506, + -0.19171763678319456 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "size": [ + 0.039281093739460614, + 0.05374084970317967, + 0.015 + ], + "mass": 0.1, + "friction": 0.0, + "type": "rigid" + }, + "visual": {} + } + ], + "plane": [ + { + "category_idx": 0, + "physics": { + "type": "rigid", + "mass": 75000.0 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.30445095066053124, + 0.0028600251721679275, + 0.7602640105182119 + ], + "default_ori": [ + 0.9974525004009576, + -0.06685971717660785, + 0.002378828417022274, + -0.024751340131479643 + ] + } + ], + "minecraft_blocks": [ + { + "category_idx": 2, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.22666682870243138, + 0.37055727911903474, + 0.8049999792000057 + ], + "default_ori": [ + 0.9920064449451154, + -0.0004833683698037996, + 0.00016234207363846344, + -0.12618618461394301 + ] + } + ], + "box": [ + { + "category_idx": 4, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.4507828430037235, + 0.09844136513603075, + 0.7649 + ], + "default_ori": [ + 0.9988238933258666, + 0.0, + 0.0, + -0.04848535986623071 + ] + } + ], + "audio": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.0308201497066888, + 0.17336895325914176, + 0.7647990833806197 + ], + "default_ori": [ + 0.9990269432434963, + 0.00015369683116068814, + -0.0010081527872885048, + -0.04409225191343414 + ] + } + ], + "money_stack": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.49829145928767316, + 0.3372897521498983, + 0.7646982015706939 + ], + "default_ori": [ + 0.9999702365758882, + 0.0014954287944806378, + -0.0006112985429035202, + -0.0075442673053248135 + ] + } + ], + "bridge": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.43003200281053494, + 0.2133785921993985, + 0.7649997800026972 + ], + "default_ori": [ + 0.9992003446925669, + -9.993280443377945e-05, + -3.6485612922153275e-06, + 0.039983261077335554 + ] + } + ], + "garage": [ + { + "category_idx": 17, + "physics": { + "mass": 0.08, + "friction": 0.45, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.26955202268042794, + 0.1578153143026293, + 0.8221863761395345 + ], + "default_ori": [ + 0.9815325943984654, + -0.0017028017514174986, + -0.0003878248238268564, + -0.19128699953608724 + ] + } + ], + "dice": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.09338543168016666, + 0.07701755192222426, + 0.765 + ], + "default_ori": [ + 0.9674805034903112, + -0.0004897082590407286, + 0.00010100221286646247, + -0.2529451034325591 + ] + } + ], + "tissue": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.3635458331863523, + 0.04846366715112821, + 0.765 + ], + "default_ori": [ + 0.9997015314876005, + 0.0, + 0.0, + -0.024430471574370415 + ] + } + ], + "pencil_case": [ + { + "category_idx": 0, + "physics": { + "mass": 0.12, + "friction": 0.45, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.513994224865754, + 0.29116252036427037, + 0.7815 + ], + "default_ori": [ + 0.999924607134587, + 0.0, + 0.0, + 0.012279252694764395 + ] + } + ], + "cap": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.2693755010565197, + 0.2083749731699007, + 0.802797711173963 + ], + "default_ori": [ + 0.6989220821220906, + 0.7109725114585759, + 0.054235958165647, + 0.05553802223937414 + ] + } + ], + "ball": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.5302670830025636, + -0.06209709492522416, + 0.7647818013684299 + ], + "default_ori": [ + 0.9976199840083272, + 0.0007346367518931916, + -0.003458341288896646, + 0.06886122052067799 + ] + } + ], + "piano": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.3523828145163636, + -0.2480780046571401, + 0.7849067766106135 + ], + "default_ori": [ + 0.9925962338584671, + -0.0009561593516125094, + 0.0004192351443107326, + -0.12145627415319246 + ] + } + ], + "baseball_bat": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.1670310445610251, + -0.36561587608282453, + 0.7713263732154156 + ], + "default_ori": [ + -0.4931728484803392, + -0.5130254300478476, + 0.4801568988560768, + 0.5128691861741401 + ] + } + ], + "pokeball": [ + { + "category_idx": 7, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.5606995169841821, + 0.088652358316335, + 0.8047343578181123 + ], + "default_ori": [ + 0.9986941298754304, + 0.026493612513140877, + 0.027308212559121286, + 0.03409376739502899 + ] + } + ], + "scale": [ + { + "category_idx": 1, + "physics": { + "mass": 0.25, + "friction": 0.25, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.15340468292631615, + 0.261420051708814, + 0.7764003384861654 + ], + "default_ori": [ + 0.9682159282328042, + -0.002276802980540391, + 0.00038228170157485783, + -0.250105150577068 + ] + } + ], + "card": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.4814452935694116, + -0.44255857616667016, + 0.7673 + ], + "default_ori": [ + 0.9948254860656317, + 0.0, + 0.0, + 0.10159848559048308 + ] + } + ], + "tape_measure": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.43419644692454473, + -0.40875305590324484, + 0.7865834893656257 + ], + "default_ori": [ + 0.733870088780095, + -0.16221363880051806, + -0.6564937224395123, + -0.0643227842875551 + ] + } + ], + "gamepad": [ + { + "category_idx": 0, + "physics": { + "mass": 0.22, + "friction": 0.38, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.516303318352752, + -0.1952585781673755, + 0.7881213315101707 + ], + "default_ori": [ + -0.6712184786893007, + 0.7142878231972563, + 0.1420896622214497, + -0.13809122849746966 + ] + } + ], + "stapler": [ + { + "category_idx": 2, + "physics": { + "mass": 0.12, + "friction": 0.3, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.07779418589106446, + 0.060644913022376915, + 0.7977007182491022 + ], + "default_ori": [ + 0.9971941140054813, + -0.0010346195364960356, + 0.00042374621202163215, + 0.0748508449811085 + ] + } + ] + }, + "Geometry": { + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ], + "cube_cushion": [ + { + "category": "cube_cushion", + "category_idx": 1, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.1, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.0, + "check_mode": "bbox", + "need_check_stable": true, + "label": "mat_0", + "symmetric_index": 0, + "symmetric_total": 4, + "dynamic_layout": { + "type": "x_symmetric_line", + "center": 0.0, + "spacing": 0.085 + }, + "shared_y": -0.07849124637531096, + "default_pos": [ + -0.1273840801928589, + -0.07771595879086589, + 0.7675 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.05, + "friction": 0.3, + "size": [ + 0.12, + 0.12, + 0.005 + ], + "type": "geometry" + }, + "visual": {} + }, + { + "category": "cube_cushion", + "category_idx": 1, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.1, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.0, + "check_mode": "bbox", + "need_check_stable": true, + "label": "mat_1", + "symmetric_index": 1, + "symmetric_total": 4, + "dynamic_layout": { + "type": "x_symmetric_line", + "center": 0.0, + "spacing": 0.085 + }, + "shared_y": -0.07849124637531096, + "default_pos": [ + -0.04279225353245152, + -0.07798960382868174, + 0.7675 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.05, + "friction": 0.3, + "size": [ + 0.12, + 0.12, + 0.005 + ], + "type": "geometry" + }, + "visual": {} + }, + { + "category": "cube_cushion", + "category_idx": 1, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.1, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.0, + "check_mode": "bbox", + "need_check_stable": true, + "label": "mat_2", + "symmetric_index": 2, + "symmetric_total": 4, + "dynamic_layout": { + "type": "x_symmetric_line", + "center": 0.0, + "spacing": 0.085 + }, + "shared_y": -0.07849124637531096, + "default_pos": [ + 0.042053557458176044, + -0.0788379010472899, + 0.7675 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.05, + "friction": 0.3, + "size": [ + 0.12, + 0.12, + 0.005 + ], + "type": "geometry" + }, + "visual": {} + }, + { + "category": "cube_cushion", + "category_idx": 1, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.1, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.0, + "check_mode": "bbox", + "need_check_stable": true, + "label": "mat_3", + "symmetric_index": 3, + "symmetric_total": 4, + "dynamic_layout": { + "type": "x_symmetric_line", + "center": 0.0, + "spacing": 0.085 + }, + "shared_y": -0.07849124637531096, + "default_pos": [ + 0.12826134516844456, + -0.078863702987285, + 0.7675 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.05, + "friction": 0.3, + "size": [ + 0.12, + 0.12, + 0.005 + ], + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Room": { + "default": "Simple_Room_pink", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0027", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0073", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/arrange_largest_number_random_8.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/arrange_largest_number_random_8.json new file mode 100644 index 0000000000000000000000000000000000000000..1ef19c82468afa1e66b97ea82daef0484ee93ef6 --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/arrange_largest_number_random_8.json @@ -0,0 +1,1183 @@ +{ + "Rigid": { + "number": [ + { + "category": "number", + "category_idx": 41, + "group": "texture1", + "xlim": [ + -0.4, + 0.4 + ], + "ylim": [ + -0.25, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 45, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.015, + "check_mode": "bbox", + "need_check_stable": true, + "label": "digit_0", + "default_pos": [ + -0.08056641676301171, + -0.21099633119758193, + 0.7727029469805936 + ], + "default_ori": [ + 0.9466833209635661, + 0.007188213790330725, + 0.018363928876633982, + -0.3215614801373325 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "size": [ + 0.021737104331394544, + 0.049513135089066886, + 0.015 + ], + "mass": 0.1, + "friction": 0.0, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "number", + "category_idx": 45, + "group": "texture1", + "xlim": [ + -0.4, + 0.4 + ], + "ylim": [ + -0.25, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 45, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.015, + "check_mode": "bbox", + "need_check_stable": true, + "label": "digit_1", + "default_pos": [ + 0.21276395608102286, + -0.2032085382288421, + 0.7729028287988347 + ], + "default_ori": [ + 0.9639702913838052, + -0.0017351465244908495, + -0.0004788068932057461, + 0.2660038295587478 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "size": [ + 0.03459529872196014, + 0.05041107344995797, + 0.016 + ], + "mass": 0.1, + "friction": 0.0, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "number", + "category_idx": 40, + "group": "texture1", + "xlim": [ + -0.4, + 0.4 + ], + "ylim": [ + -0.25, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 45, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.015, + "check_mode": "bbox", + "need_check_stable": true, + "label": "digit_2", + "default_pos": [ + 0.29243213264681167, + -0.1434677282403358, + 0.7718999522521657 + ], + "default_ori": [ + 0.9998608033031534, + -0.0014816650770851432, + 0.0011245695146090073, + -0.01658053165549785 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "size": [ + 0.046281778219316116, + 0.05202684144750904, + 0.014 + ], + "mass": 0.1, + "friction": 0.0, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "number", + "category_idx": 43, + "group": "texture1", + "xlim": [ + -0.4, + 0.4 + ], + "ylim": [ + -0.25, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 45, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.015, + "check_mode": "bbox", + "need_check_stable": true, + "label": "digit_3", + "default_pos": [ + -0.21629169909348808, + -0.19946129387951836, + 0.7728975275028648 + ], + "default_ori": [ + 0.946474075073383, + -0.0014209125984437298, + -0.004481128987148842, + -0.3227456052440878 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "size": [ + 0.035704944518354285, + 0.0508427371795506, + 0.016 + ], + "mass": 0.1, + "friction": 0.0, + "type": "rigid" + }, + "visual": {} + } + ], + "pokeball": [ + { + "category_idx": 1, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.2058156051537711, + 0.18010673688136103, + 0.8047909608082155 + ], + "default_ori": [ + 0.983522061570789, + 0.009905236911941721, + 0.11420466890630045, + 0.13979819128038026 + ] + } + ], + "body_lotion": [ + { + "category_idx": 0, + "physics": { + "mass": 0.08, + "friction": 0.25, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.06190437978247027, + 0.25140382286107343, + 0.7818118647148823 + ], + "default_ori": [ + -0.5291897650288734, + 0.6058191845100764, + 0.44075573263441115, + -0.3983411759009295 + ] + } + ], + "box": [ + { + "category_idx": 0, + "physics": { + "type": "rigid", + "mass": 0.2 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.2456729317065493, + 0.2365916061364576, + 0.7649015989707201 + ], + "default_ori": [ + 0.9984342965627283, + -0.001091877361825655, + -0.0019512398802579416, + -0.055892360068675775 + ] + } + ], + "minecraft_blocks": [ + { + "category_idx": 14, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.38339015310050195, + 0.04958438575224544, + 0.805 + ], + "default_ori": [ + 0.9717816179753729, + 0.0, + 0.0, + 0.23588235831695084 + ] + } + ], + "chocolate": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.570277879318707, + -0.22697653531358924, + 0.7647 + ], + "default_ori": [ + 0.999550469425626, + 0.0, + 0.0, + -0.029980978486548408 + ] + } + ], + "game_machine": [ + { + "category_idx": 0, + "physics": { + "type": "rigid", + "mass": 0.05 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.4458067399894658, + 0.13692594162744753, + 0.7689166712439107 + ], + "default_ori": [ + 0.9984410691045909, + 0.03597678885533456, + -0.0013700263686311255, + -0.04265237644832565 + ] + } + ], + "stapler": [ + { + "category_idx": 4, + "physics": { + "mass": 0.12, + "friction": 0.3, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.33244631911447603, + 0.36709811126203123, + 0.7993 + ], + "default_ori": [ + 0.9835240155464926, + 0.0, + 0.0, + 0.18077751752721508 + ] + } + ], + "book": [ + { + "category_idx": 2, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.37716562570027545, + -0.19549379820662344, + 0.765 + ], + "default_ori": [ + 0.9895142997467842, + 0.0, + 0.0, + -0.14443493551295455 + ] + } + ], + "glasses": [ + { + "category_idx": 1, + "physics": { + "mass": 0.025, + "friction": 0.3, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.5086771020539491, + -0.40744688935478685, + 0.7853284965438686 + ], + "default_ori": [ + 0.9990555681966526, + -0.020811237470065552, + -4.54143125179279e-06, + 0.03814267989540775 + ] + } + ], + "trophy": [ + { + "category_idx": 0, + "physics": { + "mass": 0.35, + "friction": 0.25, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.4972742363977167, + 0.26101659232027835, + 0.8902000134735264 + ], + "default_ori": [ + 0.9828790419585449, + 0.00011868645285662687, + -7.689488235910939e-05, + 0.1842519168946583 + ] + } + ], + "ice_cream": [ + { + "category_idx": 0, + "physics": { + "mass": 0.25, + "friction": 0.38, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.48707470094694894, + 0.36928732779478796, + 0.8352020174570048 + ], + "default_ori": [ + 0.9766640429128092, + 0.0004930504596015261, + -0.002246524518883302, + 0.2147604649604693 + ] + } + ], + "pen": [ + { + "category_idx": 0, + "physics": { + "type": "rigid", + "mass": 0.018 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.453139994407108, + -0.09049205371170621, + 0.7650019781032761 + ], + "default_ori": [ + 0.9989591199605459, + -0.0007565742969441029, + 0.015381441945953346, + 0.04293617922741168 + ] + } + ], + "mini_fan": [ + { + "category_idx": 2, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.11265437039951588, + 0.06035182889678776, + 0.8569091681740725 + ], + "default_ori": [ + 0.7089127341056418, + 0.703851647662515, + -0.023075184465399048, + -0.03877021237386543 + ] + } + ], + "toy_car": [ + { + "category_idx": 1, + "physics": { + "mass": 0.045, + "friction": 0.45, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.1821731329438874, + 0.07540176216579263, + 0.7948002807175407 + ], + "default_ori": [ + 0.9880823695565367, + 0.001848694106578278, + 0.0004819192004218414, + 0.15391420030498867 + ] + } + ], + "wrench": [ + { + "category_idx": 0, + "physics": { + "type": "rigid", + "mass": 0.35 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.555076166775514, + -0.124595081486181, + 0.7649099444727391 + ], + "default_ori": [ + 0.9931749495078419, + -0.002661642864533658, + 0.015093291716524451, + 0.11562278267070585 + ] + } + ], + "tissue": [ + { + "category_idx": 2, + "physics": { + "mass": 0.15, + "friction": 0.45, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.08193272790646687, + -0.3295058239959262, + 0.7829072436546988 + ], + "default_ori": [ + 0.9979770099019061, + -0.0044680261352599915, + -0.005392989585576577, + 0.06318892397434464 + ] + } + ], + "coffee_bag": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.3014926189771399, + 0.374316299648212, + 0.7640272467517178 + ], + "default_ori": [ + 0.9944297323315737, + 0.03281633683798569, + 0.004031268462901751, + -0.1000816884653256 + ] + } + ], + "cake": [ + { + "category_idx": 1, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.13061172084925673, + 0.33138425005482924, + 0.7650000204678449 + ], + "default_ori": [ + 0.9971729542553093, + 0.000904879600323514, + 3.44484160081592e-05, + -0.07513507375356983 + ] + } + ], + "toothpaste": [ + { + "category_idx": 1, + "physics": { + "mass": 0.05, + "friction": 0.3, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.3964960255499197, + -0.3264299599681693, + 0.7778054544084064 + ], + "default_ori": [ + -0.672971996313169, + 0.7388953836670004, + 0.024181410416052044, + -0.023612783913699902 + ] + } + ], + "sculpture": [ + { + "category_idx": 2, + "physics": { + "mass": 1.4, + "friction": 0.3, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.04541537071098131, + 0.11632839339406179, + 0.8337125621683963 + ], + "default_ori": [ + 0.999025638041623, + 0.0009667152879305513, + -0.005862092215640908, + 0.04373186334854067 + ] + } + ] + }, + "Geometry": { + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ], + "cube_cushion": [ + { + "category": "cube_cushion", + "category_idx": 1, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.1, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.0, + "check_mode": "bbox", + "need_check_stable": true, + "label": "mat_0", + "symmetric_index": 0, + "symmetric_total": 4, + "dynamic_layout": { + "type": "x_symmetric_line", + "center": 0.0, + "spacing": 0.085 + }, + "shared_y": -0.07411048899038195, + "default_pos": [ + -0.12686619907967914, + -0.07491006316313988, + 0.7675 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.05, + "friction": 0.3, + "size": [ + 0.12, + 0.12, + 0.005 + ], + "type": "geometry" + }, + "visual": {} + }, + { + "category": "cube_cushion", + "category_idx": 1, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.1, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.0, + "check_mode": "bbox", + "need_check_stable": true, + "label": "mat_1", + "symmetric_index": 1, + "symmetric_total": 4, + "dynamic_layout": { + "type": "x_symmetric_line", + "center": 0.0, + "spacing": 0.085 + }, + "shared_y": -0.07411048899038195, + "default_pos": [ + -0.04274736447181131, + -0.07350834026280487, + 0.7675 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.05, + "friction": 0.3, + "size": [ + 0.12, + 0.12, + 0.005 + ], + "type": "geometry" + }, + "visual": {} + }, + { + "category": "cube_cushion", + "category_idx": 1, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.1, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.0, + "check_mode": "bbox", + "need_check_stable": true, + "label": "mat_2", + "symmetric_index": 2, + "symmetric_total": 4, + "dynamic_layout": { + "type": "x_symmetric_line", + "center": 0.0, + "spacing": 0.085 + }, + "shared_y": -0.07411048899038195, + "default_pos": [ + 0.04231427571291497, + -0.07389736460865419, + 0.7675 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.05, + "friction": 0.3, + "size": [ + 0.12, + 0.12, + 0.005 + ], + "type": "geometry" + }, + "visual": {} + }, + { + "category": "cube_cushion", + "category_idx": 1, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.1, + -0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.0, + "check_mode": "bbox", + "need_check_stable": true, + "label": "mat_3", + "symmetric_index": 3, + "symmetric_total": 4, + "dynamic_layout": { + "type": "x_symmetric_line", + "center": 0.0, + "spacing": 0.085 + }, + "shared_y": -0.07411048899038195, + "default_pos": [ + 0.12721723411698097, + -0.07342222431236818, + 0.7675 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.05, + "friction": 0.3, + "size": [ + 0.12, + 0.12, + 0.005 + ], + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Room": { + "default": "Simple_Room_purple", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0006", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0057", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/fold_clothes_18.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/fold_clothes_18.json new file mode 100644 index 0000000000000000000000000000000000000000..b5b4c0e69974a5a3414f94194db22623e883a86a --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/fold_clothes_18.json @@ -0,0 +1,221 @@ +{ + "Geometry": { + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Garment": { + "Top_Long": [ + { + "category": "Top_Long", + "category_idx": 9, + "xlim": [ + -0.02, + 0.02 + ], + "ylim": [ + -0.25, + -0.18 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 25, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "target", + "default_pos": [ + -0.0007688306177681688, + -0.0631944867845599, + 0.8441020788545468 + ], + "default_ori": [ + 0.9763661650755013, + 0.021191384058950172, + 0.004667102292352592, + 0.21503082358959083 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "garment", + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "particle_system": { + "particle_system_enabled": true, + "enable_ccd": true, + "solver_position_iteration_count": 32, + "max_depenetration_velocity": null, + "global_self_collision_enabled": true, + "non_particle_collision_enabled": true, + "contact_offset": 0.008, + "rest_offset": 0.004, + "particle_contact_offset": 0.005, + "fluid_rest_offset": 0.0025, + "solid_rest_offset": 0.0025, + "wind": null, + "max_neighborhood": null, + "max_velocity": 5.0 + }, + "particle_material": { + "adhesion": 0.1, + "adhesion_offset_scale": 0.0, + "cohesion": 0.0, + "particle_adhesion_scale": 0.2, + "particle_friction_scale": 0.6, + "drag": 0.0, + "lift": 0.0, + "friction": 0.5, + "damping": 0.05, + "gravity_scale": 2, + "viscosity": null, + "vorticity_confinement": null, + "surface_tension": null + }, + "garment_config": { + "particle_mass": 0.01, + "self_collision": true, + "self_collision_filter": true, + "stretch_stiffness": 100000000.0, + "bend_stiffness": 5000.0, + "shear_stiffness": 5000.0, + "spring_damping": 10.0 + } + }, + "visual": { + "visible": true, + "visual_usd_path": "$Robodojo_ASSETS/Material/Garment/train/SolarPanel004_1K_JPG.usd" + } + } + ] + }, + "Room": { + "default": "Simple_Room_nolight", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0122", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0564", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/fold_clothes_24.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/fold_clothes_24.json new file mode 100644 index 0000000000000000000000000000000000000000..f8f9a6c69c683a0b8ce0c3e669eabf3616053ade --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/fold_clothes_24.json @@ -0,0 +1,221 @@ +{ + "Geometry": { + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Garment": { + "Top_Long": [ + { + "category": "Top_Long", + "category_idx": 9, + "xlim": [ + -0.02, + 0.02 + ], + "ylim": [ + -0.25, + -0.18 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 25, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "target", + "default_pos": [ + -0.020045339179827485, + -0.08950535847159337, + 0.8441020788545468 + ], + "default_ori": [ + 0.9965191966904929, + 0.021628792326649028, + -0.0017469815774353234, + -0.08048996226358693 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "garment", + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "particle_system": { + "particle_system_enabled": true, + "enable_ccd": true, + "solver_position_iteration_count": 32, + "max_depenetration_velocity": null, + "global_self_collision_enabled": true, + "non_particle_collision_enabled": true, + "contact_offset": 0.008, + "rest_offset": 0.004, + "particle_contact_offset": 0.005, + "fluid_rest_offset": 0.0025, + "solid_rest_offset": 0.0025, + "wind": null, + "max_neighborhood": null, + "max_velocity": 5.0 + }, + "particle_material": { + "adhesion": 0.1, + "adhesion_offset_scale": 0.0, + "cohesion": 0.0, + "particle_adhesion_scale": 0.2, + "particle_friction_scale": 0.6, + "drag": 0.0, + "lift": 0.0, + "friction": 0.5, + "damping": 0.05, + "gravity_scale": 2, + "viscosity": null, + "vorticity_confinement": null, + "surface_tension": null + }, + "garment_config": { + "particle_mass": 0.01, + "self_collision": true, + "self_collision_filter": true, + "stretch_stiffness": 100000000.0, + "bend_stiffness": 5000.0, + "shear_stiffness": 5000.0, + "spring_damping": 10.0 + } + }, + "visual": { + "visible": true, + "visual_usd_path": "$Robodojo_ASSETS/Material/Garment/train/PaintedPlaster002_1K_JPG.usd" + } + } + ] + }, + "Room": { + "default": "Simple_Room_nolight", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0122", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0564", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/fold_clothes_39.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/fold_clothes_39.json new file mode 100644 index 0000000000000000000000000000000000000000..3f4e04001aa35fcfa0c40a5e1cccb1de4f711068 --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/fold_clothes_39.json @@ -0,0 +1,221 @@ +{ + "Geometry": { + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Garment": { + "Top_Long": [ + { + "category": "Top_Long", + "category_idx": 1, + "xlim": [ + -0.02, + 0.02 + ], + "ylim": [ + -0.25, + -0.18 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 25, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "target", + "default_pos": [ + -0.0037096491376652687, + -0.162521317770143, + 0.8438446661537368 + ], + "default_ori": [ + 0.9777291386973543, + 0.014512935742976392, + 0.014436634941247903, + 0.20887003042519783 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "garment", + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "particle_system": { + "particle_system_enabled": true, + "enable_ccd": true, + "solver_position_iteration_count": 32, + "max_depenetration_velocity": null, + "global_self_collision_enabled": true, + "non_particle_collision_enabled": true, + "contact_offset": 0.008, + "rest_offset": 0.004, + "particle_contact_offset": 0.005, + "fluid_rest_offset": 0.0025, + "solid_rest_offset": 0.0025, + "wind": null, + "max_neighborhood": null, + "max_velocity": 5.0 + }, + "particle_material": { + "adhesion": 0.1, + "adhesion_offset_scale": 0.0, + "cohesion": 0.0, + "particle_adhesion_scale": 0.2, + "particle_friction_scale": 0.6, + "drag": 0.0, + "lift": 0.0, + "friction": 0.5, + "damping": 0.05, + "gravity_scale": 2, + "viscosity": null, + "vorticity_confinement": null, + "surface_tension": null + }, + "garment_config": { + "particle_mass": 0.01, + "self_collision": true, + "self_collision_filter": true, + "stretch_stiffness": 100000000.0, + "bend_stiffness": 5000.0, + "shear_stiffness": 5000.0, + "spring_damping": 10.0 + } + }, + "visual": { + "visible": true, + "visual_usd_path": "$Robodojo_ASSETS/Material/Garment/train/Carpet010_1K_JPG.usd" + } + } + ] + }, + "Room": { + "default": "Simple_Room_nolight", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0122", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0564", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/hang_mugs_random_9.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/hang_mugs_random_9.json new file mode 100644 index 0000000000000000000000000000000000000000..8791c3a928ce95978b2733fb182c387f383b4506 --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/hang_mugs_random_9.json @@ -0,0 +1,927 @@ +{ + "Rigid": { + "mug": [ + { + "category": "mug", + "category_idx": 13, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.02 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": [ + 15, + 165 + ], + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.05, + "check_mode": "bbox", + "need_check_stable": true, + "label": "mug0", + "default_pos": [ + 0.12218769720083009, + -0.15041437445162095, + 0.806 + ], + "default_ori": [ + 0.5521197686665815, + 0.0, + 0.0, + 0.8337648115911108 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.22, + "friction": 0.45, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "mug", + "category_idx": 12, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.02 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": [ + 15, + 165 + ], + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.05, + "check_mode": "bbox", + "need_check_stable": true, + "label": "mug1", + "default_pos": [ + -0.36963529197282174, + -0.06234116912759283, + 0.806 + ], + "default_ori": [ + 0.14231891590469453, + 0.0, + 0.0, + 0.9898208555974726 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.22, + "friction": 0.45, + "size": [ + 0.11999999400319139, + 0.09449999518438096, + 0.08199999999999999 + ], + "type": "rigid" + }, + "visual": {} + }, + { + "category": "mug", + "category_idx": 14, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.02 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": [ + 15, + 165 + ], + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.05, + "check_mode": "bbox", + "need_check_stable": true, + "label": "mug2", + "default_pos": [ + -0.12593963545306924, + -0.14194324950138668, + 0.7996 + ], + "default_ori": [ + 0.329403327296045, + 0.0, + 0.0, + 0.9441893072717434 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.22, + "friction": 0.38, + "size": [ + 0.1289999979940745, + 0.10399999999999998, + 0.06900000057312157 + ], + "type": "rigid" + }, + "visual": {} + } + ], + "minecraft_blocks": [ + { + "category_idx": 6, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.5514729785080904, + 0.07376018877809509, + 0.805 + ], + "default_ori": [ + 0.9814897544091682, + 0.0, + 0.0, + 0.19151465215442595 + ] + } + ], + "garage": [ + { + "category_idx": 8, + "physics": { + "mass": 0.35, + "friction": 0.45, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.4621520614321832, + 0.37550216173666656, + 0.8397108576761542 + ], + "default_ori": [ + 0.9899108148116694, + -0.0001554096787979809, + 0.0003253426034750324, + -0.14169138547886004 + ] + } + ], + "pokeball": [ + { + "category_idx": 5, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.06264899353207838, + 0.24679974637318333, + 0.8048566320568888 + ], + "default_ori": [ + 0.9718389622158027, + -0.13899067434601334, + -0.1481092494032294, + -0.11947499405885831 + ] + } + ], + "oscilloscope": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.42723116500209335, + 0.25310199134886646, + 0.765 + ], + "default_ori": [ + 0.990593549006386, + 0.0, + 0.0, + 0.13683720498071045 + ] + } + ], + "shampoo": [ + { + "category_idx": 0, + "physics": { + "type": "rigid", + "mass": 0.19 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.21863176884381375, + 0.0778188714299819, + 0.7896886376941357 + ], + "default_ori": [ + -0.7005717115639143, + 0.704345182832011, + -0.08114703919658757, + 0.08069881292420779 + ] + } + ], + "box": [ + { + "category_idx": 0, + "physics": { + "type": "rigid", + "mass": 0.2 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.05166215296176041, + 0.05100323718914127, + 0.7649015989707201 + ], + "default_ori": [ + 0.9998809897748553, + -0.0010116664406581595, + -0.001994007085349104, + -0.015264558742792932 + ] + } + ], + "toothpaste": [ + { + "category_idx": 1, + "physics": { + "mass": 0.05, + "friction": 0.3, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.4436139547651924, + -0.051285050059741315, + 0.7778054544084064 + ], + "default_ori": [ + -0.6665404411815642, + 0.7320212105593275, + 0.10342183476118602, + -0.09577427449671745 + ] + } + ], + "keyboard": [ + { + "category_idx": 1, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.3859910374189446, + -0.2706703730705601, + 0.765200479743693 + ], + "default_ori": [ + 0.9818127218905797, + -0.0007854501775124639, + 0.00015188024573953431, + -0.1898503071744179 + ] + } + ], + "tissue": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.491413722630429, + 0.16378107158809924, + 0.765 + ], + "default_ori": [ + 0.9671472736081066, + 0.0, + 0.0, + 0.25421674050385884 + ] + } + ], + "cake": [ + { + "category_idx": 2, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.22918404878862883, + 0.2616603840177945, + 0.765 + ], + "default_ori": [ + 0.9994492581631108, + 0.0, + 0.0, + 0.033184037686930436 + ] + } + ], + "ball": [ + { + "category_idx": 1, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.2099652318516474, + 0.39517288288127933, + 0.7683537298662597 + ], + "default_ori": [ + 0.9451331157072248, + 0.009550810910282904, + 0.2174793138162599, + -0.24358760983785382 + ] + } + ], + "power_bank": [ + { + "category_idx": 0, + "physics": { + "type": "rigid", + "mass": 0.22 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.5325950688063302, + -0.09743702836203008, + 0.7739 + ], + "default_ori": [ + 0.9993581840100332, + 0.0, + 0.0, + 0.03582206097042187 + ] + } + ], + "pencil_case": [ + { + "category_idx": 0, + "physics": { + "mass": 0.12, + "friction": 0.45, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.3509362201299189, + -0.3208456979152902, + 0.7815 + ], + "default_ori": [ + 0.999859584221014, + 0.0, + 0.0, + 0.016757441373348392 + ] + } + ], + "sculpture": [ + { + "category_idx": 2, + "physics": { + "mass": 1.4, + "friction": 0.3, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.06826791719119132, + 0.36807135370861416, + 0.8337125621683963 + ], + "default_ori": [ + 0.9998387510909161, + 0.0006093605375276913, + -0.005909935983401204, + -0.016946184035490138 + ] + } + ], + "dice": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.28003361785771963, + -0.15005629251393637, + 0.765 + ], + "default_ori": [ + 0.9989720802851609, + -0.0005000034347594525, + -3.491590665223912e-06, + -0.04532695439925353 + ] + } + ], + "screwdriver": [ + { + "category_idx": 0, + "physics": { + "mass": 0.06, + "friction": 0.45, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.5100090065905184, + -0.4193755369210494, + 0.7781030694047488 + ], + "default_ori": [ + 0.9058985918925355, + 0.07734913996904876, + 0.34340022588312014, + -0.23545941607120333 + ] + } + ], + "walkie_talkie": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.5531327472238577, + -0.524085158504376, + 0.7880404744334204 + ], + "default_ori": [ + 0.7076866101054249, + -0.7062867586509756, + -0.013002689004887718, + 0.013023306432443316 + ] + } + ], + "racket": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.005972777932109482, + -0.35356109694378507, + 0.7640663126662783 + ], + "default_ori": [ + 0.9984031922288323, + 0.003435551055753953, + 0.00660256919337692, + 0.05599704292431409 + ] + } + ], + "ice_cream": [ + { + "category_idx": 1, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.32764918768812623, + 0.2566896033218638, + 0.7760330782519896 + ], + "default_ori": [ + -0.7006284406440566, + 0.7013621352950754, + -0.09195565168434579, + 0.09356869913767805 + ] + } + ], + "pen": [ + { + "category_idx": 1, + "physics": { + "type": "rigid", + "mass": 0.008 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.35747300536310395, + -0.027830723375055717, + 0.7776985904885821 + ], + "default_ori": [ + 0.684377436183345, + -0.5238502724898753, + -0.4743999126422187, + -0.17931296590166113 + ] + } + ] + }, + "Geometry": { + "cup_holder": [ + { + "category": "cup_holder", + "category_idx": 1, + "group": null, + "xlim": [ + -0.2, + 0.2 + ], + "ylim": [ + 0.0, + 0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 25, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.03, + "check_mode": "bbox", + "need_check_stable": true, + "label": "cup_holder", + "default_pos": [ + 0.1952285628713279, + 0.04562219806317056, + 0.9177 + ], + "default_ori": [ + 0.9890238819248812, + 0.0, + 0.0, + 0.14775574771303676 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "size": [ + 0.1402950868177179, + 0.14029510169713125, + 0.305 + ], + "mass": 0.0, + "friction": 0.0, + "type": "geometry" + }, + "visual": {} + } + ], + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Room": { + "default": "Simple_Room_yellow", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0205", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0080", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/make_toast_47.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/make_toast_47.json new file mode 100644 index 0000000000000000000000000000000000000000..46b602dfc4640a9856c0c3152b2825431ac31cc3 --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/make_toast_47.json @@ -0,0 +1,442 @@ +{ + "Rigid": { + "bread": [ + { + "category": "bread", + "category_idx": 0, + "group": null, + "xlim": [ + -0.02, + -0.02 + ], + "ylim": [ + -0.007, + -0.007 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "bread_shelf/bread_shelf/0", + "place_tag": "up", + "margin": 0.01, + "check_mode": "none", + "need_check_stable": true, + "label": "bread_0", + "default_pos": [ + -0.23481880198736205, + -0.14274963464257742, + 0.8579999898910523 + ], + "default_ori": [ + 0.7051406153244371, + 0.05269452172545562, + 0.705140615324437, + -0.052694521725455676 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.07, + "friction": 0.45, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "bread", + "category_idx": 0, + "group": null, + "xlim": [ + -0.02, + -0.02 + ], + "ylim": [ + -0.007, + -0.007 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "bread_shelf/bread_shelf/1", + "place_tag": "up", + "margin": 0.01, + "check_mode": "none", + "need_check_stable": true, + "label": "bread_1", + "default_pos": [ + -0.25954113076944363, + -0.13903392988858249, + 0.8579999898910523 + ], + "default_ori": [ + 0.7051406153244371, + 0.05269452172545562, + 0.705140615324437, + -0.052694521725455676 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.07, + "friction": 0.45, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "bread", + "category_idx": 0, + "group": null, + "xlim": [ + -0.02, + -0.02 + ], + "ylim": [ + -0.007, + -0.007 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "bread_shelf/bread_shelf/2", + "place_tag": "up", + "margin": 0.01, + "check_mode": "none", + "need_check_stable": true, + "label": "bread_2", + "default_pos": [ + -0.28426345955152527, + -0.13531822513458755, + 0.8579999898910523 + ], + "default_ori": [ + 0.7051406153244371, + 0.05269452172545562, + 0.705140615324437, + -0.052694521725455676 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.07, + "friction": 0.45, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "bread", + "category_idx": 0, + "group": null, + "xlim": [ + -0.02, + -0.02 + ], + "ylim": [ + -0.007, + -0.007 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "bread_shelf/bread_shelf/3", + "place_tag": "up", + "margin": 0.01, + "check_mode": "none", + "need_check_stable": true, + "label": "bread_3", + "default_pos": [ + -0.3079968951823236, + -0.1317511485707524, + 0.8579999898910523 + ], + "default_ori": [ + 0.7051406153244371, + 0.05269452172545562, + 0.705140615324437, + -0.052694521725455676 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.07, + "friction": 0.45, + "type": "rigid" + }, + "visual": {} + } + ] + }, + "Geometry": { + "bread_shelf": [ + { + "category": "bread_shelf", + "category_idx": 0, + "group": null, + "xlim": [ + -0.35, + 0.0 + ], + "ylim": [ + -0.2, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 15, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "bread_shelf", + "default_pos": [ + -0.2687012050137261, + -0.13067969662162077, + 0.8031 + ], + "default_ori": [ + 0.9972194215076745, + 0.0, + 0.0, + -0.07452130814672513 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.35, + "friction": 0.25, + "size": [ + 0.1578710897955837, + 0.08332953630742854, + 0.07600000000000001 + ], + "type": "geometry" + }, + "visual": {} + } + ], + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Articulation": { + "toaster": [ + { + "category": "toaster", + "category_idx": 0, + "group": null, + "xlim": [ + 0.04, + 0.35 + ], + "ylim": [ + -0.12, + -0.03 + ], + "zlim": [ + 0.08, + 0.08 + ], + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": [ + -105, + -75 + ], + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "toaster", + "default_pos": [ + 0.12665007244489462, + -0.03822927235546009, + 0.845 + ], + "default_ori": [ + 0.7325240064087942, + 0.0, + 0.0, + -0.6807411990138461 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "articulation" + }, + "visual": {} + } + ] + }, + "Room": { + "default": "Simple_Room_nolight", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0122", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0564", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/make_toast_random_36.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/make_toast_random_36.json new file mode 100644 index 0000000000000000000000000000000000000000..d28570a82d05996cd185ab686a6bc123dedbdbd6 --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/make_toast_random_36.json @@ -0,0 +1,645 @@ +{ + "Rigid": { + "bread": [ + { + "category": "bread", + "category_idx": 0, + "group": null, + "xlim": [ + -0.02, + -0.02 + ], + "ylim": [ + -0.007, + -0.007 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "bread_shelf/bread_shelf/0", + "place_tag": "up", + "margin": 0.01, + "check_mode": "none", + "need_check_stable": true, + "label": "bread_0", + "default_pos": [ + -0.03950623668972764, + -0.031045431572428697, + 0.8579999898910523 + ], + "default_ori": [ + 0.7039178290342188, + 0.06707972844125433, + 0.7039178290342187, + -0.06707972844125429 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.07, + "friction": 0.45, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "bread", + "category_idx": 0, + "group": null, + "xlim": [ + -0.02, + -0.02 + ], + "ylim": [ + -0.007, + -0.007 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "bread_shelf/bread_shelf/1", + "place_tag": "up", + "margin": 0.01, + "check_mode": "none", + "need_check_stable": true, + "label": "bread_1", + "default_pos": [ + -0.06405626781527315, + -0.02632356986724471, + 0.8579999898910523 + ], + "default_ori": [ + 0.7039178290342188, + 0.06707972844125433, + 0.7039178290342187, + -0.06707972844125429 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.07, + "friction": 0.45, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "bread", + "category_idx": 0, + "group": null, + "xlim": [ + -0.02, + -0.02 + ], + "ylim": [ + -0.007, + -0.007 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "bread_shelf/bread_shelf/2", + "place_tag": "up", + "margin": 0.01, + "check_mode": "none", + "need_check_stable": true, + "label": "bread_2", + "default_pos": [ + -0.08860629894081866, + -0.02160170816206073, + 0.8579999898910523 + ], + "default_ori": [ + 0.7039178290342188, + 0.06707972844125433, + 0.7039178290342187, + -0.06707972844125429 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.07, + "friction": 0.45, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "bread", + "category_idx": 0, + "group": null, + "xlim": [ + -0.02, + -0.02 + ], + "ylim": [ + -0.007, + -0.007 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "bread_shelf/bread_shelf/3", + "place_tag": "up", + "margin": 0.01, + "check_mode": "none", + "need_check_stable": true, + "label": "bread_3", + "default_pos": [ + -0.11217432882134233, + -0.017068720925084106, + 0.8579999898910523 + ], + "default_ori": [ + 0.7039178290342188, + 0.06707972844125433, + 0.7039178290342187, + -0.06707972844125429 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.07, + "friction": 0.45, + "type": "rigid" + }, + "visual": {} + } + ], + "toy_plane": [ + { + "category_idx": 2, + "physics": { + "mass": 0.45, + "friction": 0.32, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.5354670838539873, + 0.2010738902803009, + 0.8110694266353823 + ], + "default_ori": [ + 0.9960044614326685, + 0.0034213840148424345, + 0.00663181914771847, + 0.0889911563720514 + ] + } + ], + "audio": [ + { + "category_idx": 1, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.019050767048703517, + 0.36601112192396323, + 0.7649999390112381 + ], + "default_ori": [ + 0.991062117691251, + -0.00012661577480932432, + -0.00018430255177299786, + -0.13340100778610373 + ] + } + ], + "money_stack": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.26889904438141904, + 0.16136373311270613, + 0.7646982015706939 + ], + "default_ori": [ + 0.9900344675843668, + 0.0015695412952957456, + -0.0003827966957526314, + 0.1408159898653257 + ] + } + ], + "racket": [ + { + "category_idx": 1, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.5183564953679786, + -0.05664168098681591, + 0.7716579458632032 + ], + "default_ori": [ + -0.7056815235835444, + 0.7084800901913872, + 0.006005665575948557, + -0.005786281725020813 + ] + } + ], + "toy": [ + { + "category_idx": 1, + "physics": { + "type": "rigid", + "mass": 0.25 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.3715730777573761, + 0.27212622987172674, + 0.814710071916362 + ], + "default_ori": [ + 0.9743800677862565, + -0.00915212984473749, + 0.0016973520365405749, + -0.2247150217858601 + ] + } + ], + "book": [ + { + "category_idx": 1, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.4270975798824362, + -0.2871870147922902, + 0.7636000000000001 + ], + "default_ori": [ + 0.9687037129999279, + 0.0, + 0.0, + -0.2482198952947838 + ] + } + ], + "gamepad": [ + { + "category_idx": 0, + "physics": { + "mass": 0.22, + "friction": 0.38, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.34017517341050707, + -0.3153072084990015, + 0.7881213315101707 + ], + "default_ori": [ + -0.6738910449572827, + 0.717032873986633, + 0.12751636797113453, + -0.12439571153500906 + ] + } + ] + }, + "Geometry": { + "bread_shelf": [ + { + "category": "bread_shelf", + "category_idx": 0, + "group": null, + "xlim": [ + -0.35, + 0.0 + ], + "ylim": [ + -0.2, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 15, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "bread_shelf", + "default_pos": [ + -0.07286764852429715, + -0.017602354011502185, + 0.8031 + ], + "default_ori": [ + 0.9954901407078719, + 0.0, + 0.0, + -0.09486506076222996 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.35, + "friction": 0.25, + "size": [ + 0.1578710897955837, + 0.08332953630742854, + 0.07600000000000001 + ], + "type": "geometry" + }, + "visual": {} + } + ], + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Articulation": { + "toaster": [ + { + "category": "toaster", + "category_idx": 4, + "group": null, + "xlim": [ + 0.04, + 0.35 + ], + "ylim": [ + -0.12, + -0.03 + ], + "zlim": [ + 0.08, + 0.08 + ], + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": [ + -105, + -75 + ], + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "toaster", + "default_pos": [ + 0.1592206648377212, + -0.03481580347803763, + 0.845 + ], + "default_ori": [ + 0.7506652264651824, + 0.0, + 0.0, + -0.6606827663682294 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "articulation" + }, + "visual": {} + } + ] + }, + "Room": { + "default": "Simple_Room_magenta", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ], + "random": false + }, + "Table": { + "default": "material_0415", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "random": false + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0004", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/make_toast_random_5.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/make_toast_random_5.json new file mode 100644 index 0000000000000000000000000000000000000000..0c831c737723370ecc140c8bac647e7e43acba49 --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/make_toast_random_5.json @@ -0,0 +1,670 @@ +{ + "Rigid": { + "bread": [ + { + "category": "bread", + "category_idx": 0, + "group": null, + "xlim": [ + -0.02, + -0.02 + ], + "ylim": [ + -0.007, + -0.007 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "bread_shelf/bread_shelf/0", + "place_tag": "up", + "margin": 0.01, + "check_mode": "none", + "need_check_stable": true, + "label": "bread_0", + "default_pos": [ + -0.28261863435123036, + -0.15323331231642753, + 0.8579999898910523 + ], + "default_ori": [ + 0.7048470200783661, + -0.056486089319828674, + 0.7048470200783659, + 0.056486089319828646 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.07, + "friction": 0.45, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "bread", + "category_idx": 0, + "group": null, + "xlim": [ + -0.02, + -0.02 + ], + "ylim": [ + -0.007, + -0.007 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "bread_shelf/bread_shelf/1", + "place_tag": "up", + "margin": 0.01, + "check_mode": "none", + "need_check_stable": true, + "label": "bread_1", + "default_pos": [ + -0.30729956621739934, + -0.1572147174404958, + 0.8579999898910523 + ], + "default_ori": [ + 0.7048470200783661, + -0.056486089319828674, + 0.7048470200783659, + 0.056486089319828646 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.07, + "friction": 0.45, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "bread", + "category_idx": 0, + "group": null, + "xlim": [ + -0.02, + -0.02 + ], + "ylim": [ + -0.007, + -0.007 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "bread_shelf/bread_shelf/2", + "place_tag": "up", + "margin": 0.01, + "check_mode": "none", + "need_check_stable": true, + "label": "bread_2", + "default_pos": [ + -0.3319804980835683, + -0.16119612256456406, + 0.8579999898910523 + ], + "default_ori": [ + 0.7048470200783661, + -0.056486089319828674, + 0.7048470200783659, + 0.056486089319828646 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.07, + "friction": 0.45, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "bread", + "category_idx": 0, + "group": null, + "xlim": [ + -0.02, + -0.02 + ], + "ylim": [ + -0.007, + -0.007 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "bread_shelf/bread_shelf/3", + "place_tag": "up", + "margin": 0.01, + "check_mode": "none", + "need_check_stable": true, + "label": "bread_3", + "default_pos": [ + -0.35567419267509054, + -0.1650182714836696, + 0.8579999898910523 + ], + "default_ori": [ + 0.7048470200783661, + -0.056486089319828674, + 0.7048470200783659, + 0.056486089319828646 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.07, + "friction": 0.45, + "type": "rigid" + }, + "visual": {} + } + ], + "helmets": [ + { + "category_idx": 1, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.40520823070050505, + 0.22403823030033443, + 0.8036226725165769 + ], + "default_ori": [ + 0.9585905126544997, + -0.23946287866415458, + -0.0388576298462881, + 0.14917051784246382 + ] + } + ], + "garage": [ + { + "category_idx": 14, + "physics": { + "mass": 0.25, + "friction": 0.45, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.42779508025197943, + 0.17409257045866425, + 0.844135237527957 + ], + "default_ori": [ + 0.9940234716331412, + 0.005577982648795904, + -0.004912522588877883, + 0.10891322726731233 + ] + } + ], + "coffee_bag": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.06653847889238679, + 0.14192874089664242, + 0.7640272467517178 + ], + "default_ori": [ + 0.9924307298051469, + 0.03288464212117075, + 0.0034297815450324673, + -0.1182712283251484 + ] + } + ], + "tissue": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.18688022236201904, + -0.001034129707486012, + 0.765 + ], + "default_ori": [ + 0.9943877310300102, + 0.0, + 0.0, + 0.10579716620490448 + ] + } + ], + "pokeball": [ + { + "category_idx": 3, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.5590358325765821, + 0.1420618043304971, + 0.803999959440041 + ], + "default_ori": [ + 0.9920226142238111, + -0.00032072215826188527, + 0.0006458612637404172, + -0.12605797423836826 + ] + } + ], + "iron": [ + { + "category_idx": 0, + "physics": { + "mass": 1.3, + "friction": 0.45, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.41915210842560546, + 0.3510152513689282, + 0.8222979921182717 + ], + "default_ori": [ + 0.9962178978152871, + -0.0027672826227430505, + 0.0006648858372195164, + 0.08684353830999442 + ] + } + ], + "darts_board": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.5061227866215932, + -0.24187791840491443, + 0.770899999764 + ], + "default_ori": [ + 0.9964210320641687, + 9.115679311610634e-05, + -0.00010812232363757096, + -0.08452873393219262 + ] + } + ], + "minecraft_blocks": [ + { + "category_idx": 7, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.4924883881865736, + -0.06259188343505447, + 0.8049999792000057 + ], + "default_ori": [ + 0.991394304396829, + -0.0004825898235454242, + 0.0001646420116811482, + -0.1309086445182215 + ] + } + ] + }, + "Geometry": { + "bread_shelf": [ + { + "category": "bread_shelf", + "category_idx": 0, + "group": null, + "xlim": [ + -0.35, + 0.0 + ], + "ylim": [ + -0.2, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 15, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "bread_shelf", + "default_pos": [ + -0.3185669840916485, + -0.15204311981528268, + 0.8031 + ], + "default_ori": [ + 0.9968042152670441, + 0.0, + 0.0, + 0.07988339267865649 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.35, + "friction": 0.25, + "size": [ + 0.1578710897955837, + 0.08332953630742854, + 0.07600000000000001 + ], + "type": "geometry" + }, + "visual": {} + } + ], + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Articulation": { + "toaster": [ + { + "category": "toaster", + "category_idx": 2, + "group": null, + "xlim": [ + 0.04, + 0.35 + ], + "ylim": [ + -0.12, + -0.03 + ], + "zlim": [ + 0.08, + 0.08 + ], + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": [ + -105, + -75 + ], + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "toaster", + "default_pos": [ + 0.2142417584875019, + -0.05391607062553898, + 0.845 + ], + "default_ori": [ + 0.705889118693765, + 0.0, + 0.0, + -0.7083223504236893 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "articulation" + }, + "visual": {} + } + ] + }, + "Room": { + "default": "Simple_Room_purple", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0290", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0190", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/pack_objects_into_box_random_16.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/pack_objects_into_box_random_16.json new file mode 100644 index 0000000000000000000000000000000000000000..0622c2f509ae8344393a1b18a007e3cf0c965ad7 --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/pack_objects_into_box_random_16.json @@ -0,0 +1,407 @@ +{ + "Rigid": { + "car": [ + { + "category": "car", + "category_idx": 3, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 360, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "car", + "default_pos": [ + 0.18971860655218178, + -0.1709886638428828, + 0.785 + ], + "default_ori": [ + -0.8162316992186474, + 0.0, + 0.0, + 0.5777246863261425 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.45, + "friction": 0.45, + "size": [ + 0.1353308144675138, + 0.0582320400105684, + 0.039999999999999994 + ], + "type": "rigid" + }, + "visual": {} + } + ], + "electric_toothbrush": [ + { + "category": "electric_toothbrush", + "category_idx": 4, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 360, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "electric_toothbrush", + "default_pos": [ + -0.034197132204995935, + -0.24303293104102477, + 0.777099459326377 + ], + "default_ori": [ + 0.08396914813573804, + -0.6992408473725337, + 0.04985438986821511, + 0.7081849753687011 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.08, + "friction": 0.45, + "size": [ + 0.02160102928535003, + 0.021581126686492424, + 0.168 + ], + "type": "rigid" + }, + "visual": {} + } + ], + "hammer": [ + { + "category": "hammer", + "category_idx": 6, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 360, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "hammer", + "default_pos": [ + 0.09655760567425584, + -0.014902589232917669, + 0.7732835708124903 + ], + "default_ori": [ + 0.41547373741204136, + 0.39813864280861105, + -0.5800565017037569, + -0.5765428426878498 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.05, + "friction": 0.75, + "size": [ + 0.0634059335149331, + 0.0178003967465838, + 0.146 + ], + "type": "rigid" + }, + "visual": {} + } + ], + "shoe": [ + { + "category": "shoe", + "category_idx": 9, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 360, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "shoe", + "default_pos": [ + 0.39187499404566767, + -0.11315683937728377, + 0.8002145790889638 + ], + "default_ori": [ + 0.47264186807915265, + 0.020487264882068444, + 0.004555669051401102, + 0.8810046437992226 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.5, + "friction": 0.65, + "type": "rigid" + }, + "visual": {} + } + ], + "box": [ + { + "category": "box", + "category_idx": 0, + "group": null, + "xlim": [ + -0.3, + 0.3 + ], + "ylim": [ + -0.1, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 25, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "box", + "default_pos": [ + -0.1839610264640684, + -0.007842765938803193, + 0.765 + ], + "default_ori": [ + 0.5610008581988947, + 0.0, + 0.0, + 0.8278152191764198 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.2, + "friction": 0.4, + "size": [ + 0.17017032794890447, + 0.29156746983328163, + 0.18199999999999997 + ], + "type": "rigid" + }, + "visual": {} + } + ] + }, + "Geometry": { + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Room": { + "default": "Simple_Room_yellow", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ], + "random": false + }, + "Table": { + "default": "material_0140", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "random": false + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0161", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/pack_objects_into_box_random_19.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/pack_objects_into_box_random_19.json new file mode 100644 index 0000000000000000000000000000000000000000..fdc81b962f1b6d0f939f4d1fe7d3d4382ffab330 --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/pack_objects_into_box_random_19.json @@ -0,0 +1,407 @@ +{ + "Rigid": { + "car": [ + { + "category": "car", + "category_idx": 3, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 360, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "car", + "default_pos": [ + 0.11419414403866476, + -0.1884889523384367, + 0.785 + ], + "default_ori": [ + -0.5450225650959932, + 0.0, + 0.0, + 0.8384213758821897 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.45, + "friction": 0.45, + "size": [ + 0.1353308144675138, + 0.0582320400105684, + 0.039999999999999994 + ], + "type": "rigid" + }, + "visual": {} + } + ], + "electric_toothbrush": [ + { + "category": "electric_toothbrush", + "category_idx": 5, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 360, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "electric_toothbrush", + "default_pos": [ + 0.08799148377893753, + -0.07919627657725767, + 0.7742104011817825 + ], + "default_ori": [ + -0.1932909172996208, + 0.7014600374710629, + 0.11774008719969488, + 0.6758178075389659 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.06, + "friction": 0.45, + "size": [ + 0.01847616815971639, + 0.022683551146907246, + 0.168 + ], + "type": "rigid" + }, + "visual": {} + } + ], + "hammer": [ + { + "category": "hammer", + "category_idx": 6, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 360, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "hammer", + "default_pos": [ + -0.22195130503203556, + -0.1970954090852219, + 0.7732835708124903 + ], + "default_ori": [ + 0.3808060285186589, + 0.390511339681891, + 0.5852186067155914, + 0.6000057037875249 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.05, + "friction": 0.75, + "size": [ + 0.0634059335149331, + 0.0178003967465838, + 0.146 + ], + "type": "rigid" + }, + "visual": {} + } + ], + "shoe": [ + { + "category": "shoe", + "category_idx": 17, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 360, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "shoe", + "default_pos": [ + 0.41756862090923696, + -0.1613968277982981, + 0.8036 + ], + "default_ori": [ + 0.5829566941984358, + 0.0, + 0.0, + -0.8125032262638909 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.32, + "friction": 0.75, + "type": "rigid" + }, + "visual": {} + } + ], + "box": [ + { + "category": "box", + "category_idx": 0, + "group": null, + "xlim": [ + -0.3, + 0.3 + ], + "ylim": [ + -0.1, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 25, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "box", + "default_pos": [ + -0.16615321648823306, + -0.025083499650255237, + 0.765 + ], + "default_ori": [ + 0.7276108689606546, + 0.0, + 0.0, + 0.6859901044259467 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.2, + "friction": 0.4, + "size": [ + 0.17017032794890447, + 0.29156746983328163, + 0.18199999999999997 + ], + "type": "rigid" + }, + "visual": {} + } + ] + }, + "Geometry": { + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Room": { + "default": "Simple_Room_azure", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ], + "random": false + }, + "Table": { + "default": "material_0508", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "random": false + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0299", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/pack_objects_into_box_random_28.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/pack_objects_into_box_random_28.json new file mode 100644 index 0000000000000000000000000000000000000000..c74eef0960e0cde4167503075a66e0abdbf0d0cc --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/pack_objects_into_box_random_28.json @@ -0,0 +1,407 @@ +{ + "Rigid": { + "car": [ + { + "category": "car", + "category_idx": 5, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 360, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "car", + "default_pos": [ + 0.08523690085893054, + -0.1010877534456163, + 0.7846 + ], + "default_ori": [ + 0.6957773672330028, + 0.0, + 0.0, + -0.7182575131847291 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "size": [ + 0.06831246940501093, + 0.15355837894768073, + 0.039 + ], + "mass": 0.45, + "friction": 0.0, + "type": "rigid" + }, + "visual": {} + } + ], + "electric_toothbrush": [ + { + "category": "electric_toothbrush", + "category_idx": 5, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 360, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "electric_toothbrush", + "default_pos": [ + 0.4236421220418324, + -0.11005624000397032, + 0.7742104011817825 + ], + "default_ori": [ + -0.19473579497786594, + -0.6570523163988484, + 0.27238055330291877, + -0.6754028855813706 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.06, + "friction": 0.45, + "size": [ + 0.01847616815971639, + 0.022683551146907246, + 0.168 + ], + "type": "rigid" + }, + "visual": {} + } + ], + "hammer": [ + { + "category": "hammer", + "category_idx": 8, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 360, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "hammer", + "default_pos": [ + -0.042198795985995165, + -0.23537752905238504, + 0.7782626245436889 + ], + "default_ori": [ + -0.13804130865604425, + 0.03507395131443148, + -0.0009498659751347486, + -0.9898047851967321 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.05, + "friction": 0.75, + "size": [ + 0.18125252663522534, + 0.05544697567143786, + 0.037 + ], + "type": "rigid" + }, + "visual": {} + } + ], + "shoe": [ + { + "category": "shoe", + "category_idx": 10, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 360, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "shoe", + "default_pos": [ + 0.28631159191251576, + -0.21088705918640596, + 0.8020953609711212 + ], + "default_ori": [ + 0.9890402647199967, + -0.005110951923724809, + 0.008626533206576421, + -0.14730517933144158 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.45, + "friction": 0.75, + "type": "rigid" + }, + "visual": {} + } + ], + "box": [ + { + "category": "box", + "category_idx": 0, + "group": null, + "xlim": [ + -0.3, + 0.3 + ], + "ylim": [ + -0.1, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 25, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "box", + "default_pos": [ + -0.17423086544876493, + -0.03810635069129973, + 0.765 + ], + "default_ori": [ + 0.7704492066877501, + 0.0, + 0.0, + 0.6375013881665016 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.2, + "friction": 0.4, + "size": [ + 0.17017032794890447, + 0.29156746983328163, + 0.18199999999999997 + ], + "type": "rigid" + }, + "visual": {} + } + ] + }, + "Geometry": { + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Room": { + "default": "Simple_Room_purple", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ], + "random": false + }, + "Table": { + "default": "material_0413", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "random": false + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0298", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/pour_liquid_into_cup_random_17.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/pour_liquid_into_cup_random_17.json new file mode 100644 index 0000000000000000000000000000000000000000..04bb8e95772a82345b3cec7fde31228f3c40efe6 --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/pour_liquid_into_cup_random_17.json @@ -0,0 +1,619 @@ +{ + "Rigid": { + "wuliangye": [ + { + "category": "wuliangye", + "category_idx": 3, + "group": null, + "xlim": [ + [ + -0.3, + -0.05 + ], + [ + 0.05, + 0.3 + ] + ], + "ylim": [ + -0.2, + 0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.04, + "check_mode": "bbox", + "need_check_stable": true, + "label": "bottle", + "default_pos": [ + 0.17508127234481302, + -0.018021304271179556, + 0.8250057777732446 + ], + "default_ori": [ + 0.9999850503352453, + 0.00019999701006704907, + 0.004499932726508604, + -0.0030999536560392606 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "size": [ + 0.0823343002463697, + 0.08210405953736234, + 0.218 + ], + "mass": 0.15, + "friction": 0.0, + "type": "rigid" + }, + "visual": {} + } + ], + "mug": [ + { + "category": "mug", + "category_idx": 17, + "group": null, + "xlim": [ + -0.05, + 0.05 + ], + "ylim": [ + -0.1, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.04, + "check_mode": "bbox", + "need_check_stable": true, + "label": "cup", + "default_pos": [ + -0.004056546572992186, + -0.08469321819642113, + 0.8060999034960348 + ], + "default_ori": [ + 0.9999998200000486, + -0.00019999996400000972, + 0.00039999992800001944, + -0.00039999992800001944 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.5, + "friction": 0.32, + "type": "rigid" + }, + "visual": {} + } + ], + "plier": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.04769750133887127, + 0.2967154524043321, + 0.7652063769359179 + ], + "default_ori": [ + 0.9988190327036558, + 0.0026725575228049416, + -0.0006303803900244467, + -0.048507730989858805 + ] + } + ], + "garage": [ + { + "category_idx": 1, + "physics": { + "mass": 12.5, + "friction": 0.45, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.31354182101968237, + 0.28277181417167796, + 0.8473 + ], + "default_ori": [ + 0.994537400124196, + 0.0, + 0.0, + 0.10438083997652506 + ] + } + ], + "stapler": [ + { + "category_idx": 3, + "physics": { + "mass": 0.12, + "friction": 0.3, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.2256128266111616, + 0.23104399980641055, + 0.799692594638761 + ], + "default_ori": [ + 0.9899932437735526, + -0.01781949338717887, + -0.0003029629120772852, + -0.1399848247190298 + ] + } + ], + "book": [ + { + "category_idx": 1, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.2530057419059095, + -0.14573321755258997, + 0.7636000000000001 + ], + "default_ori": [ + 0.9746212348344301, + 0.0, + 0.0, + -0.22386033281894951 + ] + } + ], + "toy_car": [ + { + "category_idx": 0, + "physics": { + "mass": 0.35, + "friction": 0.45, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.48227766980181846, + 0.20234572393859968, + 0.7937309890088791 + ], + "default_ori": [ + 0.9963407918286127, + -0.010198255916093593, + 0.0075849695520692675, + -0.08451917150266594 + ] + } + ], + "croissant": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.4660563117399563, + 0.09363699502006342, + 0.7657638918224734 + ], + "default_ori": [ + 0.9831126534718214, + -0.0031373001811986776, + 0.009244263602951573, + -0.1827408315664748 + ] + } + ], + "box": [ + { + "category_idx": 2, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.5451506844755993, + 0.2319493153806763, + 0.7649 + ], + "default_ori": [ + 0.9804135428376084, + 0.0, + 0.0, + 0.1969499556247958 + ] + } + ], + "plane": [ + { + "category_idx": 0, + "physics": { + "type": "rigid", + "mass": 75000.0 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.20220071338143317, + 0.12087937400421182, + 0.7602640105182119 + ], + "default_ori": [ + 0.9822670022477621, + -0.06598570494866018, + -0.011034824330363695, + 0.1751446707428507 + ] + } + ], + "minecraft_blocks": [ + { + "category_idx": 6, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.5757708059988229, + -0.05639094971658648, + 0.805 + ], + "default_ori": [ + 0.9764308394832883, + 0.0, + 0.0, + -0.21583052542668946 + ] + } + ], + "chocolate": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.5525879796631347, + -0.09815206094141216, + 0.7647 + ], + "default_ori": [ + 0.9694874806222371, + 0.0, + 0.0, + -0.2451408267032391 + ] + } + ] + }, + "Geometry": { + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Fluid": { + "wuliangye": [ + { + "category": "wuliangye", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + 0.0, + 0.0 + ], + "zlim": [ + -0.133, + -0.133 + ], + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "bottle", + "place_tag": null, + "margin": 0.01, + "check_mode": "enforce", + "need_check_stable": true, + "label": "wine", + "default_pos": [ + 0.17508127234481302, + -0.018021304271179556, + 0.8508287512843367 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "fluid", + "particle_system": { + "particle_contact_offset": 0.0025, + "contact_offset": 0.0025, + "rest_offset": 0.002, + "fluid_rest_offset": 0.0015, + "solid_rest_offset": 0.0015, + "max_velocity": 2, + "smoothing": false, + "anisotropy": false, + "isosurface": true + }, + "particle_material": { + "adhesion": null, + "adhesion_offset_scale": null, + "cohesion": 0.005, + "particle_adhesion_scale": null, + "particle_friction_scale": null, + "drag": null, + "lift": null, + "friction": 0.1, + "damping": 0.99, + "gravity_scale": 1.0, + "viscosity": 0.0091, + "vorticity_confinement": null, + "surface_tension": 0.0074, + "density": null, + "cfl_coefficient": null + }, + "interaction_with_object": true + }, + "visual": { + "visible": true, + "visual_mdl_path": "$Robodojo_ASSETS/Material/Fluid/Linen_Blue.mdl", + "scale": [ + 1, + 1, + 1 + ] + } + } + ] + }, + "Room": { + "default": "Simple_Room_teal", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0515", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0250", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/pour_liquid_into_cup_random_23.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/pour_liquid_into_cup_random_23.json new file mode 100644 index 0000000000000000000000000000000000000000..86a6dc741869e7d4f682d80254764f07accd1feb --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/pour_liquid_into_cup_random_23.json @@ -0,0 +1,615 @@ +{ + "Rigid": { + "wuliangye": [ + { + "category": "wuliangye", + "category_idx": 3, + "group": null, + "xlim": [ + [ + -0.3, + -0.05 + ], + [ + 0.05, + 0.3 + ] + ], + "ylim": [ + -0.2, + 0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.04, + "check_mode": "bbox", + "need_check_stable": true, + "label": "bottle", + "default_pos": [ + 0.268280106507601, + 0.004675608965960349, + 0.8250057777732446 + ], + "default_ori": [ + 0.9999850503352453, + 0.00019999701006704907, + 0.004499932726508604, + -0.0030999536560392606 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "size": [ + 0.0823343002463697, + 0.08210405953736234, + 0.218 + ], + "mass": 0.15, + "friction": 0.0, + "type": "rigid" + }, + "visual": {} + } + ], + "mug": [ + { + "category": "mug", + "category_idx": 18, + "group": null, + "xlim": [ + -0.05, + 0.05 + ], + "ylim": [ + -0.1, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.04, + "check_mode": "bbox", + "need_check_stable": true, + "label": "cup", + "default_pos": [ + -0.022277821909685094, + -0.034154729837118855, + 0.8016 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.5, + "friction": 0.45, + "type": "rigid" + }, + "visual": {} + } + ], + "sculpture": [ + { + "category_idx": 2, + "physics": { + "mass": 1.4, + "friction": 0.3, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.3894819530367832, + 0.061076674333224085, + 0.8337125621683963 + ], + "default_ori": [ + 0.9871988433376956, + 0.0016405391204276625, + -0.005710279764332289, + 0.15938364109632952 + ] + } + ], + "minecraft_blocks": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.4069337862285288, + 0.2376692708161945, + 0.805 + ], + "default_ori": [ + 0.9907185089171252, + 0.0, + 0.0, + -0.13592952618554965 + ] + } + ], + "headphones": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.03727131518624947, + 0.16212988407422851, + 0.8207189283576608 + ], + "default_ori": [ + -0.6195095134381297, + 0.7527029120203964, + 0.17079955829800275, + -0.1430866865954849 + ] + } + ], + "coffee_bag": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.44840635745387897, + 0.22021815537971434, + 0.7640272467517178 + ], + "default_ori": [ + 0.9679949267540245, + 0.02941631406145399, + 0.015094487600512558, + 0.24878235204609397 + ] + } + ], + "mini_fan": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.5352257174203905, + 0.07709937626212174, + 0.8575830605847898 + ], + "default_ori": [ + 0.6996612339692468, + 0.7025596624846839, + -0.07964836987627247, + -0.10266555170109584 + ] + } + ], + "office_mail": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.18842830029633503, + -0.21044824436143286, + 0.7655999377952247 + ], + "default_ori": [ + 0.99171020695862, + 0.000923707755068305, + 0.0071403134901020645, + -0.1282927437594868 + ] + } + ], + "bottle": [ + { + "category_idx": 0, + "physics": { + "type": "rigid", + "mass": 0.19 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.3108285096264912, + 0.15156211745124526, + 0.7654150963726012 + ], + "default_ori": [ + 0.9883055403077661, + -0.004699230201153699, + -0.002325119457330496, + -0.15239642401316503 + ] + } + ], + "pokeball": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.565807843967047, + 0.32021199474118933, + 0.8047553286929123 + ], + "default_ori": [ + 0.9973553304515307, + -0.028320846088658754, + 0.022391625067260727, + 0.06307844024377782 + ] + } + ], + "ball": [ + { + "category_idx": 1, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.32088042104821374, + 0.27538701842079444, + 0.7683537298662597 + ], + "default_ori": [ + 0.9560078011039527, + -0.08701110044736267, + 0.1995433244335029, + 0.19662302586764888 + ] + } + ], + "cereal": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.557779667519469, + 0.36845308629897044, + 0.7645000000000001 + ], + "default_ori": [ + 0.987706089694226, + 0.0, + 0.0, + -0.1563223604636958 + ] + } + ] + }, + "Geometry": { + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Fluid": { + "wuliangye": [ + { + "category": "wuliangye", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + 0.0, + 0.0 + ], + "zlim": [ + -0.133, + -0.133 + ], + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "bottle", + "place_tag": null, + "margin": 0.01, + "check_mode": "enforce", + "need_check_stable": true, + "label": "wine", + "default_pos": [ + 0.268280106507601, + 0.004675608965960349, + 0.8508287512843367 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "fluid", + "particle_system": { + "particle_contact_offset": 0.0025, + "contact_offset": 0.0025, + "rest_offset": 0.002, + "fluid_rest_offset": 0.0015, + "solid_rest_offset": 0.0015, + "max_velocity": 2, + "smoothing": false, + "anisotropy": false, + "isosurface": true + }, + "particle_material": { + "adhesion": null, + "adhesion_offset_scale": null, + "cohesion": 0.005, + "particle_adhesion_scale": null, + "particle_friction_scale": null, + "drag": null, + "lift": null, + "friction": 0.1, + "damping": 0.99, + "gravity_scale": 1.0, + "viscosity": 0.0091, + "vorticity_confinement": null, + "surface_tension": 0.0074, + "density": null, + "cfl_coefficient": null + }, + "interaction_with_object": true + }, + "visual": { + "visible": true, + "visual_mdl_path": "$Robodojo_ASSETS/Material/Fluid/Linen_Blue.mdl", + "scale": [ + 1, + 1, + 1 + ] + } + } + ] + }, + "Room": { + "default": "Simple_Room_green", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0516", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0045", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/pour_liquid_into_cup_random_24.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/pour_liquid_into_cup_random_24.json new file mode 100644 index 0000000000000000000000000000000000000000..efc5760fb814a77a226015a4760a8a541f9ec967 --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/pour_liquid_into_cup_random_24.json @@ -0,0 +1,627 @@ +{ + "Rigid": { + "wuliangye": [ + { + "category": "wuliangye", + "category_idx": 2, + "group": null, + "xlim": [ + [ + -0.3, + -0.05 + ], + [ + 0.05, + 0.3 + ] + ], + "ylim": [ + -0.2, + 0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.04, + "check_mode": "bbox", + "need_check_stable": true, + "label": "bottle", + "default_pos": [ + 0.2289629703410887, + 0.03202138315890539, + 0.8250057777732446 + ], + "default_ori": [ + 0.9999850503352453, + 0.00019999701006704907, + 0.004499932726508604, + -0.0030999536560392606 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "size": [ + 0.0823343002463697, + 0.08210405953736234, + 0.218 + ], + "mass": 0.15, + "friction": 0.0, + "type": "rigid" + }, + "visual": {} + } + ], + "mug": [ + { + "category": "mug", + "category_idx": 18, + "group": null, + "xlim": [ + -0.05, + 0.05 + ], + "ylim": [ + -0.1, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.04, + "check_mode": "bbox", + "need_check_stable": true, + "label": "cup", + "default_pos": [ + -0.026497381014792255, + -0.03374782676189418, + 0.8016 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.5, + "friction": 0.45, + "type": "rigid" + }, + "visual": {} + } + ], + "garage": [ + { + "category_idx": 15, + "physics": { + "mass": 0.04, + "friction": 0.42, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.40529678757333326, + 0.18141839639746998, + 0.8500001175998966 + ], + "default_ori": [ + 0.9750255168209914, + 0.0007180892385716439, + -0.00045204779818969844, + 0.22209124599720834 + ] + } + ], + "kettle": [ + { + "category_idx": 1, + "physics": { + "mass": 1.1, + "friction": 0.25, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.318868572177507, + 0.12119564576200528, + 0.8679 + ], + "default_ori": [ + 0.9987905980784416, + 0.0, + 0.0, + -0.04916646407978717 + ] + } + ], + "book": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.502992449723083, + -0.19203844972485945, + 0.7659983199202184 + ], + "default_ori": [ + 0.9999693055179119, + -0.00019999337315430984, + -1.6264975750533552e-06, + 0.007832497815535312 + ] + } + ], + "sculpture": [ + { + "category_idx": 1, + "physics": { + "mass": 3.2, + "friction": 0.45, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.037012271525329016, + 0.2772336648709613, + 0.8335998185680182 + ], + "default_ori": [ + 0.996600481327799, + 8.268507964560198e-06, + 9.965756758039052e-05, + -0.08238610694286083 + ] + } + ], + "tissue": [ + { + "category_idx": 2, + "physics": { + "mass": 0.15, + "friction": 0.45, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.0016871074700781814, + -0.20604101976709846, + 0.7829072436546988 + ], + "default_ori": [ + 0.9997017147176249, + -0.004679241962593435, + -0.005210785820872748, + 0.02339730746101253 + ] + } + ], + "toy_plane": [ + { + "category_idx": 1, + "physics": { + "mass": 0.45, + "friction": 0.38, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.27964410131939293, + -0.015138946979915534, + 0.8105987658350451 + ], + "default_ori": [ + 0.9844114695687476, + -0.0004814892829744025, + 0.006384862753459508, + -0.17576421785218033 + ] + } + ], + "toy": [ + { + "category_idx": 1, + "physics": { + "type": "rigid", + "mass": 0.25 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.4754013299500705, + 0.20555870276984037, + 0.814710071916362 + ], + "default_ori": [ + 0.9893759763253582, + -0.009142639802541772, + -0.0017477477140199814, + 0.1450811324246318 + ] + } + ], + "balance": [ + { + "category_idx": 0, + "physics": { + "mass": 2.1, + "friction": 0.25, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.4320906757377453, + 0.362187124617787, + 0.8453001268002515 + ], + "default_ori": [ + 0.979900463040744, + 0.003572841518698723, + -0.0010072802284781667, + 0.19945250743612977 + ] + } + ], + "mini_fan": [ + { + "category_idx": 2, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.21129990719307878, + 0.21412695274210297, + 0.8569091681740725 + ], + "default_ori": [ + 0.7043312351699589, + 0.7004044068587142, + -0.07330261187871898, + -0.0893191195019915 + ] + } + ], + "racket": [ + { + "category_idx": 4, + "physics": { + "mass": 0.09, + "friction": 0.65, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.5361006195731759, + -0.1606394607255894, + 0.7690007313579938 + ], + "default_ori": [ + -0.6959431739319603, + 0.7075159409198416, + -0.08692097028170223, + 0.08677002320564346 + ] + } + ] + }, + "Geometry": { + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Fluid": { + "wuliangye": [ + { + "category": "wuliangye", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + 0.0, + 0.0 + ], + "zlim": [ + -0.133, + -0.133 + ], + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "bottle", + "place_tag": null, + "margin": 0.01, + "check_mode": "enforce", + "need_check_stable": true, + "label": "wine", + "default_pos": [ + 0.2289629703410887, + 0.03202138315890539, + 0.8508287512843367 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "fluid", + "particle_system": { + "particle_contact_offset": 0.0025, + "contact_offset": 0.0025, + "rest_offset": 0.002, + "fluid_rest_offset": 0.0015, + "solid_rest_offset": 0.0015, + "max_velocity": 2, + "smoothing": false, + "anisotropy": false, + "isosurface": true + }, + "particle_material": { + "adhesion": null, + "adhesion_offset_scale": null, + "cohesion": 0.005, + "particle_adhesion_scale": null, + "particle_friction_scale": null, + "drag": null, + "lift": null, + "friction": 0.1, + "damping": 0.99, + "gravity_scale": 1.0, + "viscosity": 0.0091, + "vorticity_confinement": null, + "surface_tension": 0.0074, + "density": null, + "cfl_coefficient": null + }, + "interaction_with_object": true + }, + "visual": { + "visible": true, + "visual_mdl_path": "$Robodojo_ASSETS/Material/Fluid/Linen_Blue.mdl", + "scale": [ + 1, + 1, + 1 + ] + } + } + ] + }, + "Room": { + "default": "Simple_Room_lime", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0517", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0083", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/pour_liquid_into_cup_random_28.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/pour_liquid_into_cup_random_28.json new file mode 100644 index 0000000000000000000000000000000000000000..6f0b0ad392712ffa37f14b3e18f8fa897f4a310f --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/pour_liquid_into_cup_random_28.json @@ -0,0 +1,616 @@ +{ + "Rigid": { + "wuliangye": [ + { + "category": "wuliangye", + "category_idx": 3, + "group": null, + "xlim": [ + [ + -0.3, + -0.05 + ], + [ + 0.05, + 0.3 + ] + ], + "ylim": [ + -0.2, + 0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.04, + "check_mode": "bbox", + "need_check_stable": true, + "label": "bottle", + "default_pos": [ + -0.21114476598426182, + -0.19789280029721157, + 0.8250057777732446 + ], + "default_ori": [ + 0.9999850503352453, + 0.00019999701006704907, + 0.004499932726508604, + -0.0030999536560392606 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "size": [ + 0.0823343002463697, + 0.08210405953736234, + 0.218 + ], + "mass": 0.15, + "friction": 0.0, + "type": "rigid" + }, + "visual": {} + } + ], + "mug": [ + { + "category": "mug", + "category_idx": 18, + "group": null, + "xlim": [ + -0.05, + 0.05 + ], + "ylim": [ + -0.1, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.04, + "check_mode": "bbox", + "need_check_stable": true, + "label": "cup", + "default_pos": [ + 0.04385546091636569, + -0.05534972077206979, + 0.8016 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.5, + "friction": 0.45, + "type": "rigid" + }, + "visual": {} + } + ], + "racket": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.5461240690475722, + -0.16168131274071942, + 0.7640663126662783 + ], + "default_ori": [ + 0.9668824914184747, + 0.005306879277536787, + 0.005218616995303705, + -0.25511340783540365 + ] + } + ], + "minecraft_blocks": [ + { + "category_idx": 4, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.17756710012073762, + 0.3539401020468066, + 0.805 + ], + "default_ori": [ + 0.9877546852890166, + 0.0, + 0.0, + 0.15601500469376658 + ] + } + ], + "plant": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.3880689168868917, + 0.08210551278006882, + 0.7655959982749213 + ], + "default_ori": [ + 0.9734874359586867, + -0.0007787349812988146, + 0.00018322489378323122, + -0.22873909161105194 + ] + } + ], + "clip": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.07512792345878098, + 0.11750058815422226, + 0.7712473108579913 + ], + "default_ori": [ + 0.9703602977440011, + 0.16148893461552652, + 0.029745694409955923, + 0.17730597909541987 + ] + } + ], + "puzzle_pieces": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.2714936085361678, + 0.044395666026150284, + 0.7651999996400003 + ], + "default_ori": [ + 0.9730530990019989, + -8.439465155311155e-05, + 0.0009449215484842949, + -0.2305791979416534 + ] + } + ], + "calculator": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.03923075298482432, + 0.2710124639266086, + 0.7656013461123851 + ], + "default_ori": [ + 0.9879090867749171, + 0.003358996158648894, + 0.0005263180708824898, + 0.1549970206218293 + ] + } + ], + "coin": [ + { + "category_idx": 1, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.4989168795261476, + 0.2120536553997322, + 0.766299999948 + ], + "default_ori": [ + 0.9996465573838877, + 0.00010259391342970241, + -9.73369751285655e-05, + 0.026584587838521884 + ] + } + ], + "garage": [ + { + "category_idx": 15, + "physics": { + "mass": 0.04, + "friction": 0.42, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.5043594108736793, + 0.052771774224963756, + 0.8500001175998966 + ], + "default_ori": [ + 0.9986420134577493, + 0.0005676787061594365, + -0.0006306665148663796, + -0.052090392182110506 + ] + } + ], + "tissue": [ + { + "category_idx": 3, + "physics": { + "mass": 0.35, + "friction": 0.45, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.5595908328482796, + 0.21937788555884546, + 0.8223004200986137 + ], + "default_ori": [ + 0.9985051122127618, + -0.0016703804374656433, + -0.000591454843725437, + 0.05462967046708376 + ] + } + ], + "money_stack": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.17368508918504022, + 0.09865217392333657, + 0.7646982015706939 + ], + "default_ori": [ + 0.9962666329837153, + 0.001546188625492992, + -0.00046828828974668143, + 0.08631446002903183 + ] + } + ] + }, + "Geometry": { + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Fluid": { + "wuliangye": [ + { + "category": "wuliangye", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + 0.0, + 0.0 + ], + "zlim": [ + -0.133, + -0.133 + ], + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "bottle", + "place_tag": null, + "margin": 0.01, + "check_mode": "enforce", + "need_check_stable": true, + "label": "wine", + "default_pos": [ + -0.21114476598426182, + -0.19789280029721157, + 0.8508287512843367 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "fluid", + "particle_system": { + "particle_contact_offset": 0.0025, + "contact_offset": 0.0025, + "rest_offset": 0.002, + "fluid_rest_offset": 0.0015, + "solid_rest_offset": 0.0015, + "max_velocity": 2, + "smoothing": false, + "anisotropy": false, + "isosurface": true + }, + "particle_material": { + "adhesion": null, + "adhesion_offset_scale": null, + "cohesion": 0.005, + "particle_adhesion_scale": null, + "particle_friction_scale": null, + "drag": null, + "lift": null, + "friction": 0.1, + "damping": 0.99, + "gravity_scale": 1.0, + "viscosity": 0.0091, + "vorticity_confinement": null, + "surface_tension": 0.0074, + "density": null, + "cfl_coefficient": null + }, + "interaction_with_object": true + }, + "visual": { + "visible": true, + "visual_mdl_path": "$Robodojo_ASSETS/Material/Fluid/Linen_Blue.mdl", + "scale": [ + 1, + 1, + 1 + ] + } + } + ] + }, + "Room": { + "default": "Simple_Room_red", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0522", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0245", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/pour_liquid_into_cup_random_5.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/pour_liquid_into_cup_random_5.json new file mode 100644 index 0000000000000000000000000000000000000000..76fc0dbeee69405b26ab489a0c3be6c77172844f --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/pour_liquid_into_cup_random_5.json @@ -0,0 +1,618 @@ +{ + "Rigid": { + "wuliangye": [ + { + "category": "wuliangye", + "category_idx": 2, + "group": null, + "xlim": [ + [ + -0.3, + -0.05 + ], + [ + 0.05, + 0.3 + ] + ], + "ylim": [ + -0.2, + 0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.04, + "check_mode": "bbox", + "need_check_stable": true, + "label": "bottle", + "default_pos": [ + -0.218681829308414, + -0.08834151585860171, + 0.8250057777732446 + ], + "default_ori": [ + 0.9999850503352453, + 0.00019999701006704907, + 0.004499932726508604, + -0.0030999536560392606 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "size": [ + 0.0823343002463697, + 0.08210405953736234, + 0.218 + ], + "mass": 0.15, + "friction": 0.0, + "type": "rigid" + }, + "visual": {} + } + ], + "mug": [ + { + "category": "mug", + "category_idx": 17, + "group": null, + "xlim": [ + -0.05, + 0.05 + ], + "ylim": [ + -0.1, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.04, + "check_mode": "bbox", + "need_check_stable": true, + "label": "cup", + "default_pos": [ + 0.04318670759983312, + -0.07909930072126065, + 0.8060999034960348 + ], + "default_ori": [ + 0.9999998200000486, + -0.00019999996400000972, + 0.00039999992800001944, + -0.00039999992800001944 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.5, + "friction": 0.32, + "type": "rigid" + }, + "visual": {} + } + ], + "headphones": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.29172726321013376, + 0.0667972003981327, + 0.8207189283576608 + ], + "default_ori": [ + -0.6355238161584312, + 0.7715646477002146, + 0.02054646680140207, + -0.0193730796892803 + ] + } + ], + "darts_board": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.18365771488396473, + 0.25455602701402075, + 0.770899999764 + ], + "default_ori": [ + 0.9941103060583443, + 0.00011022173576426825, + -8.860680992515236e-05, + 0.10837287201411362 + ] + } + ], + "garage": [ + { + "category_idx": 8, + "physics": { + "mass": 0.35, + "friction": 0.45, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.49740144041884904, + 0.18224329728209301, + 0.8397108576761542 + ], + "default_ori": [ + 0.9879214507432968, + -0.00015103228628458702, + 0.00032739765790190727, + -0.1549550811083066 + ] + } + ], + "phone_stand": [ + { + "category_idx": 1, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.4826108444649518, + 0.3064002671696959, + 0.8412968630517244 + ], + "default_ori": [ + 0.6940159762048568, + 0.6960003744350101, + 0.12980932840032797, + 0.1306707381895484 + ] + } + ], + "plate": [ + { + "category_idx": 0, + "physics": { + "type": "rigid", + "mass": 0.65 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.26339800107902256, + -0.18320819893452447, + 0.7756999947195158 + ], + "default_ori": [ + 0.6924910101924547, + 0.6929255007075648, + 0.1419160903090453, + 0.14202209188432344 + ] + } + ], + "keyboard": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.447593477437791, + -0.23125805860745216, + 0.7793985725095364 + ], + "default_ori": [ + 0.9968348700507144, + -0.010325727244147914, + 0.0026228178508236584, + -0.07878287906884528 + ] + } + ], + "piano": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.5067382053125653, + 0.3522806561186938, + 0.7849067766106135 + ], + "default_ori": [ + 0.9990980455593549, + -0.001011833055667709, + 0.0002572793799732934, + 0.04245003369451308 + ] + } + ], + "earbuds": [ + { + "category_idx": 0, + "physics": { + "type": "rigid", + "mass": 0.012 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.566478329202907, + 0.16064277997137896, + 0.7759905181449079 + ], + "default_ori": [ + 0.8001077032306764, + -0.5805378431771447, + 0.08920308482926911, + -0.12184533444946988 + ] + } + ], + "calculator": [ + { + "category_idx": 1, + "physics": { + "mass": 0.12, + "friction": 0.45, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.5558208388018615, + -0.2163875989805941, + 0.7816947085391605 + ], + "default_ori": [ + 0.7072149681412437, + -0.7056666454441185, + -0.03143905999797783, + 0.029885780081305803 + ] + } + ], + "pokeball": [ + { + "category_idx": 7, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.5785695538443936, + -0.012022550120014963, + 0.8047343578181123 + ], + "default_ori": [ + 0.9901822696448296, + 0.030712391502189195, + 0.02245882867352752, + -0.13450436016666345 + ] + } + ] + }, + "Geometry": { + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Fluid": { + "wuliangye": [ + { + "category": "wuliangye", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + 0.0, + 0.0 + ], + "zlim": [ + -0.133, + -0.133 + ], + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "bottle", + "place_tag": null, + "margin": 0.01, + "check_mode": "enforce", + "need_check_stable": true, + "label": "wine", + "default_pos": [ + -0.218681829308414, + -0.08834151585860171, + 0.8508287512843367 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "fluid", + "particle_system": { + "particle_contact_offset": 0.0025, + "contact_offset": 0.0025, + "rest_offset": 0.002, + "fluid_rest_offset": 0.0015, + "solid_rest_offset": 0.0015, + "max_velocity": 2, + "smoothing": false, + "anisotropy": false, + "isosurface": true + }, + "particle_material": { + "adhesion": null, + "adhesion_offset_scale": null, + "cohesion": 0.005, + "particle_adhesion_scale": null, + "particle_friction_scale": null, + "drag": null, + "lift": null, + "friction": 0.1, + "damping": 0.99, + "gravity_scale": 1.0, + "viscosity": 0.0091, + "vorticity_confinement": null, + "surface_tension": 0.0074, + "density": null, + "cfl_coefficient": null + }, + "interaction_with_object": true + }, + "visual": { + "visible": true, + "visual_mdl_path": "$Robodojo_ASSETS/Material/Fluid/Linen_Blue.mdl", + "scale": [ + 1, + 1, + 1 + ] + } + } + ] + }, + "Room": { + "default": "Simple_Room_teal", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0496", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0423", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/push_T_0.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/push_T_0.json new file mode 100644 index 0000000000000000000000000000000000000000..72593c8f3f5ca27984c7946d35d085aad7080155 --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/push_T_0.json @@ -0,0 +1,229 @@ +{ + "Rigid": { + "t": [ + { + "category": "t", + "category_idx": 0, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + -0.1 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 360, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "t", + "default_pos": [ + -0.41749571445048334, + -0.11693272251755801, + 0.7725 + ], + "default_ori": [ + -0.9894193365550858, + 0.0, + 0.0, + -0.14508403237742568 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.35, + "friction": 0.45, + "type": "rigid" + }, + "visual": {} + } + ] + }, + "Geometry": { + "t_cushion": [ + { + "category": "t_cushion", + "category_idx": 0, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + -0.1 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 360, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "target_t", + "default_pos": [ + -0.11133503448175883, + -0.19408636138063962, + 0.765 + ], + "default_ori": [ + 0.37255282262781525, + 0.0, + 0.0, + 0.9280109882711776 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.45, + "friction": 0.25, + "type": "geometry" + }, + "visual": {} + } + ], + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Room": { + "default": "Simple_Room_nolight", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0122", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0564", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/push_T_random_1.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/push_T_random_1.json new file mode 100644 index 0000000000000000000000000000000000000000..85c57683f4285c51fcd89199b20a16c256c5b126 --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/push_T_random_1.json @@ -0,0 +1,598 @@ +{ + "Rigid": { + "t": [ + { + "category": "t", + "category_idx": 1, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + -0.1 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 360, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "t", + "default_pos": [ + 0.07547236632103366, + -0.1268478023508606, + 0.7725 + ], + "default_ori": [ + -0.8749096628542969, + 0.0, + 0.0, + 0.4842861569817792 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.35, + "friction": 0.45, + "type": "rigid" + }, + "visual": {} + } + ], + "cake": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.062337450263630884, + 0.20668574813572885, + 0.7649278750461119 + ], + "default_ori": [ + 0.9978879028842348, + 0.0025817967368267363, + 0.001128812133705628, + -0.06489833115019711 + ] + } + ], + "phone_stand": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.41268700382340406, + 0.167484019076619, + 0.7652017247465114 + ], + "default_ori": [ + 0.9843006429537364, + -0.003804574153094538, + 0.004847037636272804, + -0.17639239133967038 + ] + } + ], + "plate": [ + { + "category_idx": 1, + "physics": { + "type": "rigid", + "mass": 0.35 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.3409745541666221, + -0.269670413894976, + 0.7803002731258395 + ], + "default_ori": [ + 0.7076014712246392, + 0.7066024633271071, + 0.002538447315066951, + 0.002583220087210368 + ] + } + ], + "garage": [ + { + "category_idx": 2, + "physics": { + "mass": 8.5, + "friction": 0.55, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.459126373530653, + 0.21051896297004188, + 0.8901 + ], + "default_ori": [ + 0.9995109938467377, + 0.0, + 0.0, + 0.03126936487213524 + ] + } + ], + "racket": [ + { + "category_idx": 2, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.5005452162221307, + -0.4183690489155281, + 0.7777131983932335 + ], + "default_ori": [ + 0.9996720243691293, + -0.017665992390848994, + 0.002029579261085356, + -0.018429248888556463 + ] + } + ], + "tissue": [ + { + "category_idx": 1, + "physics": { + "mass": 0.45, + "friction": 0.42, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.4318329825002716, + 0.033579948121955534, + 0.8060060361661949 + ], + "default_ori": [ + 0.9781006060708844, + -0.05825881155365469, + -0.012598315567181363, + 0.19941513915697065 + ] + } + ], + "box": [ + { + "category_idx": 1, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.1219826247490039, + 0.06734124984599614, + 0.7657016805597984 + ], + "default_ori": [ + 0.9998105272930683, + 0.00019611015993667812, + 0.00020381559206697527, + 0.01946354320174465 + ] + } + ], + "walkie_talkie": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.08696889697178121, + -0.3539328415034587, + 0.7880404744334204 + ], + "default_ori": [ + 0.6848885672972597, + -0.6835352015152546, + 0.17829661706426064, + -0.1786549607999956 + ] + } + ], + "pokeball": [ + { + "category_idx": 4, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.2534617487802355, + 0.3496924797332996, + 0.8047553286929123 + ], + "default_ori": [ + 0.9856642857851631, + -0.022503136851925738, + 0.028232322400995956, + -0.16481037749879177 + ] + }, + { + "category_idx": 8, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 1, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.5104835547433453, + -0.03403899083583507, + 0.8048623554934082 + ], + "default_ori": [ + 0.9788048801784871, + -0.06507232300998896, + -0.023413846884515973, + 0.1927651189684737 + ] + } + ], + "minecraft_blocks": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.02035329204832259, + 0.3226634555212629, + 0.805 + ], + "default_ori": [ + 0.9743670035255844, + 0.0, + 0.0, + 0.22496431370458275 + ] + } + ], + "toothpaste": [ + { + "category_idx": 1, + "physics": { + "mass": 0.05, + "friction": 0.3, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 1, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.5600189247764129, + -0.23662957474479987, + 0.7778054544084064 + ], + "default_ori": [ + -0.6715701211976897, + 0.7371672277785312, + -0.0559964900991876, + 0.04942108558507597 + ] + } + ], + "dice": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 1, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.45555893462245156, + -0.1192390554427405, + 0.765 + ], + "default_ori": [ + 0.9976122520343043, + -0.0004963329739255326, + -6.057396281291368e-05, + 0.06906188945734053 + ] + } + ] + }, + "Geometry": { + "t_cushion": [ + { + "category": "t_cushion", + "category_idx": 0, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + -0.1 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 360, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "target_t", + "default_pos": [ + -0.21919883439076335, + -0.2441296122725744, + 0.765 + ], + "default_ori": [ + 0.9402505243008766, + 0.0, + 0.0, + 0.34048340862944676 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.45, + "friction": 0.25, + "type": "geometry" + }, + "visual": {} + } + ], + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Room": { + "default": "Simple_Room_red", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0374", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0286", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/push_T_random_23.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/push_T_random_23.json new file mode 100644 index 0000000000000000000000000000000000000000..a02b12453279d0810079017b1499db91c27c8a68 --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/push_T_random_23.json @@ -0,0 +1,743 @@ +{ + "Rigid": { + "t": [ + { + "category": "t", + "category_idx": 1, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + -0.1 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 360, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "t", + "default_pos": [ + 0.04803384259655929, + -0.19259126796618037, + 0.7725 + ], + "default_ori": [ + 0.5629272168106482, + 0.0, + 0.0, + 0.8265064721911242 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.35, + "friction": 0.45, + "type": "rigid" + }, + "visual": {} + } + ], + "helmets": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.14084804039079862, + 0.2909760686226584, + 0.8120601733927771 + ], + "default_ori": [ + 0.9964765112842859, + -0.058920115180664215, + -0.00010611379975803035, + -0.059690629295202684 + ] + } + ], + "foosball_table": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.22055643958314827, + 0.19050224167386678, + 0.7650017999933401 + ], + "default_ori": [ + 0.992729970923893, + -0.00029788652249257115, + -3.554274494907526e-05, + 0.12036243113937048 + ] + } + ], + "dice": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.40542495124419886, + 0.28947995881811855, + 0.765 + ], + "default_ori": [ + 0.9961028440542457, + -0.0004950788404833437, + -7.008971167219581e-05, + 0.08819792543715176 + ] + }, + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 1, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.5127799792082475, + -0.04225770643756019, + 0.765 + ], + "default_ori": [ + 0.9694164914621933, + -0.0004904781881169615, + 9.719451094648349e-05, + -0.245420895739351 + ] + } + ], + "scale": [ + { + "category_idx": 1, + "physics": { + "mass": 0.25, + "friction": 0.25, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.3517624525086846, + 0.13321094937098682, + 0.7764003384861654 + ], + "default_ori": [ + 0.9928045039105814, + -0.002307371952381992, + 7.74969994095921e-05, + -0.1197242124373886 + ] + } + ], + "sculpture": [ + { + "category_idx": 1, + "physics": { + "mass": 3.2, + "friction": 0.45, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.3307662706249011, + 0.31013550813575125, + 0.8335998185680182 + ], + "default_ori": [ + 0.9990242370147582, + -4.38654770754214e-06, + 9.990373966578809e-05, + 0.04416518829441876 + ] + } + ], + "stapler": [ + { + "category_idx": 4, + "physics": { + "mass": 0.12, + "friction": 0.3, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.3434564281705672, + 0.0022286809729208925, + 0.7993 + ], + "default_ori": [ + 0.9822874190400016, + 0.0, + 0.0, + -0.18738043226477114 + ] + } + ], + "house": [ + { + "category_idx": 1, + "physics": { + "mass": 1200.0, + "friction": 0.65, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.4906801446097151, + 0.22375448176360088, + 0.8221003566737254 + ], + "default_ori": [ + 0.9968507287494534, + -0.0003626469390719185, + -0.0007736191798825837, + -0.07929624576388242 + ] + } + ], + "cup": [ + { + "category_idx": 3, + "physics": { + "type": "rigid", + "mass": 0.15 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.5731874578920156, + 0.23523349665495086, + 0.7649962177334373 + ], + "default_ori": [ + 0.995971784671267, + -0.00010861822503551275, + 9.056530014380565e-05, + 0.0896670738829976 + ] + } + ], + "pokeball": [ + { + "category_idx": 5, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.004979113968110312, + 0.19906595463618323, + 0.8048566320568888 + ], + "default_ori": [ + 0.9784943429553142, + -0.11377534192288605, + -0.1682555463700317, + 0.03597309398009132 + ] + } + ], + "baseball_bat": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.3264746082990643, + -0.26202285540339887, + 0.7713263732154156 + ], + "default_ori": [ + -0.6033018090369876, + -0.6145827421310632, + 0.34063733275953, + 0.37720178660477555 + ] + } + ], + "cake": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 1, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.5664916826332513, + -0.011125163366144322, + 0.7649278750461119 + ], + "default_ori": [ + 0.9841318572390829, + 0.002692961330443018, + 0.0008293675278360055, + -0.17741631175269557 + ] + } + ], + "pencil_case": [ + { + "category_idx": 0, + "physics": { + "mass": 0.12, + "friction": 0.45, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 1, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.5089157634506131, + -0.23421557501017037, + 0.7815 + ], + "default_ori": [ + 0.9996957255619877, + 0.0, + 0.0, + -0.02466690684076383 + ] + } + ], + "office_mail": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 1, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.5117268847705768, + -0.2292068034531424, + 0.7655999377952247 + ], + "default_ori": [ + 0.996559375237002, + 0.0005944939465316588, + 0.007175227501706414, + -0.08256860368495261 + ] + } + ], + "toothpaste": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 1, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.4942572185238006, + -0.12627876189086598, + 0.7786688472111792 + ], + "default_ori": [ + -0.6748733863942883, + 0.7186552793863592, + 0.11183490677366723, + -0.12479365117562978 + ] + } + ], + "pen": [ + { + "category_idx": 1, + "physics": { + "type": "rigid", + "mass": 0.008 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 1, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.45259773130397657, + -0.0781251652291454, + 0.7776985904885821 + ], + "default_ori": [ + 0.5446368552580356, + -0.6751851696289691, + -0.2088046259443534, + -0.4515487911532666 + ] + } + ], + "coin": [ + { + "category_idx": 1, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 1, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.5787038828556962, + -0.0013701174343254787, + 0.766299999948 + ], + "default_ori": [ + 0.9970732832471795, + 9.202995384272855e-05, + -0.00010738009776353112, + -0.07645160452660339 + ] + } + ], + "eraser": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 1, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.5507635885663281, + -0.1412389556539033, + 0.7722034910034408 + ], + "default_ori": [ + 0.7036815841300672, + -0.6929108152160186, + 0.11164607218595049, + -0.11064350355227123 + ] + } + ] + }, + "Geometry": { + "t_cushion": [ + { + "category": "t_cushion", + "category_idx": 0, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + -0.1 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 360, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "target_t", + "default_pos": [ + -0.1015337446676001, + -0.2245804896156164, + 0.765 + ], + "default_ori": [ + 0.840053347584375, + 0.0, + 0.0, + -0.5425038001823446 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.45, + "friction": 0.25, + "type": "geometry" + }, + "visual": {} + } + ], + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Room": { + "default": "Simple_Room_red", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0364", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0034", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/push_T_random_5.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/push_T_random_5.json new file mode 100644 index 0000000000000000000000000000000000000000..7cb22c2ed38d81697d162bf198a4cea8f0831f67 --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/push_T_random_5.json @@ -0,0 +1,662 @@ +{ + "Rigid": { + "t": [ + { + "category": "t", + "category_idx": 1, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + -0.1 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 360, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "t", + "default_pos": [ + -0.19998339596202794, + -0.18473438691354022, + 0.7725 + ], + "default_ori": [ + 0.1835250094349635, + 0.0, + 0.0, + -0.9830150410405207 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.35, + "friction": 0.45, + "type": "rigid" + }, + "visual": {} + } + ], + "cake": [ + { + "category_idx": 2, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.07897489475837195, + 0.12592003661621462, + 0.765 + ], + "default_ori": [ + 0.9988628387701478, + 0.0, + 0.0, + -0.0476762972979445 + ] + } + ], + "mini_fan": [ + { + "category_idx": 2, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.45592076921501856, + 0.15692264525764452, + 0.8569091681740725 + ], + "default_ori": [ + 0.6879916428502234, + 0.6784629050589914, + 0.18875299339153084, + 0.17529373438004414 + ] + } + ], + "toy_car": [ + { + "category_idx": 1, + "physics": { + "mass": 0.045, + "friction": 0.45, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.4430575349510557, + 0.12030661971394604, + 0.7948002807175407 + ], + "default_ori": [ + 0.9648855127133048, + 0.0017837601398357807, + 0.0006841898705516767, + 0.262663848749628 + ] + } + ], + "racket": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.5171011035947203, + -0.4427204155467605, + 0.7640663126662783 + ], + "default_ori": [ + 0.9985933500790589, + 0.0034586745863158545, + 0.006590485650996815, + 0.05249689749758894 + ] + } + ], + "garage": [ + { + "category_idx": 11, + "physics": { + "type": "rigid", + "mass": 0.35 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.24711079470826086, + 0.2240923657262519, + 0.7926674879423801 + ], + "default_ori": [ + 0.7762436050640189, + -0.6303338619529162, + 0.007901433143007125, + -0.007915518114688262 + ] + } + ], + "house": [ + { + "category_idx": 2, + "physics": { + "mass": 0.08, + "friction": 0.42, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.5597407389569456, + 0.3435870758820907, + 0.8109343641348757 + ], + "default_ori": [ + 0.9908246630038632, + -0.004756087857750314, + -0.0006473766588569844, + 0.13506830758927804 + ] + } + ], + "mask": [ + { + "category_idx": 0, + "physics": { + "mass": 1.1, + "friction": 0.45, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.22667894772854943, + 0.2940247256983359, + 0.8256192634056823 + ], + "default_ori": [ + 0.9685875750724701, + -0.15053577236758542, + -0.02998326410818039, + 0.1956478840323753 + ] + } + ], + "helmets": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.12232636629509934, + 0.06306680670750069, + 0.8120601733927771 + ], + "default_ori": [ + 0.9844201118177296, + -0.057390614092469525, + -0.01333824003122131, + 0.16566669012124183 + ] + } + ], + "plane": [ + { + "category_idx": 0, + "physics": { + "type": "rigid", + "mass": 75000.0 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.451425359062309, + -0.30821410839621294, + 0.7602640105182119 + ], + "default_ori": [ + 0.9876215378818771, + -0.0661161077197792, + 0.010224524710722497, + -0.141872538943455 + ] + } + ], + "ball": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 1, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.5062229341825156, + -0.05604828372205622, + 0.7647818013684299 + ], + "default_ori": [ + 0.9860794571899926, + -9.40918297773827e-05, + -0.003534255558853751, + -0.16623719286688524 + ] + } + ], + "key": [ + { + "category_idx": 0, + "physics": { + "mass": 0.2, + "friction": 0.3, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 1, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.4781440369634619, + -0.23060684294510933, + 0.7701040130940491 + ], + "default_ori": [ + 0.6335629051318877, + 0.6437692811368493, + 0.2998487684986995, + 0.3070014233439321 + ] + } + ], + "minecraft_blocks": [ + { + "category_idx": 4, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 1, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.5800273603520898, + -0.013958534324110705, + 0.805 + ], + "default_ori": [ + 0.9870359012327086, + 0.0, + 0.0, + -0.160499625163845 + ] + } + ], + "book": [ + { + "category_idx": 4, + "physics": { + "mass": 0.35, + "friction": 0.45, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 1, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.5669675218010857, + -0.19323258907566382, + 0.7719 + ], + "default_ori": [ + -0.6904190264692411, + 0.6904190264692411, + 0.15271400685354733, + -0.15271400685354733 + ] + } + ], + "coin": [ + { + "category_idx": 1, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 1, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.5800673758168334, + -0.13303199156956952, + 0.766299999948 + ], + "default_ori": [ + 0.9987609308901054, + 0.00010482414161853255, + -9.493101249822465e-05, + 0.049765278332714574 + ] + } + ], + "earbuds": [ + { + "category_idx": 0, + "physics": { + "type": "rigid", + "mass": 0.012 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 1, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.472076717122997, + -0.11946670728534903, + 0.7759905181449079 + ], + "default_ori": [ + 0.8052423100353056, + -0.5844614295340755, + -0.05819119427210352, + 0.08126158025276066 + ] + } + ] + }, + "Geometry": { + "t_cushion": [ + { + "category": "t_cushion", + "category_idx": 0, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + -0.1 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 360, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "target_t", + "default_pos": [ + -0.07482115932665082, + -0.12414315546017565, + 0.765 + ], + "default_ori": [ + -0.6522994806938941, + 0.0, + 0.0, + -0.7579613364060704 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.45, + "friction": 0.25, + "type": "geometry" + }, + "visual": {} + } + ], + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Room": { + "default": "Simple_Room_purple", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0057", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0229", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_blocks_12.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_blocks_12.json new file mode 100644 index 0000000000000000000000000000000000000000..90c41b1841f53440f66c1338387cee8e3e19fbaf --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_blocks_12.json @@ -0,0 +1,274 @@ +{ + "Rigid": { + "block": [ + { + "category": "block", + "category_idx": 12, + "group": "size1", + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "block_0", + "default_pos": [ + 0.20863557740422325, + -0.0766599804851687, + 0.7824999394501048 + ], + "default_ori": [ + 0.9999991350011223, + 0.00019999982700022448, + -0.001299998875501459, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "rigid", + "mass": 0.25 + }, + "visual": {} + }, + { + "category": "block", + "category_idx": 18, + "group": "size1", + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "block_1", + "default_pos": [ + -0.4104969217461536, + -0.11727958135742139, + 0.7824999394501048 + ], + "default_ori": [ + 0.9999991350011223, + 0.00019999982700022448, + -0.001299998875501459, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "rigid", + "mass": 0.25 + }, + "visual": {} + }, + { + "category": "block", + "category_idx": 9, + "group": "size1", + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "block_2", + "default_pos": [ + 0.38073661773407097, + -0.1740187394573245, + 0.7824999394501048 + ], + "default_ori": [ + 0.9999991350011223, + 0.00019999982700022448, + -0.001299998875501459, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "rigid", + "mass": 0.25 + }, + "visual": {} + } + ] + }, + "Geometry": { + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Room": { + "default": "Simple_Room_nolight", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0122", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0564", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_blocks_23.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_blocks_23.json new file mode 100644 index 0000000000000000000000000000000000000000..3072e99a0a4650eb32317aaf67d9ac5ea90c0079 --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_blocks_23.json @@ -0,0 +1,274 @@ +{ + "Rigid": { + "block": [ + { + "category": "block", + "category_idx": 12, + "group": "size1", + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "block_0", + "default_pos": [ + -0.10981449878795649, + -0.06668754200943441, + 0.7824999394501048 + ], + "default_ori": [ + 0.9999991350011223, + 0.00019999982700022448, + -0.001299998875501459, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "rigid", + "mass": 0.25 + }, + "visual": {} + }, + { + "category": "block", + "category_idx": 18, + "group": "size1", + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "block_1", + "default_pos": [ + -0.27475721310921125, + -0.11992716116509688, + 0.7824999394501048 + ], + "default_ori": [ + 0.9999991350011223, + 0.00019999982700022448, + -0.001299998875501459, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "rigid", + "mass": 0.25 + }, + "visual": {} + }, + { + "category": "block", + "category_idx": 6, + "group": "size1", + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "block_2", + "default_pos": [ + 0.2569986959076761, + -0.1111384656660604, + 0.7824999394501048 + ], + "default_ori": [ + 0.9999991350011223, + 0.00019999982700022448, + -0.001299998875501459, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "rigid", + "mass": 0.25 + }, + "visual": {} + } + ] + }, + "Geometry": { + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Room": { + "default": "Simple_Room_nolight", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0122", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0564", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_blocks_54.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_blocks_54.json new file mode 100644 index 0000000000000000000000000000000000000000..4101a9d4e4e548aac270581824b3756ca63daaf9 --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_blocks_54.json @@ -0,0 +1,280 @@ +{ + "Rigid": { + "block": [ + { + "category": "block", + "category_idx": 5, + "group": "size0", + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "block_0", + "default_pos": [ + 0.3502601119372435, + -0.044035626287318434, + 0.779999952900074 + ], + "default_ori": [ + 0.9999992150009243, + 0.0010999991365010168, + -0.0005999995290005546, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "size": [ + 0.03, + 0.03, + 0.03 + ], + "mass": 0.2, + "friction": 0.0, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "block", + "category_idx": 17, + "group": "size0", + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "block_1", + "default_pos": [ + 0.10022138672192274, + -0.016793233944502044, + 0.779999952900074 + ], + "default_ori": [ + 0.9999992150009243, + 0.0010999991365010168, + -0.0005999995290005546, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "rigid", + "mass": 0.2 + }, + "visual": {} + }, + { + "category": "block", + "category_idx": 11, + "group": "size0", + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "block_2", + "default_pos": [ + -0.283638833860822, + -0.01845596876404975, + 0.779999952900074 + ], + "default_ori": [ + 0.9999992150009243, + 0.0010999991365010168, + -0.0005999995290005546, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "rigid", + "mass": 0.2 + }, + "visual": {} + } + ] + }, + "Geometry": { + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Room": { + "default": "Simple_Room_nolight", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0122", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0564", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_blocks_random_13.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_blocks_random_13.json new file mode 100644 index 0000000000000000000000000000000000000000..9be44681cfbeab404df1cfa279b56d4eaf266d5d --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_blocks_random_13.json @@ -0,0 +1,820 @@ +{ + "Rigid": { + "block": [ + { + "category": "block", + "category_idx": 28, + "group": "size2", + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "block_0", + "default_pos": [ + -0.2383911203371618, + -0.219403043679144, + 0.7852004525916271 + ], + "default_ori": [ + 0.9999907501283418, + 0.0024999768753208545, + 0.0034999676254491964, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.2, + "friction": 0.0, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "block", + "category_idx": 22, + "group": "size2", + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "block_1", + "default_pos": [ + -0.43473567180449957, + -0.03929249584781687, + 0.7852004525916271 + ], + "default_ori": [ + 0.9999907501283418, + 0.0024999768753208545, + 0.0034999676254491964, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.2, + "friction": 0.0, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "block", + "category_idx": 25, + "group": "size2", + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "block_2", + "default_pos": [ + 0.24984817501128068, + -0.0016153213728490774, + 0.7852004525916271 + ], + "default_ori": [ + 0.9999907501283418, + 0.0024999768753208545, + 0.0034999676254491964, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.2, + "friction": 0.0, + "type": "rigid" + }, + "visual": {} + } + ], + "toy_plane": [ + { + "category_idx": 2, + "physics": { + "mass": 0.45, + "friction": 0.32, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.4110786222560677, + 0.2337166164608894, + 0.8110694266353823 + ], + "default_ori": [ + 0.9668450778219017, + 0.002257142512870861, + 0.007112819515610928, + 0.25525459564477176 + ] + } + ], + "walkie_talkie": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.12783198442089605, + 0.2599257498157719, + 0.7880404744334204 + ], + "default_ori": [ + 0.700381023499669, + -0.6989964595891143, + 0.10204903159238231, + -0.10225637659577524 + ] + } + ], + "puzzle_pieces": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.47263351071093956, + 0.19686628730422037, + 0.7651999996400003 + ], + "default_ori": [ + 0.9779748495828913, + -0.0004812410050506573, + 0.0008175611812326722, + 0.20872061130643332 + ] + } + ], + "pokeball": [ + { + "category_idx": 2, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.5278906984543382, + 0.004191185306543689, + 0.804797635494598 + ], + "default_ori": [ + 0.971658364784105, + 0.01895883007817933, + 0.1254444552075561, + -0.19945995478999073 + ] + } + ], + "notes_holder": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.4526345655901152, + -0.360662729926963, + 0.7735 + ], + "default_ori": [ + 0.9837511858874128, + 0.0, + 0.0, + 0.17953719465645293 + ] + } + ], + "pen": [ + { + "category_idx": 2, + "physics": { + "type": "rigid", + "mass": 0.018 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.010972489724672164, + 0.181108721462086, + 0.7715255368825626 + ], + "default_ori": [ + 0.631575680781952, + 0.759445683519221, + -0.0923185515726319, + -0.125824076648185 + ] + } + ], + "sculpture": [ + { + "category_idx": 1, + "physics": { + "mass": 3.2, + "friction": 0.45, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.0842361183812311, + 0.1921276223094829, + 0.8335998185680182 + ], + "default_ori": [ + 0.994924517775308, + -1.0032553624203632e-05, + 9.949546154361804e-05, + 0.10062402262666717 + ] + } + ], + "cereal": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.17411642035214278, + 0.11685792620162447, + 0.7645000000000001 + ], + "default_ori": [ + 0.9837324444077367, + 0.0, + 0.0, + -0.1796398558771948 + ] + } + ], + "eraser": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.5700178637161627, + -0.24103076601953463, + 0.7722034910034408 + ], + "default_ori": [ + 0.7105336034349465, + -0.700264554849858, + -0.04711471637193941, + 0.05051489989965686 + ] + } + ], + "baseball_bat": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.2107214590699584, + 0.3928967196319274, + 0.7713263732154156 + ], + "default_ori": [ + -0.47122967533694954, + -0.4924367134113852, + 0.5012502595305633, + 0.533101166465587 + ] + } + ], + "minecraft_blocks": [ + { + "category_idx": 12, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.36194934132915957, + 0.3796449723392592, + 0.8049999992000001 + ], + "default_ori": [ + 0.9998756007356443, + -9.9988024250876e-05, + -1.5472577052118999e-06, + 0.015772541124871628 + ] + } + ], + "phone_stand": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.35170097098768643, + 0.07872104991717287, + 0.7652017247465114 + ], + "default_ori": [ + 0.9746124728350813, + -0.005400853425312062, + 0.0029663682529542813, + 0.2238136707977289 + ] + } + ], + "clip": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.1286102248034054, + -0.34359373789955183, + 0.7712473108579913 + ], + "default_ori": [ + 0.9810162873381054, + 0.16328039127477284, + 0.01740678500887983, + 0.10316763852183258 + ] + } + ], + "bottle": [ + { + "category_idx": 0, + "physics": { + "type": "rigid", + "mass": 0.19 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.24593363950943803, + 0.09987208795889023, + 0.7654150963726012 + ], + "default_ori": [ + 0.9752381340699395, + -0.0035174078363794073, + -0.003888031261045701, + 0.22109521231996057 + ] + } + ], + "racket": [ + { + "category_idx": 4, + "physics": { + "mass": 0.09, + "friction": 0.65, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.4256800475037754, + -0.29517079766751975, + 0.7690007313579938 + ], + "default_ori": [ + -0.6958111888716181, + 0.707062641058633, + 0.09053443184552644, + -0.08782213679172322 + ] + } + ], + "scale": [ + { + "category_idx": 1, + "physics": { + "mass": 0.25, + "friction": 0.25, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.27636145473926027, + -0.21495581891896753, + 0.7764003384861654 + ], + "default_ori": [ + 0.9917133998095317, + -0.002255398904916267, + -0.0004930992712011274, + 0.12844922213508517 + ] + } + ], + "cake": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.3508654920761335, + 0.02761744859434385, + 0.7649278750461119 + ], + "default_ori": [ + 0.9898832635001397, + 0.0026613432029220325, + 0.0009258204900254321, + -0.14185621153509453 + ] + } + ], + "garage": [ + { + "category_idx": 13, + "physics": { + "type": "rigid", + "mass": 0.04 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.5120267506036655, + 0.36713357581273065, + 0.8482757591176587 + ], + "default_ori": [ + 0.9881597842472246, + -0.07960831903444321, + 0.002733513101756263, + -0.13113079059897212 + ] + } + ], + "money_stack": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.19657658237435705, + -0.010925077706332562, + 0.7646982015706939 + ], + "default_ori": [ + 0.9848262349145844, + 0.0013731178669278085, + -0.0008511994545589216, + -0.17353580907344726 + ] + } + ] + }, + "Geometry": { + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Room": { + "default": "Simple_Room_red", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0245", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0059", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_bowls_25.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_bowls_25.json new file mode 100644 index 0000000000000000000000000000000000000000..f9d71913e4a9952625699e9847c6eee3f0e8550a --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_bowls_25.json @@ -0,0 +1,277 @@ +{ + "Rigid": { + "bowl": [ + { + "category": "bowl", + "category_idx": 7, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.07 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "bowl0", + "default_pos": [ + 0.3132553088874153, + -0.1974212022016647, + 0.7950002065998161 + ], + "default_ori": [ + 0.9999995550002969, + 0.0007999996440002375, + 0.0004999997775001485, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.35, + "friction": 0.25, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "bowl", + "category_idx": 7, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.07 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "bowl1", + "default_pos": [ + -0.35884049233571524, + -0.06924584229716998, + 0.7950002065998161 + ], + "default_ori": [ + 0.9999995550002969, + 0.0007999996440002375, + 0.0004999997775001485, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.35, + "friction": 0.25, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "bowl", + "category_idx": 7, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.07 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "bowl2", + "default_pos": [ + -0.04161878067350938, + 0.034500912931532284, + 0.7950002065998161 + ], + "default_ori": [ + 0.9999995550002969, + 0.0007999996440002375, + 0.0004999997775001485, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.35, + "friction": 0.25, + "type": "rigid" + }, + "visual": {} + } + ] + }, + "Geometry": { + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Room": { + "default": "Simple_Room_nolight", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0122", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0564", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_bowls_29.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_bowls_29.json new file mode 100644 index 0000000000000000000000000000000000000000..0e08e0b7f9147677df5ff02d15cd9e7a19943a12 --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_bowls_29.json @@ -0,0 +1,277 @@ +{ + "Rigid": { + "bowl": [ + { + "category": "bowl", + "category_idx": 10, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.07 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "bowl0", + "default_pos": [ + -0.012115874532888916, + -0.1456357207764383, + 0.79 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.22, + "friction": 0.25, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "bowl", + "category_idx": 10, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.07 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "bowl1", + "default_pos": [ + -0.4049167654666167, + -0.149091741954017, + 0.79 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.22, + "friction": 0.25, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "bowl", + "category_idx": 10, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.07 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "bowl2", + "default_pos": [ + 0.2409944485564805, + -0.07534553395327807, + 0.79 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.22, + "friction": 0.25, + "type": "rigid" + }, + "visual": {} + } + ] + }, + "Geometry": { + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Room": { + "default": "Simple_Room_nolight", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0122", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0564", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_bowls_33.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_bowls_33.json new file mode 100644 index 0000000000000000000000000000000000000000..0fa1917e18333585212e8fa51fe304d754038897 --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_bowls_33.json @@ -0,0 +1,277 @@ +{ + "Rigid": { + "bowl": [ + { + "category": "bowl", + "category_idx": 7, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.07 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "bowl0", + "default_pos": [ + -0.17080674299483162, + -0.23464146511380424, + 0.7950002065998161 + ], + "default_ori": [ + 0.9999995550002969, + 0.0007999996440002375, + 0.0004999997775001485, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.35, + "friction": 0.25, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "bowl", + "category_idx": 7, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.07 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "bowl1", + "default_pos": [ + 0.3508126996658824, + 0.051029403588238924, + 0.7950002065998161 + ], + "default_ori": [ + 0.9999995550002969, + 0.0007999996440002375, + 0.0004999997775001485, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.35, + "friction": 0.25, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "bowl", + "category_idx": 7, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.07 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "bowl2", + "default_pos": [ + 0.1668780865316956, + -0.08928319525189823, + 0.7950002065998161 + ], + "default_ori": [ + 0.9999995550002969, + 0.0007999996440002375, + 0.0004999997775001485, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.35, + "friction": 0.25, + "type": "rigid" + }, + "visual": {} + } + ] + }, + "Geometry": { + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Room": { + "default": "Simple_Room_nolight", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0122", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0564", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_bowls_random_29.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_bowls_random_29.json new file mode 100644 index 0000000000000000000000000000000000000000..425c7e5abe7f8eb9a0ad353918ec3cf38d194746 --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_bowls_random_29.json @@ -0,0 +1,794 @@ +{ + "Rigid": { + "bowl": [ + { + "category": "bowl", + "category_idx": 13, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.07 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "bowl0", + "default_pos": [ + 0.043133842596559294, + -0.12752803832785142, + 0.7951 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.25, + "friction": 0.15, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "bowl", + "category_idx": 13, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.07 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "bowl1", + "default_pos": [ + -0.2973829376936984, + -0.11920377473540039, + 0.7951 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.25, + "friction": 0.15, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "bowl", + "category_idx": 13, + "group": null, + "xlim": [ + -0.45, + 0.45 + ], + "ylim": [ + -0.25, + 0.07 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "bowl2", + "default_pos": [ + 0.4470701793031007, + -0.1463725844280218, + 0.7951 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.25, + "friction": 0.15, + "type": "rigid" + }, + "visual": {} + } + ], + "house": [ + { + "category_idx": 0, + "physics": { + "mass": 1.8, + "friction": 0.55, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.2226190735701353, + 0.22322355779839484, + 0.9251001752449013 + ], + "default_ori": [ + 0.993249988195787, + -8.744781347787961e-05, + -0.00011114294632914962, + 0.11599327975876221 + ] + } + ], + "game_machine": [ + { + "category_idx": 0, + "physics": { + "type": "rigid", + "mass": 0.05 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.4054037030916021, + 0.3046267952962653, + 0.7689166712439107 + ], + "default_ori": [ + 0.9889593723387594, + 0.03560410747131979, + 0.0053435793025629775, + 0.14374683841648445 + ] + } + ], + "earbuds": [ + { + "category_idx": 0, + "physics": { + "type": "rigid", + "mass": 0.012 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.27700529044405375, + -0.32229134554855443, + 0.7759905181449079 + ], + "default_ori": [ + 0.8047495813077388, + -0.5839413727042487, + 0.06319692198285123, + -0.08600426548253605 + ] + }, + { + "category_idx": 0, + "physics": { + "type": "rigid", + "mass": 0.012 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 1, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.5788820560807375, + -0.14495502374571248, + 0.7759905181449079 + ], + "default_ori": [ + 0.8081471757643235, + -0.58653314945695, + -0.030987776492355505, + 0.04378087025538627 + ] + } + ], + "sculpture": [ + { + "category_idx": 0, + "physics": { + "mass": 0.85, + "friction": 0.25, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.1692708739165773, + 0.30018891388168334, + 0.8335036579437697 + ], + "default_ori": [ + 0.9893686656148886, + 0.008602872297272227, + -0.0047843840289965136, + -0.14509563658881952 + ] + } + ], + "shampoo": [ + { + "category_idx": 0, + "physics": { + "type": "rigid", + "mass": 0.19 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.5845437596360532, + 0.050410497054495434, + 0.7896886376941357 + ], + "default_ori": [ + -0.6939688875360954, + 0.697710716310355, + 0.12604259158999734, + -0.12538024000169504 + ] + } + ], + "tape_measure": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.3637041005806434, + 0.1499844113923869, + 0.7865834893656257 + ], + "default_ori": [ + 0.7363417934673819, + -0.12457579540644315, + -0.66466393268647, + -0.022438604632355655 + ] + } + ], + "ice_cream": [ + { + "category_idx": 0, + "physics": { + "mass": 0.25, + "friction": 0.38, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.05428761789204656, + 0.3647632315407127, + 0.8352020174570048 + ], + "default_ori": [ + 0.9701199989221491, + -0.0005589062549776412, + -0.0022310524350189517, + -0.24261471043636246 + ] + } + ], + "darts_board": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.12786112465178898, + 0.05953094914314825, + 0.770899999764 + ], + "default_ori": [ + 0.9975149259875176, + 0.00010676920342553703, + -9.273799113565345e-05, + 0.07045532224125972 + ] + } + ], + "pokeball": [ + { + "category_idx": 7, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.5685413807119001, + 0.37595592948458184, + 0.8047343578181123 + ], + "default_ori": [ + 0.9977012170902619, + 0.028847563249682094, + 0.02480862897715623, + -0.056077013467548245 + ] + } + ], + "toy_plane": [ + { + "category_idx": 0, + "physics": { + "mass": 0.85, + "friction": 0.42, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 0, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.5191794914172094, + 0.06730687506048877, + 0.8109356006017476 + ], + "default_ori": [ + 0.9961832001128781, + 0.002497468683438235, + 0.00450132496938506, + -0.08713513950502927 + ] + } + ], + "toy_car": [ + { + "category_idx": 0, + "physics": { + "mass": 0.35, + "friction": 0.45, + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 1, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.27303788771434107, + -0.03271130344531623, + 0.7937309890088791 + ], + "default_ori": [ + 0.9872510951086001, + -0.011728481102915245, + 0.004896827325372609, + 0.15866234279133168 + ] + } + ], + "monitor": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 1, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.4543329608953883, + 0.034389066373089944, + 0.765 + ], + "default_ori": [ + 0.9727281656897205, + 0.0, + 0.0, + 0.23194808831700178 + ] + } + ], + "dice": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 1, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.3008737597297042, + 0.0448962434374397, + 0.765 + ], + "default_ori": [ + 0.9829323503384364, + -0.000495619951734091, + 6.615504077332926e-05, + -0.1839666943838791 + ] + } + ], + "toothpaste": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 1, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.5859885824534982, + -0.21313078003275382, + 0.7786688472111792 + ], + "default_ori": [ + -0.6840564690686328, + 0.7229402573572415, + -0.0795602994916829, + 0.05562634414010754 + ] + } + ], + "eraser": [ + { + "category_idx": 0, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 1, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.4353955404369533, + -0.11202821061180378, + 0.7722034910034408 + ], + "default_ori": [ + 0.7104362383337542, + -0.6997858197632546, + 0.053759182807661836, + -0.051866250918176995 + ] + } + ], + "pen": [ + { + "category_idx": 0, + "physics": { + "type": "rigid", + "mass": 0.018 + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 1, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + -0.11363567439889535, + -0.13891899823144185, + 0.7650019781032761 + ], + "default_ori": [ + 0.9875237923814805, + 0.0023194582245148186, + 0.01522436450392134, + -0.15671502263502202 + ] + } + ], + "coin": [ + { + "category_idx": 1, + "physics": { + "type": "rigid" + }, + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "type": "cluttered", + "clutter_idx": 1, + "yaml_path": "Clutter/clutter.yml", + "relative_plane": "Table", + "default_pos": [ + 0.27311969404935044, + -0.14941777936890055, + 0.766299999948 + ], + "default_ori": [ + 0.9740987298026643, + 0.00011999973031097692, + -7.483356549899955e-05, + 0.22612307400360174 + ] + } + ] + }, + "Geometry": { + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Room": { + "default": "Simple_Room_pink", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0370", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0172", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/store_laptop_and_headphones_5.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/store_laptop_and_headphones_5.json new file mode 100644 index 0000000000000000000000000000000000000000..7f65144c03380259a890aa13e8a67b31c236c348 --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/store_laptop_and_headphones_5.json @@ -0,0 +1,417 @@ +{ + "Rigid": { + "headset": [ + { + "category": "headset", + "category_idx": 3, + "group": null, + "xlim": [ + -0.4, + 0.4 + ], + "ylim": [ + -0.25, + 0.0 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 30, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "headset", + "default_pos": [ + 0.19037185876255358, + -0.17740066247502867, + 0.7983673680040302 + ], + "default_ori": [ + -0.6287946150540858, + 0.7637404316183722, + 0.11270144143580099, + -0.09282386702060616 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.28, + "friction": 0.45, + "size": [ + 0.17351535801733275, + 0.08529822947111035, + 0.19799999999999998 + ], + "type": "rigid" + }, + "visual": {} + } + ] + }, + "Geometry": { + "laptop_stand": [ + { + "category": "laptop_stand", + "category_idx": 1, + "group": null, + "xlim": [ + 0.04, + 0.09 + ], + "ylim": [ + 0.02, + 0.02 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": [ + -10, + 0 + ], + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "laptop_stand", + "default_pos": [ + 0.0456907935652052, + 0.019771052441842314, + 0.804500356355608 + ], + "default_ori": [ + 0.9999940695452857, + -0.0008984519833570008, + 0.0005027751660565128, + -0.003286468533934969 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.85, + "friction": 1.0, + "size": [ + 0.3172, + 0.1269, + 0.056 + ], + "type": "geometry" + }, + "visual": {} + } + ], + "vertical_laptop_storage_rack": [ + { + "category": "vertical_laptop_storage_rack", + "category_idx": 0, + "group": null, + "xlim": [ + 0.3, + 0.35 + ], + "ylim": [ + -0.15, + -0.05 + ], + "zlim": [ + 0.025, + 0.025 + ], + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": [ + 75, + 105 + ], + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "vertical_laptop_storage_rack", + "default_pos": [ + 0.3458205250235904, + -0.1089231548509196, + 0.79 + ], + "default_ori": [ + 0.771209513086268, + 0.0, + 0.0, + 0.6365814063615443 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.85, + "friction": 0.45, + "type": "geometry" + }, + "visual": {} + } + ], + "headset_stand": [ + { + "category": "headset_stand", + "category_idx": 0, + "group": null, + "xlim": [ + -0.35, + -0.25 + ], + "ylim": [ + -0.02, + 0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": [ + 0, + 30 + ], + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "stand", + "default_pos": [ + -0.3003284699193735, + -0.013150212758280076, + 0.9025000000000001 + ], + "default_ori": [ + 0.9878233076758905, + 0.0, + 0.0, + 0.1555799241941674 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.85, + "friction": 0.45, + "size": [ + 0.178355014162335, + 0.10429502245117392, + 0.275 + ], + "type": "geometry" + }, + "visual": {} + } + ], + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Articulation": { + "laptop": [ + { + "category": "laptop", + "category_idx": 0, + "group": null, + "xlim": [ + -0.05, + 0.05 + ], + "ylim": [ + -0.08, + -0.08 + ], + "zlim": [ + 0.02, + 0.02 + ], + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "laptop_stand/laptop_stand/0", + "place_tag": null, + "margin": 0.01, + "check_mode": "none", + "need_check_stable": true, + "label": "laptop", + "default_pos": [ + 0.08695083397892919, + -0.06041177591861317, + 0.8546025294073339 + ], + "default_ori": [ + 0.9999940695451875, + -0.0008984520079854185, + 0.0005027751823063475, + -0.003286468554626066 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.1, + "friction": 0.45, + "type": "articulation" + }, + "visual": {} + } + ] + }, + "Room": { + "default": "Simple_Room_nolight", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0122", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0564", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Eval_Layout/RoboDojo/arx_x5/0/sweep_blocks_random_23.json b/Assets/Eval_Layout/RoboDojo/arx_x5/0/sweep_blocks_random_23.json new file mode 100644 index 0000000000000000000000000000000000000000..037f1a4305d33ab9fd9186d71d19b04031806289 --- /dev/null +++ b/Assets/Eval_Layout/RoboDojo/arx_x5/0/sweep_blocks_random_23.json @@ -0,0 +1,446 @@ +{ + "Rigid": { + "broom_shovel": [ + { + "category": "broom_shovel", + "category_idx": 0, + "group": null, + "xlim": [ + -0.35, + 0.0 + ], + "ylim": [ + -0.2, + 0.1 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": [ + 135, + 225 + ], + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "broom_shovel", + "default_pos": [ + -0.04499448237597539, + 0.09325405365972941, + 0.7893 + ], + "default_ori": [ + -0.8672685283076662, + 0.0, + 0.0, + -0.497840636958309 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.15, + "friction": 0.3, + "size": [ + 0.18400000035762787, + 0.2800000011920929, + 0.04800000041723251 + ], + "type": "rigid" + }, + "visual": {} + } + ], + "broom": [ + { + "category": "broom", + "category_idx": 0, + "group": null, + "xlim": [ + -0.35, + 0.0 + ], + "ylim": [ + -0.2, + 0.1 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": [ + -90, + 30 + ], + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "broom", + "default_pos": [ + -0.29970215036183667, + -0.17121535044802716, + 0.7791908933919295 + ], + "default_ori": [ + -0.49293173918129235, + 0.5582686238779253, + 0.4340378220454526, + 0.5069177577627303 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.04, + "friction": 0.45, + "type": "rigid" + }, + "visual": {} + } + ], + "paper_ball": [ + { + "category": "paper_ball", + "category_idx": 0, + "group": null, + "xlim": [ + 0.04, + 0.35 + ], + "ylim": [ + -0.15, + 0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 45, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "target_1_0", + "default_pos": [ + 0.2906317173481209, + -0.028289893895824234, + 0.7860832426435349 + ], + "default_ori": [ + 0.9974469448236631, + -0.055957751759900254, + -0.004962337944006278, + -0.04408738461336882 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.08, + "friction": 0.45, + "type": "rigid" + }, + "visual": {} + } + ], + "brick": [ + { + "category": "brick", + "category_idx": 0, + "group": null, + "xlim": [ + 0.04, + 0.35 + ], + "ylim": [ + -0.15, + 0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 45, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "target_2_0", + "default_pos": [ + 0.0959909854069868, + -0.12939144969341534, + 0.7772000578039948 + ], + "default_ori": [ + 0.9858032213614374, + 0.0002957409664084312, + -5.0371347885557935e-05, + -0.1679044929518598 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.035, + "friction": 0.45, + "type": "rigid" + }, + "visual": {} + }, + { + "category": "brick", + "category_idx": 2, + "group": null, + "xlim": [ + 0.04, + 0.35 + ], + "ylim": [ + -0.15, + 0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 45, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "target_2_1", + "default_pos": [ + 0.33034331682603724, + -0.1051589025062348, + 0.7833 + ], + "default_ori": [ + 0.9652441571803207, + 0.0, + 0.0, + -0.2613497982192685 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.015, + "friction": 0.45, + "type": "rigid" + }, + "visual": {} + } + ], + "earbuds": [ + { + "category": "earbuds", + "category_idx": 0, + "group": null, + "xlim": [ + 0.04, + 0.35 + ], + "ylim": [ + -0.15, + 0.05 + ], + "zlim": null, + "qpos": [ + 1, + 0, + 0, + 0 + ], + "rotate_deg": 45, + "rotate_rand": true, + "relative_plane": "Table", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "target_3_0", + "default_pos": [ + 0.18001176966603008, + -0.1232834518576321, + 0.786303067644032 + ], + "default_ori": [ + 0.9992224622822853, + -0.00333458558541941, + 0.004332394591698386, + -0.039045893082404165 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "mass": 0.012, + "friction": 0.25, + "type": "rigid" + }, + "visual": {} + } + ] + }, + "Geometry": { + "camera_stand": [ + { + "category": "camera_stand", + "category_idx": 0, + "group": null, + "xlim": [ + 0.0, + 0.0 + ], + "ylim": [ + -0.47, + -0.47 + ], + "zlim": [ + 0.715, + 0.715 + ], + "qpos": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "rotate_deg": 0, + "rotate_rand": false, + "relative_plane": "Ground", + "place_tag": null, + "margin": 0.01, + "check_mode": "bbox", + "need_check_stable": true, + "label": "camera_stand", + "default_pos": [ + 0.0, + -0.47, + 0.765 + ], + "default_ori": [ + 0.707, + -0.707, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics": { + "type": "geometry" + }, + "visual": {} + } + ] + }, + "Room": { + "default": "Simple_Room_teal", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "default_rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.5, + 0.5, + 0.5 + ] + }, + "Table": { + "default": "material_0012", + "scale": [ + 1.4, + 1.1, + 0.05 + ], + "default_pos": [ + 0.0, + -0.05, + 0.74 + ], + "default_ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "Ground": { + "geometry": "cube", + "thickness": 0.1, + "axis": "Z", + "default_pos": [ + 0.0, + 0.0, + 0.0 + ], + "materials": { + "type": "mdl", + "default": "material_0311", + "random": false + }, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply", + "compliant_contact_stiffness": 0.0, + "compliant_contact_damping": 0.0 + } + }, + "Background": { + "intensity": 1000, + "category_name": "brown_photostudio_02_4k.hdr" + } +} diff --git a/Assets/Object/RoboDojo/Articulation/laptop/00000/description.json b/Assets/Object/RoboDojo/Articulation/laptop/00000/description.json new file mode 100644 index 0000000000000000000000000000000000000000..7cce26db0da5374b0d98521e9d65c48fc9ba6c7c --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/laptop/00000/description.json @@ -0,0 +1,136 @@ +{ + "uuid": "3bfbe220-a048-4cb1-986c-db24664e06ad", + "caption": { + "color": [ + "dark gray", + "light gray", + "matte black screen" + ], + "material": [ + "metallic aluminum", + "smooth plastic-like finish" + ], + "size": [ + "compact laptop", + "portable", + "fits on lap" + ], + "name": [ + "laptop", + "MacBook", + "notebook computer" + ], + "shape": [ + "thin rectangular clamshell", + "hinged two-part design", + "slightly tapered edges" + ], + "function": [ + "typing documents", + "browsing the web", + "running software applications" + ] + }, + "description": [ + "smooth plastic-like finish laptop", + "laptop for browsing the web scenarios", + "notebook computer used to typing documents", + "metallic aluminum MacBook used for browsing the web", + "laptop for typing documents activities", + "hinged two-part design MacBook ideal for browsing the web", + "laptop with portable dimensions", + "matte black screen object used for typing documents", + "metallic aluminum thin rectangular clamshell for typing documents", + "compact laptop matte black screen metallic aluminum thin rectangular clamshell object", + "laptop commonly featuring smooth plastic-like finish", + "laptop with thin rectangular clamshell geometry", + "MacBook designed for typing documents", + "metallic aluminum hinged two-part design MacBook", + "portable hinged two-part design notebook computer for browsing the web", + "laptop primarily used for typing documents", + "dark gray object used for browsing the web", + "notebook computer for running software applications with smooth plastic-like finish", + "MacBook in hinged two-part design", + "laptop sized portable", + "smooth plastic-like finish slightly tapered edges laptop", + "MacBook built from smooth plastic-like finish", + "matte black screen laptop designed for typing documents", + "notebook computer typically made of smooth plastic-like finish", + "MacBook built from metallic aluminum", + "metallic aluminum notebook computer for browsing the web", + "laptop used to browsing the web", + "MacBook with metallic aluminum surface", + "typing documents use of laptop", + "smooth plastic-like finish hinged two-part design laptop", + "laptop with compact laptop dimensions", + "notebook computer with slightly tapered edges profile", + "portable matte black screen object for running software applications", + "fits on lap MacBook perfect for browsing the web", + "laptop in thin rectangular clamshell form", + "running software applications with laptop", + "hinged two-part design laptop ideal for running software applications", + "compact laptop hinged two-part design object", + "compact laptop matte black screen object for typing documents", + "light gray thin rectangular clamshell laptop used for running software applications", + "compact laptop object used for running software applications", + "fits on lap notebook computer used for running software applications", + "notebook computer for typing documents activities", + "dark gray smooth plastic-like finish laptop", + "smooth plastic-like finish MacBook", + "matte black screen fits on lap MacBook for typing documents", + "compact laptop slightly tapered edges object for browsing the web", + "notebook computer used to browsing the web", + "browsing the web with MacBook", + "matte black screen MacBook designed for typing documents", + "matte black screen notebook computer used for browsing the web", + "MacBook for typing documents scenarios", + "compact laptop matte black screen hinged two-part design object", + "laptop primarily used for browsing the web", + "compact laptop slightly tapered edges object", + "metallic aluminum slightly tapered edges for running software applications", + "MacBook ideal for typing documents", + "laptop for typing documents use", + "portable smooth plastic-like finish slightly tapered edges for browsing the web", + "browsing the web with notebook computer", + "light gray object used for browsing the web", + "laptop commonly found in compact laptop size", + "hinged two-part design notebook computer ideal for typing documents", + "metallic aluminum notebook computer", + "portable notebook computer perfect for typing documents", + "hinged two-part design MacBook used for running software applications", + "laptop for typing documents with smooth plastic-like finish", + "portable smooth plastic-like finish hinged two-part design for browsing the web", + "portable notebook computer for browsing the web", + "portable smooth plastic-like finish slightly tapered edges for running software applications", + "hinged two-part design MacBook ideal for running software applications", + "laptop commonly found in portable size", + "MacBook primarily used for browsing the web", + "light gray notebook computer used for running software applications", + "fits on lap hinged two-part design MacBook for typing documents", + "compact laptop smooth plastic-like finish object", + "thin rectangular clamshell MacBook for typing documents", + "laptop for typing documents scenarios", + "laptop made from smooth plastic-like finish", + "slightly tapered edges-shaped laptop", + "laptop colored matte black screen", + "dark gray laptop used for typing documents", + "laptop for running software applications tasks", + "portable dark gray object for browsing the web", + "portable matte black screen metallic aluminum thin rectangular clamshell object", + "compact laptop matte black screen thin rectangular clamshell object", + "MacBook optimized for typing documents", + "notebook computer for typing documents with metallic aluminum", + "notebook computer designed for running software applications", + "MacBook made from metallic aluminum", + "metallic aluminum laptop for running software applications", + "MacBook for typing documents activities", + "compact laptop thin rectangular clamshell laptop for running software applications", + "laptop with smooth plastic-like finish surface", + "portable dark gray smooth plastic-like finish laptop", + "thin rectangular clamshell MacBook used for typing documents", + "portable thin rectangular clamshell notebook computer for browsing the web", + "portable MacBook used for browsing the web", + "compact laptop metallic aluminum notebook computer for typing documents", + "hinged two-part design metallic aluminum notebook computer for running software applications" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Articulation/laptop/00000/grasps/proposal.json b/Assets/Object/RoboDojo/Articulation/laptop/00000/grasps/proposal.json new file mode 100644 index 0000000000000000000000000000000000000000..2895ef9622246f3c242297493cfef6836ddc92fc --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/laptop/00000/grasps/proposal.json @@ -0,0 +1,4 @@ +{ + "uuid": "3bfbe220-a048-4cb1-986c-db24664e06ad", + "grasp": {} +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Articulation/laptop/00000/metadata.json b/Assets/Object/RoboDojo/Articulation/laptop/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..2c72aa4f3b70181d90b3ba8846f57ab0501e5dc5 --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/laptop/00000/metadata.json @@ -0,0 +1,183 @@ +{ + "uuid": "3bfbe220-a048-4cb1-986c-db24664e06ad", + "physics": { + "mass": 0.1, + "friction": 0.45 + }, + "geometry": { + "faces": 19239, + "vertices": 28239, + "aligned_bbox": { + "vertices": [ + [ + -0.0896, + -0.0782, + 0.0 + ], + [ + -0.0896, + -0.0782, + 0.1208 + ], + [ + -0.0896, + 0.0902, + 0.0 + ], + [ + -0.0896, + 0.0902, + 0.1208 + ], + [ + 0.0897, + -0.0782, + 0.0 + ], + [ + 0.0897, + -0.0782, + 0.1208 + ], + [ + 0.0897, + 0.0902, + 0.0 + ], + [ + 0.0897, + 0.0902, + 0.1208 + ] + ], + "extents": [ + 0.1794, + 0.1684, + 0.1208 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0896, + 0.0895, + 0.1212 + ], + [ + -0.0896, + -0.0787, + 0.0032 + ], + [ + 0.0897, + 0.0895, + 0.1212 + ], + [ + 0.0897, + -0.0787, + 0.0032 + ], + [ + -0.0896, + 0.1324, + 0.06 + ], + [ + -0.0896, + -0.0358, + -0.058 + ], + [ + 0.0897, + 0.1324, + 0.06 + ], + [ + 0.0897, + -0.0358, + -0.058 + ] + ], + "extents": [ + 0.1794, + 0.2111, + 0.1792 + ] + }, + "radius": 0.1342 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + -0.0051, + -0.0, + 0.0001 + ], + "projection_circle": { + "center": [ + 0.0, + 0.0118, + -0.0004, + 1.0, + 0.0051, + 0.0, + -0.0001 + ], + "radius": 0.1911 + }, + "contact_circle": { + "center": [ + 0.0001, + 0.0417, + -0.0001, + 1.0, + 0.0051, + 0.0, + -0.0001 + ], + "radius": 0.1165 + } + } + }, + "functional": { + "bottom": { + "base_link": "E_body_1", + "parent_joint": null, + "frame": [ + [ + 0.0, + 0.001, + -0.001, + 1.0, + -0.0047, + 0.0, + 0.0 + ] + ] + } + } + }, + "passive": { + "support": {}, + "functional": { + "laptop_hinge": { + "base_link": "E_displayer_5", + "parent_joint": "RevoluteJoint_computer_9_up", + "frame": [ + [ + 0.1085, + 0.0014, + 0.0007, + 0.9871, + 0.1604, + -0.0, + -0.0 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Articulation/laptop/00000/object.usdz b/Assets/Object/RoboDojo/Articulation/laptop/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..85f7fe39d7e15f5a0829ae9519cac37311e312da --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/laptop/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4314295cc9141473b1d5b2acb55b36112771c7b457d689cc4b2f5c40ceb4fb4e +size 1739845 diff --git a/Assets/Object/RoboDojo/Articulation/laptop/00001/description.json b/Assets/Object/RoboDojo/Articulation/laptop/00001/description.json new file mode 100644 index 0000000000000000000000000000000000000000..7cce26db0da5374b0d98521e9d65c48fc9ba6c7c --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/laptop/00001/description.json @@ -0,0 +1,136 @@ +{ + "uuid": "3bfbe220-a048-4cb1-986c-db24664e06ad", + "caption": { + "color": [ + "dark gray", + "light gray", + "matte black screen" + ], + "material": [ + "metallic aluminum", + "smooth plastic-like finish" + ], + "size": [ + "compact laptop", + "portable", + "fits on lap" + ], + "name": [ + "laptop", + "MacBook", + "notebook computer" + ], + "shape": [ + "thin rectangular clamshell", + "hinged two-part design", + "slightly tapered edges" + ], + "function": [ + "typing documents", + "browsing the web", + "running software applications" + ] + }, + "description": [ + "smooth plastic-like finish laptop", + "laptop for browsing the web scenarios", + "notebook computer used to typing documents", + "metallic aluminum MacBook used for browsing the web", + "laptop for typing documents activities", + "hinged two-part design MacBook ideal for browsing the web", + "laptop with portable dimensions", + "matte black screen object used for typing documents", + "metallic aluminum thin rectangular clamshell for typing documents", + "compact laptop matte black screen metallic aluminum thin rectangular clamshell object", + "laptop commonly featuring smooth plastic-like finish", + "laptop with thin rectangular clamshell geometry", + "MacBook designed for typing documents", + "metallic aluminum hinged two-part design MacBook", + "portable hinged two-part design notebook computer for browsing the web", + "laptop primarily used for typing documents", + "dark gray object used for browsing the web", + "notebook computer for running software applications with smooth plastic-like finish", + "MacBook in hinged two-part design", + "laptop sized portable", + "smooth plastic-like finish slightly tapered edges laptop", + "MacBook built from smooth plastic-like finish", + "matte black screen laptop designed for typing documents", + "notebook computer typically made of smooth plastic-like finish", + "MacBook built from metallic aluminum", + "metallic aluminum notebook computer for browsing the web", + "laptop used to browsing the web", + "MacBook with metallic aluminum surface", + "typing documents use of laptop", + "smooth plastic-like finish hinged two-part design laptop", + "laptop with compact laptop dimensions", + "notebook computer with slightly tapered edges profile", + "portable matte black screen object for running software applications", + "fits on lap MacBook perfect for browsing the web", + "laptop in thin rectangular clamshell form", + "running software applications with laptop", + "hinged two-part design laptop ideal for running software applications", + "compact laptop hinged two-part design object", + "compact laptop matte black screen object for typing documents", + "light gray thin rectangular clamshell laptop used for running software applications", + "compact laptop object used for running software applications", + "fits on lap notebook computer used for running software applications", + "notebook computer for typing documents activities", + "dark gray smooth plastic-like finish laptop", + "smooth plastic-like finish MacBook", + "matte black screen fits on lap MacBook for typing documents", + "compact laptop slightly tapered edges object for browsing the web", + "notebook computer used to browsing the web", + "browsing the web with MacBook", + "matte black screen MacBook designed for typing documents", + "matte black screen notebook computer used for browsing the web", + "MacBook for typing documents scenarios", + "compact laptop matte black screen hinged two-part design object", + "laptop primarily used for browsing the web", + "compact laptop slightly tapered edges object", + "metallic aluminum slightly tapered edges for running software applications", + "MacBook ideal for typing documents", + "laptop for typing documents use", + "portable smooth plastic-like finish slightly tapered edges for browsing the web", + "browsing the web with notebook computer", + "light gray object used for browsing the web", + "laptop commonly found in compact laptop size", + "hinged two-part design notebook computer ideal for typing documents", + "metallic aluminum notebook computer", + "portable notebook computer perfect for typing documents", + "hinged two-part design MacBook used for running software applications", + "laptop for typing documents with smooth plastic-like finish", + "portable smooth plastic-like finish hinged two-part design for browsing the web", + "portable notebook computer for browsing the web", + "portable smooth plastic-like finish slightly tapered edges for running software applications", + "hinged two-part design MacBook ideal for running software applications", + "laptop commonly found in portable size", + "MacBook primarily used for browsing the web", + "light gray notebook computer used for running software applications", + "fits on lap hinged two-part design MacBook for typing documents", + "compact laptop smooth plastic-like finish object", + "thin rectangular clamshell MacBook for typing documents", + "laptop for typing documents scenarios", + "laptop made from smooth plastic-like finish", + "slightly tapered edges-shaped laptop", + "laptop colored matte black screen", + "dark gray laptop used for typing documents", + "laptop for running software applications tasks", + "portable dark gray object for browsing the web", + "portable matte black screen metallic aluminum thin rectangular clamshell object", + "compact laptop matte black screen thin rectangular clamshell object", + "MacBook optimized for typing documents", + "notebook computer for typing documents with metallic aluminum", + "notebook computer designed for running software applications", + "MacBook made from metallic aluminum", + "metallic aluminum laptop for running software applications", + "MacBook for typing documents activities", + "compact laptop thin rectangular clamshell laptop for running software applications", + "laptop with smooth plastic-like finish surface", + "portable dark gray smooth plastic-like finish laptop", + "thin rectangular clamshell MacBook used for typing documents", + "portable thin rectangular clamshell notebook computer for browsing the web", + "portable MacBook used for browsing the web", + "compact laptop metallic aluminum notebook computer for typing documents", + "hinged two-part design metallic aluminum notebook computer for running software applications" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Articulation/laptop/00001/grasps/proposal.json b/Assets/Object/RoboDojo/Articulation/laptop/00001/grasps/proposal.json new file mode 100644 index 0000000000000000000000000000000000000000..2895ef9622246f3c242297493cfef6836ddc92fc --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/laptop/00001/grasps/proposal.json @@ -0,0 +1,4 @@ +{ + "uuid": "3bfbe220-a048-4cb1-986c-db24664e06ad", + "grasp": {} +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Articulation/laptop/00001/metadata.json b/Assets/Object/RoboDojo/Articulation/laptop/00001/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..2c72aa4f3b70181d90b3ba8846f57ab0501e5dc5 --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/laptop/00001/metadata.json @@ -0,0 +1,183 @@ +{ + "uuid": "3bfbe220-a048-4cb1-986c-db24664e06ad", + "physics": { + "mass": 0.1, + "friction": 0.45 + }, + "geometry": { + "faces": 19239, + "vertices": 28239, + "aligned_bbox": { + "vertices": [ + [ + -0.0896, + -0.0782, + 0.0 + ], + [ + -0.0896, + -0.0782, + 0.1208 + ], + [ + -0.0896, + 0.0902, + 0.0 + ], + [ + -0.0896, + 0.0902, + 0.1208 + ], + [ + 0.0897, + -0.0782, + 0.0 + ], + [ + 0.0897, + -0.0782, + 0.1208 + ], + [ + 0.0897, + 0.0902, + 0.0 + ], + [ + 0.0897, + 0.0902, + 0.1208 + ] + ], + "extents": [ + 0.1794, + 0.1684, + 0.1208 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0896, + 0.0895, + 0.1212 + ], + [ + -0.0896, + -0.0787, + 0.0032 + ], + [ + 0.0897, + 0.0895, + 0.1212 + ], + [ + 0.0897, + -0.0787, + 0.0032 + ], + [ + -0.0896, + 0.1324, + 0.06 + ], + [ + -0.0896, + -0.0358, + -0.058 + ], + [ + 0.0897, + 0.1324, + 0.06 + ], + [ + 0.0897, + -0.0358, + -0.058 + ] + ], + "extents": [ + 0.1794, + 0.2111, + 0.1792 + ] + }, + "radius": 0.1342 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + -0.0051, + -0.0, + 0.0001 + ], + "projection_circle": { + "center": [ + 0.0, + 0.0118, + -0.0004, + 1.0, + 0.0051, + 0.0, + -0.0001 + ], + "radius": 0.1911 + }, + "contact_circle": { + "center": [ + 0.0001, + 0.0417, + -0.0001, + 1.0, + 0.0051, + 0.0, + -0.0001 + ], + "radius": 0.1165 + } + } + }, + "functional": { + "bottom": { + "base_link": "E_body_1", + "parent_joint": null, + "frame": [ + [ + 0.0, + 0.001, + -0.001, + 1.0, + -0.0047, + 0.0, + 0.0 + ] + ] + } + } + }, + "passive": { + "support": {}, + "functional": { + "laptop_hinge": { + "base_link": "E_displayer_5", + "parent_joint": "RevoluteJoint_computer_9_up", + "frame": [ + [ + 0.1085, + 0.0014, + 0.0007, + 0.9871, + 0.1604, + -0.0, + -0.0 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Articulation/laptop/00001/object.usdz b/Assets/Object/RoboDojo/Articulation/laptop/00001/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..8823afa43df5cfe2b5b74e371ec0443e4a1eceb8 --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/laptop/00001/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1283aa1a6a6b148541cf7e25c60b7f0ad83551833f04f89ed1972cfc4c5ae529 +size 4214217 diff --git a/Assets/Object/RoboDojo/Articulation/laptop/00002/description.json b/Assets/Object/RoboDojo/Articulation/laptop/00002/description.json new file mode 100644 index 0000000000000000000000000000000000000000..7cce26db0da5374b0d98521e9d65c48fc9ba6c7c --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/laptop/00002/description.json @@ -0,0 +1,136 @@ +{ + "uuid": "3bfbe220-a048-4cb1-986c-db24664e06ad", + "caption": { + "color": [ + "dark gray", + "light gray", + "matte black screen" + ], + "material": [ + "metallic aluminum", + "smooth plastic-like finish" + ], + "size": [ + "compact laptop", + "portable", + "fits on lap" + ], + "name": [ + "laptop", + "MacBook", + "notebook computer" + ], + "shape": [ + "thin rectangular clamshell", + "hinged two-part design", + "slightly tapered edges" + ], + "function": [ + "typing documents", + "browsing the web", + "running software applications" + ] + }, + "description": [ + "smooth plastic-like finish laptop", + "laptop for browsing the web scenarios", + "notebook computer used to typing documents", + "metallic aluminum MacBook used for browsing the web", + "laptop for typing documents activities", + "hinged two-part design MacBook ideal for browsing the web", + "laptop with portable dimensions", + "matte black screen object used for typing documents", + "metallic aluminum thin rectangular clamshell for typing documents", + "compact laptop matte black screen metallic aluminum thin rectangular clamshell object", + "laptop commonly featuring smooth plastic-like finish", + "laptop with thin rectangular clamshell geometry", + "MacBook designed for typing documents", + "metallic aluminum hinged two-part design MacBook", + "portable hinged two-part design notebook computer for browsing the web", + "laptop primarily used for typing documents", + "dark gray object used for browsing the web", + "notebook computer for running software applications with smooth plastic-like finish", + "MacBook in hinged two-part design", + "laptop sized portable", + "smooth plastic-like finish slightly tapered edges laptop", + "MacBook built from smooth plastic-like finish", + "matte black screen laptop designed for typing documents", + "notebook computer typically made of smooth plastic-like finish", + "MacBook built from metallic aluminum", + "metallic aluminum notebook computer for browsing the web", + "laptop used to browsing the web", + "MacBook with metallic aluminum surface", + "typing documents use of laptop", + "smooth plastic-like finish hinged two-part design laptop", + "laptop with compact laptop dimensions", + "notebook computer with slightly tapered edges profile", + "portable matte black screen object for running software applications", + "fits on lap MacBook perfect for browsing the web", + "laptop in thin rectangular clamshell form", + "running software applications with laptop", + "hinged two-part design laptop ideal for running software applications", + "compact laptop hinged two-part design object", + "compact laptop matte black screen object for typing documents", + "light gray thin rectangular clamshell laptop used for running software applications", + "compact laptop object used for running software applications", + "fits on lap notebook computer used for running software applications", + "notebook computer for typing documents activities", + "dark gray smooth plastic-like finish laptop", + "smooth plastic-like finish MacBook", + "matte black screen fits on lap MacBook for typing documents", + "compact laptop slightly tapered edges object for browsing the web", + "notebook computer used to browsing the web", + "browsing the web with MacBook", + "matte black screen MacBook designed for typing documents", + "matte black screen notebook computer used for browsing the web", + "MacBook for typing documents scenarios", + "compact laptop matte black screen hinged two-part design object", + "laptop primarily used for browsing the web", + "compact laptop slightly tapered edges object", + "metallic aluminum slightly tapered edges for running software applications", + "MacBook ideal for typing documents", + "laptop for typing documents use", + "portable smooth plastic-like finish slightly tapered edges for browsing the web", + "browsing the web with notebook computer", + "light gray object used for browsing the web", + "laptop commonly found in compact laptop size", + "hinged two-part design notebook computer ideal for typing documents", + "metallic aluminum notebook computer", + "portable notebook computer perfect for typing documents", + "hinged two-part design MacBook used for running software applications", + "laptop for typing documents with smooth plastic-like finish", + "portable smooth plastic-like finish hinged two-part design for browsing the web", + "portable notebook computer for browsing the web", + "portable smooth plastic-like finish slightly tapered edges for running software applications", + "hinged two-part design MacBook ideal for running software applications", + "laptop commonly found in portable size", + "MacBook primarily used for browsing the web", + "light gray notebook computer used for running software applications", + "fits on lap hinged two-part design MacBook for typing documents", + "compact laptop smooth plastic-like finish object", + "thin rectangular clamshell MacBook for typing documents", + "laptop for typing documents scenarios", + "laptop made from smooth plastic-like finish", + "slightly tapered edges-shaped laptop", + "laptop colored matte black screen", + "dark gray laptop used for typing documents", + "laptop for running software applications tasks", + "portable dark gray object for browsing the web", + "portable matte black screen metallic aluminum thin rectangular clamshell object", + "compact laptop matte black screen thin rectangular clamshell object", + "MacBook optimized for typing documents", + "notebook computer for typing documents with metallic aluminum", + "notebook computer designed for running software applications", + "MacBook made from metallic aluminum", + "metallic aluminum laptop for running software applications", + "MacBook for typing documents activities", + "compact laptop thin rectangular clamshell laptop for running software applications", + "laptop with smooth plastic-like finish surface", + "portable dark gray smooth plastic-like finish laptop", + "thin rectangular clamshell MacBook used for typing documents", + "portable thin rectangular clamshell notebook computer for browsing the web", + "portable MacBook used for browsing the web", + "compact laptop metallic aluminum notebook computer for typing documents", + "hinged two-part design metallic aluminum notebook computer for running software applications" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Articulation/laptop/00002/grasps/proposal.json b/Assets/Object/RoboDojo/Articulation/laptop/00002/grasps/proposal.json new file mode 100644 index 0000000000000000000000000000000000000000..2895ef9622246f3c242297493cfef6836ddc92fc --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/laptop/00002/grasps/proposal.json @@ -0,0 +1,4 @@ +{ + "uuid": "3bfbe220-a048-4cb1-986c-db24664e06ad", + "grasp": {} +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Articulation/laptop/00002/metadata.json b/Assets/Object/RoboDojo/Articulation/laptop/00002/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..2c72aa4f3b70181d90b3ba8846f57ab0501e5dc5 --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/laptop/00002/metadata.json @@ -0,0 +1,183 @@ +{ + "uuid": "3bfbe220-a048-4cb1-986c-db24664e06ad", + "physics": { + "mass": 0.1, + "friction": 0.45 + }, + "geometry": { + "faces": 19239, + "vertices": 28239, + "aligned_bbox": { + "vertices": [ + [ + -0.0896, + -0.0782, + 0.0 + ], + [ + -0.0896, + -0.0782, + 0.1208 + ], + [ + -0.0896, + 0.0902, + 0.0 + ], + [ + -0.0896, + 0.0902, + 0.1208 + ], + [ + 0.0897, + -0.0782, + 0.0 + ], + [ + 0.0897, + -0.0782, + 0.1208 + ], + [ + 0.0897, + 0.0902, + 0.0 + ], + [ + 0.0897, + 0.0902, + 0.1208 + ] + ], + "extents": [ + 0.1794, + 0.1684, + 0.1208 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0896, + 0.0895, + 0.1212 + ], + [ + -0.0896, + -0.0787, + 0.0032 + ], + [ + 0.0897, + 0.0895, + 0.1212 + ], + [ + 0.0897, + -0.0787, + 0.0032 + ], + [ + -0.0896, + 0.1324, + 0.06 + ], + [ + -0.0896, + -0.0358, + -0.058 + ], + [ + 0.0897, + 0.1324, + 0.06 + ], + [ + 0.0897, + -0.0358, + -0.058 + ] + ], + "extents": [ + 0.1794, + 0.2111, + 0.1792 + ] + }, + "radius": 0.1342 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + -0.0051, + -0.0, + 0.0001 + ], + "projection_circle": { + "center": [ + 0.0, + 0.0118, + -0.0004, + 1.0, + 0.0051, + 0.0, + -0.0001 + ], + "radius": 0.1911 + }, + "contact_circle": { + "center": [ + 0.0001, + 0.0417, + -0.0001, + 1.0, + 0.0051, + 0.0, + -0.0001 + ], + "radius": 0.1165 + } + } + }, + "functional": { + "bottom": { + "base_link": "E_body_1", + "parent_joint": null, + "frame": [ + [ + 0.0, + 0.001, + -0.001, + 1.0, + -0.0047, + 0.0, + 0.0 + ] + ] + } + } + }, + "passive": { + "support": {}, + "functional": { + "laptop_hinge": { + "base_link": "E_displayer_5", + "parent_joint": "RevoluteJoint_computer_9_up", + "frame": [ + [ + 0.1085, + 0.0014, + 0.0007, + 0.9871, + 0.1604, + -0.0, + -0.0 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Articulation/laptop/00002/object.usdz b/Assets/Object/RoboDojo/Articulation/laptop/00002/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..93e6b5132e220f38c2270ed0c3db03f75e392308 --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/laptop/00002/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d9c8b46a4c9affaa2f43bf4e92c81c091928c2d476dfe302129a851015515e0 +size 1912522 diff --git a/Assets/Object/RoboDojo/Articulation/laptop/00003/description.json b/Assets/Object/RoboDojo/Articulation/laptop/00003/description.json new file mode 100644 index 0000000000000000000000000000000000000000..7cce26db0da5374b0d98521e9d65c48fc9ba6c7c --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/laptop/00003/description.json @@ -0,0 +1,136 @@ +{ + "uuid": "3bfbe220-a048-4cb1-986c-db24664e06ad", + "caption": { + "color": [ + "dark gray", + "light gray", + "matte black screen" + ], + "material": [ + "metallic aluminum", + "smooth plastic-like finish" + ], + "size": [ + "compact laptop", + "portable", + "fits on lap" + ], + "name": [ + "laptop", + "MacBook", + "notebook computer" + ], + "shape": [ + "thin rectangular clamshell", + "hinged two-part design", + "slightly tapered edges" + ], + "function": [ + "typing documents", + "browsing the web", + "running software applications" + ] + }, + "description": [ + "smooth plastic-like finish laptop", + "laptop for browsing the web scenarios", + "notebook computer used to typing documents", + "metallic aluminum MacBook used for browsing the web", + "laptop for typing documents activities", + "hinged two-part design MacBook ideal for browsing the web", + "laptop with portable dimensions", + "matte black screen object used for typing documents", + "metallic aluminum thin rectangular clamshell for typing documents", + "compact laptop matte black screen metallic aluminum thin rectangular clamshell object", + "laptop commonly featuring smooth plastic-like finish", + "laptop with thin rectangular clamshell geometry", + "MacBook designed for typing documents", + "metallic aluminum hinged two-part design MacBook", + "portable hinged two-part design notebook computer for browsing the web", + "laptop primarily used for typing documents", + "dark gray object used for browsing the web", + "notebook computer for running software applications with smooth plastic-like finish", + "MacBook in hinged two-part design", + "laptop sized portable", + "smooth plastic-like finish slightly tapered edges laptop", + "MacBook built from smooth plastic-like finish", + "matte black screen laptop designed for typing documents", + "notebook computer typically made of smooth plastic-like finish", + "MacBook built from metallic aluminum", + "metallic aluminum notebook computer for browsing the web", + "laptop used to browsing the web", + "MacBook with metallic aluminum surface", + "typing documents use of laptop", + "smooth plastic-like finish hinged two-part design laptop", + "laptop with compact laptop dimensions", + "notebook computer with slightly tapered edges profile", + "portable matte black screen object for running software applications", + "fits on lap MacBook perfect for browsing the web", + "laptop in thin rectangular clamshell form", + "running software applications with laptop", + "hinged two-part design laptop ideal for running software applications", + "compact laptop hinged two-part design object", + "compact laptop matte black screen object for typing documents", + "light gray thin rectangular clamshell laptop used for running software applications", + "compact laptop object used for running software applications", + "fits on lap notebook computer used for running software applications", + "notebook computer for typing documents activities", + "dark gray smooth plastic-like finish laptop", + "smooth plastic-like finish MacBook", + "matte black screen fits on lap MacBook for typing documents", + "compact laptop slightly tapered edges object for browsing the web", + "notebook computer used to browsing the web", + "browsing the web with MacBook", + "matte black screen MacBook designed for typing documents", + "matte black screen notebook computer used for browsing the web", + "MacBook for typing documents scenarios", + "compact laptop matte black screen hinged two-part design object", + "laptop primarily used for browsing the web", + "compact laptop slightly tapered edges object", + "metallic aluminum slightly tapered edges for running software applications", + "MacBook ideal for typing documents", + "laptop for typing documents use", + "portable smooth plastic-like finish slightly tapered edges for browsing the web", + "browsing the web with notebook computer", + "light gray object used for browsing the web", + "laptop commonly found in compact laptop size", + "hinged two-part design notebook computer ideal for typing documents", + "metallic aluminum notebook computer", + "portable notebook computer perfect for typing documents", + "hinged two-part design MacBook used for running software applications", + "laptop for typing documents with smooth plastic-like finish", + "portable smooth plastic-like finish hinged two-part design for browsing the web", + "portable notebook computer for browsing the web", + "portable smooth plastic-like finish slightly tapered edges for running software applications", + "hinged two-part design MacBook ideal for running software applications", + "laptop commonly found in portable size", + "MacBook primarily used for browsing the web", + "light gray notebook computer used for running software applications", + "fits on lap hinged two-part design MacBook for typing documents", + "compact laptop smooth plastic-like finish object", + "thin rectangular clamshell MacBook for typing documents", + "laptop for typing documents scenarios", + "laptop made from smooth plastic-like finish", + "slightly tapered edges-shaped laptop", + "laptop colored matte black screen", + "dark gray laptop used for typing documents", + "laptop for running software applications tasks", + "portable dark gray object for browsing the web", + "portable matte black screen metallic aluminum thin rectangular clamshell object", + "compact laptop matte black screen thin rectangular clamshell object", + "MacBook optimized for typing documents", + "notebook computer for typing documents with metallic aluminum", + "notebook computer designed for running software applications", + "MacBook made from metallic aluminum", + "metallic aluminum laptop for running software applications", + "MacBook for typing documents activities", + "compact laptop thin rectangular clamshell laptop for running software applications", + "laptop with smooth plastic-like finish surface", + "portable dark gray smooth plastic-like finish laptop", + "thin rectangular clamshell MacBook used for typing documents", + "portable thin rectangular clamshell notebook computer for browsing the web", + "portable MacBook used for browsing the web", + "compact laptop metallic aluminum notebook computer for typing documents", + "hinged two-part design metallic aluminum notebook computer for running software applications" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Articulation/laptop/00003/grasps/proposal.json b/Assets/Object/RoboDojo/Articulation/laptop/00003/grasps/proposal.json new file mode 100644 index 0000000000000000000000000000000000000000..2895ef9622246f3c242297493cfef6836ddc92fc --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/laptop/00003/grasps/proposal.json @@ -0,0 +1,4 @@ +{ + "uuid": "3bfbe220-a048-4cb1-986c-db24664e06ad", + "grasp": {} +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Articulation/laptop/00003/metadata.json b/Assets/Object/RoboDojo/Articulation/laptop/00003/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..2c72aa4f3b70181d90b3ba8846f57ab0501e5dc5 --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/laptop/00003/metadata.json @@ -0,0 +1,183 @@ +{ + "uuid": "3bfbe220-a048-4cb1-986c-db24664e06ad", + "physics": { + "mass": 0.1, + "friction": 0.45 + }, + "geometry": { + "faces": 19239, + "vertices": 28239, + "aligned_bbox": { + "vertices": [ + [ + -0.0896, + -0.0782, + 0.0 + ], + [ + -0.0896, + -0.0782, + 0.1208 + ], + [ + -0.0896, + 0.0902, + 0.0 + ], + [ + -0.0896, + 0.0902, + 0.1208 + ], + [ + 0.0897, + -0.0782, + 0.0 + ], + [ + 0.0897, + -0.0782, + 0.1208 + ], + [ + 0.0897, + 0.0902, + 0.0 + ], + [ + 0.0897, + 0.0902, + 0.1208 + ] + ], + "extents": [ + 0.1794, + 0.1684, + 0.1208 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0896, + 0.0895, + 0.1212 + ], + [ + -0.0896, + -0.0787, + 0.0032 + ], + [ + 0.0897, + 0.0895, + 0.1212 + ], + [ + 0.0897, + -0.0787, + 0.0032 + ], + [ + -0.0896, + 0.1324, + 0.06 + ], + [ + -0.0896, + -0.0358, + -0.058 + ], + [ + 0.0897, + 0.1324, + 0.06 + ], + [ + 0.0897, + -0.0358, + -0.058 + ] + ], + "extents": [ + 0.1794, + 0.2111, + 0.1792 + ] + }, + "radius": 0.1342 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + -0.0051, + -0.0, + 0.0001 + ], + "projection_circle": { + "center": [ + 0.0, + 0.0118, + -0.0004, + 1.0, + 0.0051, + 0.0, + -0.0001 + ], + "radius": 0.1911 + }, + "contact_circle": { + "center": [ + 0.0001, + 0.0417, + -0.0001, + 1.0, + 0.0051, + 0.0, + -0.0001 + ], + "radius": 0.1165 + } + } + }, + "functional": { + "bottom": { + "base_link": "E_body_1", + "parent_joint": null, + "frame": [ + [ + 0.0, + 0.001, + -0.001, + 1.0, + -0.0047, + 0.0, + 0.0 + ] + ] + } + } + }, + "passive": { + "support": {}, + "functional": { + "laptop_hinge": { + "base_link": "E_displayer_5", + "parent_joint": "RevoluteJoint_computer_9_up", + "frame": [ + [ + 0.1085, + 0.0014, + 0.0007, + 0.9871, + 0.1604, + -0.0, + -0.0 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Articulation/laptop/00003/object.usdz b/Assets/Object/RoboDojo/Articulation/laptop/00003/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..12465936b68a5b8d2819d14984ef44c33730fed3 --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/laptop/00003/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ecc48b1f3bd5702f43df23cc58193d3f6f94433bee27ce771ccd689b6d901035 +size 1761731 diff --git a/Assets/Object/RoboDojo/Articulation/toaster/00000/grasps/proposal.json b/Assets/Object/RoboDojo/Articulation/toaster/00000/grasps/proposal.json new file mode 100644 index 0000000000000000000000000000000000000000..7953cdb0770f18e643264b3110c020bc42eda9a2 --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/toaster/00000/grasps/proposal.json @@ -0,0 +1,3 @@ +{ + "grasp": {} +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Articulation/toaster/00000/metadata.json b/Assets/Object/RoboDojo/Articulation/toaster/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..d868afe828e8487c67844892689177dd2c6af8a1 --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/toaster/00000/metadata.json @@ -0,0 +1,263 @@ +{ + "uuid": "b51c3ce5-78a8-40fa-a511-0f4e6c2fe5b7", + "geometry": { + "faces": 1554, + "vertices": 1816, + "aligned_bbox": { + "vertices": [ + [ + -0.1115, + -0.0783, + -0.0817 + ], + [ + -0.1115, + -0.0783, + 0.0802 + ], + [ + -0.1115, + 0.0772, + -0.0817 + ], + [ + -0.1115, + 0.0772, + 0.0802 + ], + [ + 0.1152, + -0.0783, + -0.0817 + ], + [ + 0.1152, + -0.0783, + 0.0802 + ], + [ + 0.1152, + 0.0772, + -0.0817 + ], + [ + 0.1152, + 0.0772, + 0.0802 + ] + ], + "extents": [ + 0.2267, + 0.1554, + 0.1619 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + 0.1152, + 0.0772, + -0.0817 + ], + [ + -0.1115, + 0.0772, + -0.0817 + ], + [ + 0.1152, + 0.0772, + 0.0802 + ], + [ + -0.1115, + 0.0772, + 0.0802 + ], + [ + 0.1152, + -0.0783, + -0.0817 + ], + [ + -0.1115, + -0.0783, + -0.0817 + ], + [ + 0.1152, + -0.0783, + 0.0802 + ], + [ + -0.1115, + -0.0783, + 0.0802 + ] + ], + "extents": [ + 0.2267, + 0.1554, + 0.1619 + ] + }, + "radius": 0.1508 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + 0.0, + 0.0006, + 0.0093 + ], + "projection_circle": { + "center": [ + -0.0013, + -0.0006, + -0.0818, + 1.0, + -0.0, + -0.0006, + -0.0093 + ], + "radius": 0.1297 + }, + "contact_circle": { + "center": [ + -0.0014, + -0.0005, + -0.0818, + 1.0, + -0.0, + -0.0006, + -0.0093 + ], + "radius": 0.1296 + } + } + }, + "functional": { + "toast_botton": { + "base_link": "link_1", + "parent_joint": "joint_1", + "frame": [ + [ + 0.0020000000000000018, + 0.004, + -0.001, + 0.9999999999999998, + 3.861896773934189e-17, + 2.220446049250313e-16, + 5.551115123125783e-17 + ] + ] + } + } + }, + "passive": { + "support": {}, + "functional": { + "toast_botton": { + "base_link": "link_1", + "parent_joint": "joint_1", + "frame": [ + [ + 0.0020000000000000018, + 0.004, + -0.001, + 0.9999999999999998, + 3.861896773934189e-17, + 2.220446049250313e-16, + 5.551115123125783e-17 + ] + ] + }, + "toast_slot1": { + "base_link": "base", + "parent_joint": "FixedJoint", + "frame": [ + [ + -0.078, + -0.041, + -0.051, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -0.078, + -0.011, + -0.051, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.072, + -0.041, + -0.051, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.072, + -0.011, + -0.051, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ] + }, + "toast_slot2": { + "base_link": "base", + "parent_joint": "FixedJoint", + "frame": [ + [ + -0.078, + 0.014, + -0.051, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -0.078, + 0.039, + -0.051, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.072, + 0.014, + -0.051, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.072, + 0.039, + -0.051, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + } + } +} diff --git a/Assets/Object/RoboDojo/Articulation/toaster/00000/object.usdz b/Assets/Object/RoboDojo/Articulation/toaster/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..7b76142b3dab74b62f73790ac3423abe868a036a --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/toaster/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d80971f2a3d310e2fc65bc6ad624bab9866303099038ecbef91fe37b02e8e82 +size 141621 diff --git a/Assets/Object/RoboDojo/Articulation/toaster/00001/grasps/proposal.json b/Assets/Object/RoboDojo/Articulation/toaster/00001/grasps/proposal.json new file mode 100644 index 0000000000000000000000000000000000000000..7953cdb0770f18e643264b3110c020bc42eda9a2 --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/toaster/00001/grasps/proposal.json @@ -0,0 +1,3 @@ +{ + "grasp": {} +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Articulation/toaster/00001/metadata.json b/Assets/Object/RoboDojo/Articulation/toaster/00001/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..9b087038e9bf9c3723d05bbd6536013a70134b27 --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/toaster/00001/metadata.json @@ -0,0 +1,263 @@ +{ + "uuid": "32809244-862a-468e-9f7a-7acbf65e918c", + "geometry": { + "faces": 10720, + "vertices": 10160, + "aligned_bbox": { + "vertices": [ + [ + -0.1108, + -0.0706, + -0.0759 + ], + [ + -0.1108, + -0.0706, + 0.0751 + ], + [ + -0.1108, + 0.0691, + -0.0759 + ], + [ + -0.1108, + 0.0691, + 0.0751 + ], + [ + 0.1384, + -0.0706, + -0.0759 + ], + [ + 0.1384, + -0.0706, + 0.0751 + ], + [ + 0.1384, + 0.0691, + -0.0759 + ], + [ + 0.1384, + 0.0691, + 0.0751 + ] + ], + "extents": [ + 0.2491, + 0.1397, + 0.151 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + 0.1384, + 0.0691, + -0.0759 + ], + [ + -0.1108, + 0.0691, + -0.0759 + ], + [ + 0.1384, + 0.0691, + 0.0751 + ], + [ + -0.1108, + 0.0691, + 0.0751 + ], + [ + 0.1384, + -0.0706, + -0.0759 + ], + [ + -0.1108, + -0.0706, + -0.0759 + ], + [ + 0.1384, + -0.0706, + 0.0751 + ], + [ + -0.1108, + -0.0706, + 0.0751 + ] + ], + "extents": [ + 0.2491, + 0.1397, + 0.151 + ] + }, + "radius": 0.1491 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + -0.0004, + -0.003, + -0.0009 + ], + "projection_circle": { + "center": [ + 0.0052, + -0.0006, + -0.0766, + 1.0, + 0.0004, + 0.003, + 0.0009 + ], + "radius": 0.1362 + }, + "contact_circle": { + "center": [ + -0.1047, + -0.0007, + -0.0759, + 1.0, + 0.0004, + 0.003, + 0.0009 + ], + "radius": 0.07 + } + } + }, + "functional": { + "toast_botton": { + "base_link": "link_1", + "parent_joint": "joint_1", + "frame": [ + [ + 0.01379243853905509, + -0.0007342718804670967, + -0.00035985811725217104, + 1.0, + 9.71445212721461e-17, + -7.771561172376096e-16, + 2.1677919666199236e-16 + ] + ] + } + } + }, + "passive": { + "support": {}, + "functional": { + "toast_botton": { + "base_link": "link_1", + "parent_joint": "joint_1", + "frame": [ + [ + 0.01379243853905509, + -0.0007342718804670967, + -0.00035985811725217104, + 1.0, + 9.71445212721461e-17, + -7.771561172376096e-16, + 2.1677919666199236e-16 + ] + ] + }, + "toast_slot1": { + "base_link": "base", + "parent_joint": "FixedJoint", + "frame": [ + [ + -0.061, + -0.051, + -0.02, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -0.061, + -0.006, + -0.02, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.064, + -0.051, + -0.02, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.064, + -0.006, + -0.02, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ] + }, + "toast_slot2": { + "base_link": "base", + "parent_joint": "FixedJoint", + "frame": [ + [ + -0.061, + 0.004, + -0.02, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -0.061, + 0.049, + -0.02, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.064, + 0.004, + -0.02, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.064, + 0.049, + -0.02, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + } + } +} diff --git a/Assets/Object/RoboDojo/Articulation/toaster/00001/object.usdz b/Assets/Object/RoboDojo/Articulation/toaster/00001/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..f052b2d81e866a8218616927ef91db109ed7aa6c --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/toaster/00001/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:796bc70d0edf20ca2959cf848c506097e2358931c110eec6612f9e27006ab305 +size 396135 diff --git a/Assets/Object/RoboDojo/Articulation/toaster/00002/grasps/proposal.json b/Assets/Object/RoboDojo/Articulation/toaster/00002/grasps/proposal.json new file mode 100644 index 0000000000000000000000000000000000000000..7953cdb0770f18e643264b3110c020bc42eda9a2 --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/toaster/00002/grasps/proposal.json @@ -0,0 +1,3 @@ +{ + "grasp": {} +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Articulation/toaster/00002/metadata.json b/Assets/Object/RoboDojo/Articulation/toaster/00002/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..939991aa4a117b9b53174fea49924d27f81dc7f5 --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/toaster/00002/metadata.json @@ -0,0 +1,263 @@ +{ + "uuid": "9cfda92b-5c9a-476e-b4ab-d2e4fd5e350c", + "geometry": { + "faces": 29368, + "vertices": 88032, + "aligned_bbox": { + "vertices": [ + [ + -0.1271, + -0.0828, + -0.0946 + ], + [ + -0.1271, + -0.0828, + 0.0811 + ], + [ + -0.1271, + 0.0787, + -0.0946 + ], + [ + -0.1271, + 0.0787, + 0.0811 + ], + [ + 0.143, + -0.0828, + -0.0946 + ], + [ + 0.143, + -0.0828, + 0.0811 + ], + [ + 0.143, + 0.0787, + -0.0946 + ], + [ + 0.143, + 0.0787, + 0.0811 + ] + ], + "extents": [ + 0.2701, + 0.1615, + 0.1758 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.1271, + -0.0828, + -0.0946 + ], + [ + 0.143, + -0.0828, + -0.0946 + ], + [ + -0.1271, + -0.0828, + 0.0811 + ], + [ + 0.143, + -0.0828, + 0.0811 + ], + [ + -0.1271, + 0.0787, + -0.0946 + ], + [ + 0.143, + 0.0787, + -0.0946 + ], + [ + -0.1271, + 0.0787, + 0.0811 + ], + [ + 0.143, + 0.0787, + 0.0811 + ] + ], + "extents": [ + 0.2701, + 0.1615, + 0.1758 + ] + }, + "radius": 0.1557 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + 0.0001, + -0.0009, + 0.0002 + ], + "projection_circle": { + "center": [ + 0.0074, + -0.0021, + -0.0948, + 1.0, + -0.0001, + 0.0009, + -0.0002 + ], + "radius": 0.1356 + }, + "contact_circle": { + "center": [ + 0.0032, + -0.002, + -0.0948, + 1.0, + -0.0001, + 0.0009, + -0.0002 + ], + "radius": 0.1159 + } + } + }, + "functional": { + "checkpoint": { + "base_link": "base", + "parent_joint": "FixedJoint", + "frame": [ + [ + -0.077, + 0.003, + -0.059, + 1.0, + 0.0, + 0.0, + -2.2204460492503123e-16 + ] + ] + } + } + }, + "passive": { + "support": {}, + "functional": { + "toast_botton": { + "base_link": "link_1", + "parent_joint": "joint_1", + "frame": [ + [ + 0.007962830743919513, + -0.0020064360457285185, + -0.006769771700523646, + 1.0, + 1.3627231491549696e-17, + 1.1102230246251565e-16, + -2.220446049250313e-16 + ] + ] + }, + "toast_slot1": { + "base_link": "base", + "parent_joint": "FixedJoint", + "frame": [ + [ + 0.069, + -0.007, + -0.055, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.069, + -0.047, + -0.055, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -0.075, + -0.047, + -0.06, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -0.075, + -0.007, + -0.06, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ] + }, + "toast_slot2": { + "base_link": "base", + "parent_joint": "FixedJoint", + "frame": [ + [ + 0.02999999999999999, + -0.026000000000000002, + 0.07899999999999997, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -0.079, + 0.043, + -0.07, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.06, + 0.006, + -0.055, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.064, + 0.043, + -0.065, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Articulation/toaster/00002/object.usdz b/Assets/Object/RoboDojo/Articulation/toaster/00002/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..d0640d3e0d0f9e77ce1936b3006e70f644c38067 --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/toaster/00002/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8a5b8edbe3bb419a50d537d7f601a331f525f116d6ac4bfcc9d113954c2801d +size 1680816 diff --git a/Assets/Object/RoboDojo/Articulation/toaster/00004/grasps/proposal.json b/Assets/Object/RoboDojo/Articulation/toaster/00004/grasps/proposal.json new file mode 100644 index 0000000000000000000000000000000000000000..7953cdb0770f18e643264b3110c020bc42eda9a2 --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/toaster/00004/grasps/proposal.json @@ -0,0 +1,3 @@ +{ + "grasp": {} +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Articulation/toaster/00004/metadata.json b/Assets/Object/RoboDojo/Articulation/toaster/00004/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..28ab4700446cf3826edba77498f227b91ca17609 --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/toaster/00004/metadata.json @@ -0,0 +1,247 @@ +{ + "uuid": "110e74b2-b8e5-4f40-8606-bbf6d1093d21", + "geometry": { + "faces": 23836, + "vertices": 14704, + "aligned_bbox": { + "vertices": [ + [ + -0.1204, + -0.0625, + -0.0858 + ], + [ + -0.1204, + -0.0625, + 0.0786 + ], + [ + -0.1204, + 0.0624, + -0.0858 + ], + [ + -0.1204, + 0.0624, + 0.0786 + ], + [ + 0.1263, + -0.0625, + -0.0858 + ], + [ + 0.1263, + -0.0625, + 0.0786 + ], + [ + 0.1263, + 0.0624, + -0.0858 + ], + [ + 0.1263, + 0.0624, + 0.0786 + ] + ], + "extents": [ + 0.2467, + 0.1249, + 0.1644 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.1204, + 0.0624, + 0.0786 + ], + [ + 0.1263, + 0.0624, + 0.0786 + ], + [ + -0.1204, + 0.0624, + -0.0858 + ], + [ + 0.1263, + 0.0624, + -0.0858 + ], + [ + -0.1204, + -0.0625, + 0.0786 + ], + [ + 0.1263, + -0.0625, + 0.0786 + ], + [ + -0.1204, + -0.0625, + -0.0858 + ], + [ + 0.1263, + -0.0625, + -0.0858 + ] + ], + "extents": [ + 0.2467, + 0.1249, + 0.1644 + ] + }, + "radius": 0.1417 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + -0.0002, + 0.0003, + -0.0001 + ], + "projection_circle": { + "center": [ + -0.0019, + -0.0001, + -0.0859, + 1.0, + 0.0002, + -0.0003, + 0.0001 + ], + "radius": 0.131 + }, + "contact_circle": { + "center": [ + -0.007, + -0.0, + -0.0859, + 1.0, + 0.0002, + -0.0003, + 0.0001 + ], + "radius": 0.119 + } + } + }, + "functional": {} + }, + "passive": { + "support": {}, + "functional": { + "toast_botton": { + "base_link": "link_0", + "parent_joint": "joint_0", + "frame": [ + [ + 0.002961243898313057, + -2.2478066992600524e-05, + -0.003035096974992532, + 0.9999999999999952, + 2.9802301002025618e-08, + -2.9802305956394548e-08, + -8.940694622150414e-08 + ] + ] + }, + "toast_slot1": { + "base_link": "base", + "parent_joint": "FixedJoint", + "frame": [ + [ + 0.07, + 0.012, + -0.033, + 0.49999999999999994, + -0.4999999999999998, + 0.4999999999999998, + 0.5000000000000003 + ], + [ + -0.091, + 0.047, + -0.033, + 0.49999999999999994, + -0.4999999999999998, + 0.4999999999999998, + 0.5000000000000003 + ], + [ + 0.07, + -0.041, + -0.033, + 0.49999999999999994, + -0.4999999999999998, + 0.4999999999999998, + 0.5000000000000003 + ], + [ + -0.084, + -0.046, + -0.033, + 0.49999999999999994, + -0.4999999999999998, + 0.4999999999999998, + 0.5000000000000003 + ] + ] + }, + "toast_slot2": { + "base_link": "base", + "parent_joint": "FixedJoint", + "frame": [ + [ + -0.09, + -0.011, + -0.033, + 0.49999999999999994, + -0.4999999999999998, + 0.4999999999999998, + 0.5000000000000003 + ], + [ + 0.07, + -0.011, + -0.033, + 0.49999999999999994, + -0.4999999999999998, + 0.4999999999999998, + 0.5000000000000003 + ], + [ + 0.07, + 0.041, + -0.033, + 0.49999999999999994, + -0.4999999999999998, + 0.4999999999999998, + 0.5000000000000003 + ], + [ + -0.09, + 0.012, + -0.033, + 0.49999999999999994, + -0.4999999999999998, + 0.4999999999999998, + 0.5000000000000003 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Articulation/toaster/00004/object.usdz b/Assets/Object/RoboDojo/Articulation/toaster/00004/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..e767f953168e7254e7f9c6403741dc4de63f40ae --- /dev/null +++ b/Assets/Object/RoboDojo/Articulation/toaster/00004/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89a09efbf280e3cd6458a22ee441d0be839b2846f3c0cb743729895a4ca3e28c +size 538421 diff --git a/Assets/Object/RoboDojo/Clutter/box/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/box/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..89db5b580c4493c18a0e3db2a5bf6b2771f9ef3f --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/box/00000/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "dd4be8ef-9be4-4985-b333-954fecda4d82", + "geometry": { + "faces": 4788, + "vertices": 4698, + "aligned_bbox": { + "vertices": [ + [ + -0.0503, + -0.05, + 0.0001 + ], + [ + -0.0503, + -0.05, + 0.122 + ], + [ + -0.0503, + 0.05, + 0.0001 + ], + [ + -0.0503, + 0.05, + 0.122 + ], + [ + 0.0503, + -0.05, + 0.0001 + ], + [ + 0.0503, + -0.05, + 0.122 + ], + [ + 0.0503, + 0.05, + 0.0001 + ], + [ + 0.0503, + 0.05, + 0.122 + ] + ], + "extents": [ + 0.1005, + 0.1001, + 0.1219 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + 0.0499, + 0.0505, + 0.122 + ], + [ + 0.0499, + 0.0505, + 0.0001 + ], + [ + -0.0507, + 0.0497, + 0.122 + ], + [ + -0.0507, + 0.0497, + 0.0001 + ], + [ + 0.0507, + -0.0497, + 0.122 + ], + [ + 0.0507, + -0.0497, + 0.0001 + ], + [ + -0.0499, + -0.0505, + 0.122 + ], + [ + -0.0499, + -0.0505, + 0.0001 + ] + ], + "extents": [ + 0.1014, + 0.101, + 0.1219 + ] + }, + "radius": 0.0854 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + -0.001, + -0.002, + -0.0094 + ], + "projection_circle": { + "center": [ + -0.0003, + 0.0002, + 0.0001, + 1.0, + 0.001, + 0.002, + 0.0094 + ], + "radius": 0.0703 + }, + "contact_circle": { + "center": [ + -0.0001, + 0.0001, + 0.0001, + 1.0, + 0.001, + 0.002, + 0.0094 + ], + "radius": 0.0685 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/box/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/box/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..41a387c450d37842cbc3aa2f5822a68714e5928b --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/box/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59df7fc64e3149fa16945653bb138c145beef28c219ee3bb5f3de59678b29a59 +size 4723897 diff --git a/Assets/Object/RoboDojo/Clutter/box/00001/metadata.json b/Assets/Object/RoboDojo/Clutter/box/00001/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..0130445ba40f551e7246da531d6de61da538c2ce --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/box/00001/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "ddc0af2a-a3fa-4eed-bf5f-05b6ed94c8a0", + "geometry": { + "faces": 1020, + "vertices": 616, + "aligned_bbox": { + "vertices": [ + [ + -0.0922, + -0.0924, + -0.0006 + ], + [ + -0.0922, + -0.0924, + 0.0456 + ], + [ + -0.0922, + 0.0798, + -0.0006 + ], + [ + -0.0922, + 0.0798, + 0.0456 + ], + [ + 0.0879, + -0.0924, + -0.0006 + ], + [ + 0.0879, + -0.0924, + 0.0456 + ], + [ + 0.0879, + 0.0798, + -0.0006 + ], + [ + 0.0879, + 0.0798, + 0.0456 + ] + ], + "extents": [ + 0.18, + 0.1723, + 0.0463 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0922, + -0.0924, + 0.0456 + ], + [ + 0.0879, + -0.0924, + 0.0456 + ], + [ + -0.0922, + 0.0798, + 0.0456 + ], + [ + 0.0879, + 0.0798, + 0.0456 + ], + [ + -0.0922, + -0.0924, + -0.0006 + ], + [ + 0.0879, + -0.0924, + -0.0006 + ], + [ + -0.0922, + 0.0798, + -0.0006 + ], + [ + 0.0879, + 0.0798, + -0.0006 + ] + ], + "extents": [ + 0.18, + 0.1723, + 0.0463 + ] + }, + "radius": 0.1265 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + 0.0002, + 0.0002, + 0.0002 + ], + "projection_circle": { + "center": [ + -0.0021, + -0.0063, + -0.0007, + 1.0, + -0.0002, + -0.0002, + -0.0002 + ], + "radius": 0.1245 + }, + "contact_circle": { + "center": [ + -0.0022, + -0.0063, + -0.0007, + 1.0, + -0.0002, + -0.0002, + -0.0002 + ], + "radius": 0.1245 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/box/00001/object.usdz b/Assets/Object/RoboDojo/Clutter/box/00001/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..f029eed7c7137593639489d7803a3e17daa7450e --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/box/00001/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:282b9a3afaea3118169399272a6e49221399f3465bbd18546c6a8ad52b4a00ad +size 1694685 diff --git a/Assets/Object/RoboDojo/Clutter/box/00002/metadata.json b/Assets/Object/RoboDojo/Clutter/box/00002/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..8a377bb81f653c48930f8f776a49505136756cec --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/box/00002/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "84c701aa-1bbc-4c94-910f-4eb85523603e", + "geometry": { + "faces": 5932, + "vertices": 3418, + "aligned_bbox": { + "vertices": [ + [ + -0.0643, + -0.0409, + 0.0001 + ], + [ + -0.0643, + -0.0409, + 0.1024 + ], + [ + -0.0643, + 0.0348, + 0.0001 + ], + [ + -0.0643, + 0.0348, + 0.1024 + ], + [ + 0.0642, + -0.0409, + 0.0001 + ], + [ + 0.0642, + -0.0409, + 0.1024 + ], + [ + 0.0642, + 0.0348, + 0.0001 + ], + [ + 0.0642, + 0.0348, + 0.1024 + ] + ], + "extents": [ + 0.1285, + 0.0757, + 0.1023 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0643, + -0.0409, + 0.0001 + ], + [ + 0.0642, + -0.0409, + 0.0001 + ], + [ + -0.0643, + -0.0409, + 0.1024 + ], + [ + 0.0642, + -0.0409, + 0.1024 + ], + [ + -0.0643, + 0.0348, + 0.0001 + ], + [ + 0.0642, + 0.0348, + 0.0001 + ], + [ + -0.0643, + 0.0348, + 0.1024 + ], + [ + 0.0642, + 0.0348, + 0.1024 + ] + ], + "extents": [ + 0.1285, + 0.0757, + 0.1023 + ] + }, + "radius": 0.0791 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + -0.0, + 0.0, + -0.0017 + ], + "projection_circle": { + "center": [ + -0.0, + -0.016, + 0.0001, + 1.0, + 0.0, + -0.0, + 0.0017 + ], + "radius": 0.0689 + }, + "contact_circle": { + "center": [ + -0.0, + -0.0029, + 0.0001, + 1.0, + 0.0, + -0.0, + 0.0017 + ], + "radius": 0.0599 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/box/00002/object.usdz b/Assets/Object/RoboDojo/Clutter/box/00002/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..3ff1169c82a62d1db4c2fe86cfb0c2ee3edbdec5 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/box/00002/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d99bf7de6cc6448e85cf763818b9c7e081d055c4bccbb1da7dc3fbb2a1203964 +size 14066097 diff --git a/Assets/Object/RoboDojo/Clutter/box/00003/metadata.json b/Assets/Object/RoboDojo/Clutter/box/00003/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..63344903b0d39585875403b6027df7008371580d --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/box/00003/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "a1ee88a5-69a8-4d49-93a4-6bd45491503e", + "geometry": { + "faces": 4052, + "vertices": 2384, + "aligned_bbox": { + "vertices": [ + [ + -0.0483, + -0.0408, + 0.0001 + ], + [ + -0.0483, + -0.0408, + 0.1143 + ], + [ + -0.0483, + 0.035, + 0.0001 + ], + [ + -0.0483, + 0.035, + 0.1143 + ], + [ + 0.0483, + -0.0408, + 0.0001 + ], + [ + 0.0483, + -0.0408, + 0.1143 + ], + [ + 0.0483, + 0.035, + 0.0001 + ], + [ + 0.0483, + 0.035, + 0.1143 + ] + ], + "extents": [ + 0.0966, + 0.0757, + 0.1142 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0483, + -0.0408, + 0.1143 + ], + [ + -0.0483, + -0.0408, + 0.0001 + ], + [ + 0.0483, + -0.0408, + 0.1143 + ], + [ + 0.0483, + -0.0408, + 0.0001 + ], + [ + -0.0483, + 0.035, + 0.1143 + ], + [ + -0.0483, + 0.035, + 0.0001 + ], + [ + 0.0483, + 0.035, + 0.1143 + ], + [ + 0.0483, + 0.035, + 0.0001 + ] + ], + "extents": [ + 0.0966, + 0.0757, + 0.1142 + ] + }, + "radius": 0.0811 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + 0.0, + 0.0002, + 0.0003 + ], + "projection_circle": { + "center": [ + 0.0001, + -0.0039, + 0.0001, + 1.0, + -0.0, + -0.0002, + -0.0003 + ], + "radius": 0.0607 + }, + "contact_circle": { + "center": [ + 0.0, + -0.0029, + 0.0001, + 1.0, + -0.0, + -0.0002, + -0.0003 + ], + "radius": 0.0599 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/box/00003/object.usdz b/Assets/Object/RoboDojo/Clutter/box/00003/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..fde3781fcb9577afe7670742251a8beaf1e692ea --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/box/00003/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d82eafcb390636964ff710a44b1db606e5f2aaf84527d91909572b32df23fd0 +size 13741108 diff --git a/Assets/Object/RoboDojo/Clutter/box/00004/metadata.json b/Assets/Object/RoboDojo/Clutter/box/00004/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..086d10ebf8d14cb42ee5c39b22fe9a2e668813f5 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/box/00004/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "880c95a3-3513-457d-b9c6-9467683bc262", + "geometry": { + "faces": 5636, + "vertices": 3256, + "aligned_bbox": { + "vertices": [ + [ + -0.0656, + -0.0408, + 0.0001 + ], + [ + -0.0656, + -0.0408, + 0.095 + ], + [ + -0.0656, + 0.0348, + 0.0001 + ], + [ + -0.0656, + 0.0348, + 0.095 + ], + [ + 0.0656, + -0.0408, + 0.0001 + ], + [ + 0.0656, + -0.0408, + 0.095 + ], + [ + 0.0656, + 0.0348, + 0.0001 + ], + [ + 0.0656, + 0.0348, + 0.095 + ] + ], + "extents": [ + 0.1311, + 0.0756, + 0.0949 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0656, + -0.0408, + 0.0001 + ], + [ + 0.0656, + -0.0408, + 0.0001 + ], + [ + -0.0656, + -0.0408, + 0.095 + ], + [ + 0.0656, + -0.0408, + 0.095 + ], + [ + -0.0656, + 0.0348, + 0.0001 + ], + [ + 0.0656, + 0.0348, + 0.0001 + ], + [ + -0.0656, + 0.0348, + 0.095 + ], + [ + 0.0656, + 0.0348, + 0.095 + ] + ], + "extents": [ + 0.1311, + 0.0756, + 0.0949 + ] + }, + "radius": 0.0762 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "projection_circle": { + "center": [ + -0.0, + -0.0171, + 0.0001, + 1.0, + 0.0, + 0.0, + 0.0 + ], + "radius": 0.0697 + }, + "contact_circle": { + "center": [ + -0.0, + -0.0029, + 0.0001, + 1.0, + 0.0, + 0.0, + 0.0 + ], + "radius": 0.0599 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/box/00004/object.usdz b/Assets/Object/RoboDojo/Clutter/box/00004/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..a7e8ff846be114900de1de01aa6238106276598d --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/box/00004/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:588d0e7e7fba7e31d10163a1fc6a568a5f82cbcf766312fb8d3daa0d18d01f43 +size 12819917 diff --git a/Assets/Object/RoboDojo/Clutter/bridge/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/bridge/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a1139e07fc2ee232808b10aba39dae3c96a9231e --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/bridge/00000/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "84434631-1d3b-4556-ba1a-1b427a2402f0", + "geometry": { + "faces": 15511, + "vertices": 9287, + "aligned_bbox": { + "vertices": [ + [ + -0.1012, + -0.0216, + 0.0 + ], + [ + -0.1012, + -0.0216, + 0.0521 + ], + [ + -0.1012, + 0.0225, + 0.0 + ], + [ + -0.1012, + 0.0225, + 0.0521 + ], + [ + 0.1016, + -0.0216, + 0.0 + ], + [ + 0.1016, + -0.0216, + 0.0521 + ], + [ + 0.1016, + 0.0225, + 0.0 + ], + [ + 0.1016, + 0.0225, + 0.0521 + ] + ], + "extents": [ + 0.2028, + 0.0441, + 0.0521 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.1012, + -0.0225, + 0.0 + ], + [ + 0.1018, + -0.0212, + 0.0 + ], + [ + -0.1012, + -0.0225, + 0.0521 + ], + [ + 0.1018, + -0.0212, + 0.0521 + ], + [ + -0.1014, + 0.0216, + 0.0 + ], + [ + 0.1015, + 0.0229, + 0.0 + ], + [ + -0.1014, + 0.0216, + 0.0521 + ], + [ + 0.1015, + 0.0229, + 0.0521 + ] + ], + "extents": [ + 0.2032, + 0.0454, + 0.0521 + ] + }, + "radius": 0.1025 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + -0.0001, + -0.0, + 0.0035 + ], + "projection_circle": { + "center": [ + -0.0, + -0.0011, + -0.0, + 1.0, + 0.0001, + 0.0, + -0.0035 + ], + "radius": 0.1026 + }, + "contact_circle": { + "center": [ + -0.0003, + 0.0016, + -0.0, + 1.0, + 0.0001, + 0.0, + -0.0035 + ], + "radius": 0.1022 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/bridge/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/bridge/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..1861d9e2e801f01dffb72d0949e8d606337b86cc --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/bridge/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d73810aabedbb50399f8be76c4821430bc5fe8115943b77382154b0a6b7e925d +size 13184141 diff --git a/Assets/Object/RoboDojo/Clutter/can/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/can/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..b80eda8b15178ecb34595f37a5408b71d090cd42 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/can/00000/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "802abfc1-e4af-4c3c-9ac4-647a9d077416", + "geometry": { + "faces": 32128, + "vertices": 18228, + "aligned_bbox": { + "vertices": [ + [ + -0.0495, + -0.0495, + 0.0005 + ], + [ + -0.0495, + -0.0495, + 0.0422 + ], + [ + -0.0495, + 0.0495, + 0.0005 + ], + [ + -0.0495, + 0.0495, + 0.0422 + ], + [ + 0.0495, + -0.0495, + 0.0005 + ], + [ + 0.0495, + -0.0495, + 0.0422 + ], + [ + 0.0495, + 0.0495, + 0.0005 + ], + [ + 0.0495, + 0.0495, + 0.0422 + ] + ], + "extents": [ + 0.099, + 0.099, + 0.0417 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + 0.017, + -0.0678, + 0.0422 + ], + [ + 0.0678, + 0.017, + 0.0422 + ], + [ + -0.0678, + -0.017, + 0.0422 + ], + [ + -0.017, + 0.0678, + 0.0422 + ], + [ + 0.017, + -0.0678, + 0.0005 + ], + [ + 0.0678, + 0.017, + 0.0005 + ], + [ + -0.0678, + -0.017, + 0.0005 + ], + [ + -0.017, + 0.0678, + 0.0005 + ] + ], + "extents": [ + 0.1356, + 0.1356, + 0.0417 + ] + }, + "radius": 0.0535 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + -0.0003, + 0.0001, + 0.001 + ], + "projection_circle": { + "center": [ + 0.0, + 0.0, + 0.0005, + 1.0, + 0.0003, + -0.0001, + -0.001 + ], + "radius": 0.0496 + }, + "contact_circle": { + "center": [ + 0.0, + 0.0, + 0.0005, + 1.0, + 0.0003, + -0.0001, + -0.001 + ], + "radius": 0.0492 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/can/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/can/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..3b67dc272c33305b553ef766d62359f90f55446b --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/can/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65421562b375ac5540e6486810ea162a0bb45e621fa3a64c09e7872872ac4d9a +size 7041987 diff --git a/Assets/Object/RoboDojo/Clutter/candle/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/candle/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..d939cff2a05722e90a456a1ae735990320f861b2 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/candle/00000/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "9c097b0b-ac0d-44bc-8322-e7c846505159", + "geometry": { + "faces": 31426, + "vertices": 17804, + "aligned_bbox": { + "vertices": [ + [ + -0.0533, + -0.0533, + 0.0 + ], + [ + -0.0533, + -0.0533, + 0.1441 + ], + [ + -0.0533, + 0.0533, + 0.0 + ], + [ + -0.0533, + 0.0533, + 0.1441 + ], + [ + 0.0533, + -0.0533, + 0.0 + ], + [ + 0.0533, + -0.0533, + 0.1441 + ], + [ + 0.0533, + 0.0533, + 0.0 + ], + [ + 0.0533, + 0.0533, + 0.1441 + ] + ], + "extents": [ + 0.1067, + 0.1067, + 0.1441 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0037, + 0.0752, + 0.0 + ], + [ + -0.004, + 0.0751, + 0.1442 + ], + [ + 0.0752, + 0.0037, + 0.0 + ], + [ + 0.075, + 0.0035, + 0.1442 + ], + [ + -0.0752, + -0.0037, + -0.0002 + ], + [ + -0.0754, + -0.0039, + 0.144 + ], + [ + 0.0037, + -0.0752, + -0.0002 + ], + [ + 0.0035, + -0.0754, + 0.144 + ] + ], + "extents": [ + 0.1507, + 0.1507, + 0.1444 + ] + }, + "radius": 0.0828 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + -0.0, + -0.0003, + 0.0015 + ], + "projection_circle": { + "center": [ + -0.0, + 0.0, + -0.0, + 1.0, + 0.0, + 0.0003, + -0.0015 + ], + "radius": 0.0534 + }, + "contact_circle": { + "center": [ + -0.0, + 0.0, + -0.0, + 1.0, + 0.0, + 0.0003, + -0.0015 + ], + "radius": 0.0534 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/candle/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/candle/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..91740460dcad7f4767cb528fedc3d14113150c6b --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/candle/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d7ef23f2af10f65c53e125933e741a0bae7cf736a2f921fd3340e7a5ed47e86 +size 4028813 diff --git a/Assets/Object/RoboDojo/Clutter/chinese_pavillion/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/chinese_pavillion/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..928414613baa7dcb453daf7baf249aee2c636ac2 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/chinese_pavillion/00000/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "f94f6e2f-36da-4f1b-879e-55618c7814c0", + "geometry": { + "faces": 896001, + "vertices": 637227, + "aligned_bbox": { + "vertices": [ + [ + -0.107, + -0.0933, + -0.0 + ], + [ + -0.107, + -0.0933, + 0.2259 + ], + [ + -0.107, + 0.0933, + -0.0 + ], + [ + -0.107, + 0.0933, + 0.2259 + ], + [ + 0.107, + -0.0933, + -0.0 + ], + [ + 0.107, + -0.0933, + 0.2259 + ], + [ + 0.107, + 0.0933, + -0.0 + ], + [ + 0.107, + 0.0933, + 0.2259 + ] + ], + "extents": [ + 0.214, + 0.1865, + 0.2259 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + 0.1596, + -0.0953, + 0.0867 + ], + [ + 0.043, + -0.0285, + 0.2658 + ], + [ + -0.0184, + -0.1578, + -0.0058 + ], + [ + -0.1349, + -0.0909, + 0.1734 + ], + [ + 0.138, + 0.0889, + 0.0039 + ], + [ + 0.0214, + 0.1558, + 0.183 + ], + [ + -0.04, + 0.0265, + -0.0886 + ], + [ + -0.1565, + 0.0933, + 0.0905 + ] + ], + "extents": [ + 0.3161, + 0.3136, + 0.3545 + ] + }, + "radius": 0.1292 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + 0.0002, + -0.0004, + 0.003 + ], + "projection_circle": { + "center": [ + -0.0001, + -0.0, + -0.0001, + 1.0, + -0.0002, + 0.0004, + -0.003 + ], + "radius": 0.1071 + }, + "contact_circle": { + "center": [ + -0.0, + -0.0102, + -0.0001, + 1.0, + -0.0002, + 0.0004, + -0.003 + ], + "radius": 0.0859 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/chinese_pavillion/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/chinese_pavillion/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..aa38e260fbbc54456400641b9b9a3866cc8f27ef --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/chinese_pavillion/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e817ed259fdfdeda09ccae5292546bc8247e3e98e124c8a5edf3f444cd74ca3 +size 91776205 diff --git a/Assets/Object/RoboDojo/Clutter/clutter.yml b/Assets/Object/RoboDojo/Clutter/clutter.yml new file mode 100644 index 0000000000000000000000000000000000000000..084c7d850c487d436a1cf875f74592ac6f012570 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/clutter.yml @@ -0,0 +1,101 @@ +meta: + generator: update_clutter_yaml.py + seed: 42 + count: 193 + source_root: /home/pc/ManiTwin/RoboDojo/Object/RoboDojo/Clutter +Clutter: + audio: [0, 1, 2] + bag: [0] + balance: [0] + ball: [0, 1] + baseball_bat: [0] + body_lotion: [0] + book: [0, 1, 2, 3, 4] + book_shelf: [0] + bottle: [0] + bowl: [0, 1] + box: [0, 1, 2, 3, 4] + bridge: [0] + cake: [0, 1, 2] + calculator: [0, 1] + calendar: [0] + can: [0] + candle: [0] + cap: [0, 1] + card: [0, 1] + cereal: [0] + chinese_pavillion: [0] + chocolate: [0] + clip: [0] + coffee_bag: [0] + coin: [0, 1] + comb: [0] + croissant: [0] + cup: [0, 1, 2, 3] + cutter: [0] + darts_board: [0] + dice: [0] + dog_toy: [0] + earbuds: [0] + earth_globe: [0] + eraser: [0] + foosball_table: [0] + french_fries: [0] + game_machine: [0] + gamepad: [0] + garage: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17] + glasses: [0, 1] + graphics_card: [0, 1] + hammer: [0] + headphones: [0] + helmets: [0, 1] + house: [0, 1, 2] + ice_cream: [0, 1] + iron: [0] + jeans: [0] + kettle: [0, 1] + key: [0] + keyboard: [0, 1] + lamp: [0] + magic_potion: [0] + mask: [0] + meta_quest: [0] + microscope: [0] + minecraft_blocks: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15] + mini_fan: [0, 1, 2] + money_stack: [0] + monitor: [0] + notes_holder: [0] + nvlink: [0] + office_mail: [0, 1] + oscilloscope: [0] + palette: [0] + pen: [0, 1, 2] + pencil_case: [0] + phone_stand: [0, 1] + piano: [0] + plane: [0] + plant: [0, 1] + plate: [0, 1] + plier: [0] + pokeball: [0, 1, 2, 3, 4, 5, 6, 7, 8] + power_bank: [0] + puzzle_pieces: [0] + racket: [0, 1, 2, 3, 4] + sandwich: [0] + scale: [0, 1] + screwdriver: [0] + sculpture: [0, 1, 2] + shampoo: [0] + sound_card: [0] + stapler: [0, 1, 2, 3, 4] + tape_measure: [0] + tissue: [0, 1, 2, 3] + toothpaste: [0, 1] + toy: [0, 1, 2] + toy_car: [0, 1] + toy_plane: [0, 1, 2] + trophy: [0, 1] + vehicle: [0] + walkie_talkie: [0] + wrench: [0] diff --git a/Assets/Object/RoboDojo/Clutter/coffee_bag/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/coffee_bag/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..2543080654c5dd261acdd296ae0c55382068f693 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/coffee_bag/00000/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "3abebac1-5237-4d32-9639-9adae7153fe7", + "geometry": { + "faces": 100000, + "vertices": 55254, + "aligned_bbox": { + "vertices": [ + [ + -0.0481, + -0.0361, + -0.0 + ], + [ + -0.0481, + -0.0361, + 0.1841 + ], + [ + -0.0481, + 0.0361, + -0.0 + ], + [ + -0.0481, + 0.0361, + 0.1841 + ], + [ + 0.0481, + -0.0361, + -0.0 + ], + [ + 0.0481, + -0.0361, + 0.1841 + ], + [ + 0.0481, + 0.0361, + -0.0 + ], + [ + 0.0481, + 0.0361, + 0.1841 + ] + ], + "extents": [ + 0.0962, + 0.0722, + 0.1841 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + 0.0461, + 0.0377, + 0.1842 + ], + [ + 0.0494, + 0.0384, + 0.001 + ], + [ + -0.0491, + 0.0329, + 0.1825 + ], + [ + -0.0458, + 0.0335, + -0.0007 + ], + [ + 0.0497, + -0.0325, + 0.184 + ], + [ + 0.053, + -0.0318, + 0.0008 + ], + [ + -0.0455, + -0.0373, + 0.1823 + ], + [ + -0.0422, + -0.0367, + -0.0009 + ] + ], + "extents": [ + 0.1021, + 0.0757, + 0.1851 + ] + }, + "radius": 0.103 + }, + "active": { + "place": { + "up": { + "orientation": [ + 0.9994, + 0.0322, + 0.0075, + 0.0063 + ], + "projection_circle": { + "center": [ + 0.0017, + -0.0031, + 0.0012, + 0.9994, + -0.0322, + -0.0075, + -0.0063 + ], + "radius": 0.056 + }, + "contact_circle": { + "center": [ + -0.0001, + 0.0071, + 0.0005, + 0.9994, + -0.0322, + -0.0075, + -0.0063 + ], + "radius": 0.0442 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/coffee_bag/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/coffee_bag/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..73fa990e07736340a23cdd9e452177ed95e35779 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/coffee_bag/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5d191cc4ae4cf1712003ff8d5c4be3552c40e033e68f022e014c6bd48fe3b25 +size 11870096 diff --git a/Assets/Object/RoboDojo/Clutter/cutter/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/cutter/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..3902fbc3734ad39fa68cf7e6499e2d9ba720c7a8 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/cutter/00000/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "6577f120-3459-4913-8413-bce59ea540ff", + "geometry": { + "faces": 4568, + "vertices": 3494, + "aligned_bbox": { + "vertices": [ + [ + -0.0305, + -0.0942, + 0.0 + ], + [ + -0.0305, + -0.0942, + 0.0189 + ], + [ + -0.0305, + 0.1193, + 0.0 + ], + [ + -0.0305, + 0.1193, + 0.0189 + ], + [ + 0.0364, + -0.0942, + 0.0 + ], + [ + 0.0364, + -0.0942, + 0.0189 + ], + [ + 0.0364, + 0.1193, + 0.0 + ], + [ + 0.0364, + 0.1193, + 0.0189 + ] + ], + "extents": [ + 0.067, + 0.2135, + 0.0189 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0573, + 0.1086, + 0.0189 + ], + [ + -0.0211, + -0.0988, + 0.0189 + ], + [ + 0.0068, + 0.1198, + 0.0189 + ], + [ + 0.0431, + -0.0876, + 0.0189 + ], + [ + -0.0573, + 0.1086, + 0.0 + ], + [ + -0.0211, + -0.0988, + 0.0 + ], + [ + 0.0068, + 0.1198, + 0.0 + ], + [ + 0.0431, + -0.0876, + 0.0 + ] + ], + "extents": [ + 0.1004, + 0.2186, + 0.0189 + ] + }, + "radius": 0.1069 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "projection_circle": { + "center": [ + 0.0042, + 0.0126, + 0.0, + 1.0, + 0.0, + 0.0, + 0.0 + ], + "radius": 0.1068 + }, + "contact_circle": { + "center": [ + 0.0056, + -0.0021, + 0.0, + 1.0, + 0.0, + 0.0, + 0.0 + ], + "radius": 0.0847 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/cutter/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/cutter/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..0138b0c0f75e857f7a164ab9e23c13d2d94dcf65 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/cutter/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9723ebdf203c8f128eb24b0028ce4d6cd8a23f0e52f43c215eb24ed5ed34839d +size 975928 diff --git a/Assets/Object/RoboDojo/Clutter/darts_board/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/darts_board/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..1360158e71317f1ee759c4da9e57124117d51d6b --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/darts_board/00000/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "2a8e5a62-dfb8-4e2c-829e-8dd6d2a076b2", + "geometry": { + "faces": 14750, + "vertices": 9736, + "aligned_bbox": { + "vertices": [ + [ + -0.0902, + -0.0902, + -0.0058 + ], + [ + -0.0902, + -0.0902, + 0.0019 + ], + [ + -0.0902, + 0.0902, + -0.0058 + ], + [ + -0.0902, + 0.0902, + 0.0019 + ], + [ + 0.0902, + -0.0902, + -0.0058 + ], + [ + 0.0902, + -0.0902, + 0.0019 + ], + [ + 0.0902, + 0.0902, + -0.0058 + ], + [ + 0.0902, + 0.0902, + 0.0019 + ] + ], + "extents": [ + 0.1804, + 0.1804, + 0.0078 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.045, + -0.1188, + 0.0019 + ], + [ + 0.1188, + -0.045, + 0.0019 + ], + [ + -0.1188, + 0.045, + 0.0019 + ], + [ + 0.045, + 0.1188, + 0.0019 + ], + [ + -0.045, + -0.1188, + -0.0058 + ], + [ + 0.1188, + -0.045, + -0.0058 + ], + [ + -0.1188, + 0.045, + -0.0058 + ], + [ + 0.045, + 0.1188, + -0.0058 + ] + ], + "extents": [ + 0.2376, + 0.2376, + 0.0078 + ] + }, + "radius": 0.0902 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + 0.0001, + -0.0001, + 0.0003 + ], + "projection_circle": { + "center": [ + -0.0, + -0.0, + -0.0059, + 1.0, + -0.0001, + 0.0001, + -0.0003 + ], + "radius": 0.0903 + }, + "contact_circle": { + "center": [ + -0.0, + -0.0, + -0.0059, + 1.0, + -0.0001, + 0.0001, + -0.0003 + ], + "radius": 0.0903 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/darts_board/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/darts_board/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..b88da985c4bfa771e227ca7e479ad927812b0e00 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/darts_board/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a43233695ac8d32f830d2252a654ec5e6b0ae955d36997d3b0aee58c73315c2 +size 7750177 diff --git a/Assets/Object/RoboDojo/Clutter/dog_toy/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/dog_toy/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..6c59a36dab8059146b5af07ed6f03c607e8743d6 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/dog_toy/00000/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "7098861d-013f-4f3e-9fa6-deb37be578cc", + "geometry": { + "faces": 12132, + "vertices": 6738, + "aligned_bbox": { + "vertices": [ + [ + -0.102, + -0.0548, + -0.0019 + ], + [ + -0.102, + -0.0548, + 0.1009 + ], + [ + -0.102, + 0.0548, + -0.0019 + ], + [ + -0.102, + 0.0548, + 0.1009 + ], + [ + 0.0847, + -0.0548, + -0.0019 + ], + [ + 0.0847, + -0.0548, + 0.1009 + ], + [ + 0.0847, + 0.0548, + -0.0019 + ], + [ + 0.0847, + 0.0548, + 0.1009 + ] + ], + "extents": [ + 0.1867, + 0.1095, + 0.1028 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + 0.0832, + 0.0548, + 0.1032 + ], + [ + -0.1035, + 0.0548, + 0.0993 + ], + [ + 0.0832, + -0.0548, + 0.1032 + ], + [ + -0.1035, + -0.0548, + 0.0993 + ], + [ + 0.0853, + 0.0548, + 0.0006 + ], + [ + -0.1014, + 0.0548, + -0.0032 + ], + [ + 0.0853, + -0.0548, + 0.0006 + ], + [ + -0.1014, + -0.0548, + -0.0032 + ] + ], + "extents": [ + 0.1888, + 0.1095, + 0.1064 + ] + }, + "radius": 0.0982 + }, + "active": { + "place": { + "up": { + "orientation": [ + 0.9999, + 0.0045, + 0.0112, + -0.0056 + ], + "projection_circle": { + "center": [ + -0.006, + -0.0002, + -0.0018, + 0.9999, + -0.0045, + -0.0112, + 0.0056 + ], + "radius": 0.0977 + }, + "contact_circle": { + "center": [ + 0.0197, + -0.0025, + -0.0012, + 0.9999, + -0.0045, + -0.0112, + 0.0056 + ], + "radius": 0.0676 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/dog_toy/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/dog_toy/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..53144335830b0ea74f35d061de7f131023b02db2 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/dog_toy/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a87a3fca7390c114219d698d2e4847f5bbcb0f86a152506541e18b4b7bbc474 +size 6186140 diff --git a/Assets/Object/RoboDojo/Clutter/foosball_table/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/foosball_table/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..53b0cbd6aad61080937970a15186aa1dda762be6 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/foosball_table/00000/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "347272c0-1d15-47dd-b8aa-c88e09e501e3", + "geometry": { + "faces": 500128, + "vertices": 288282, + "aligned_bbox": { + "vertices": [ + [ + -0.1086, + -0.1016, + -0.0 + ], + [ + -0.1086, + -0.1016, + 0.1285 + ], + [ + -0.1086, + 0.1053, + -0.0 + ], + [ + -0.1086, + 0.1053, + 0.1285 + ], + [ + 0.1086, + -0.1016, + -0.0 + ], + [ + 0.1086, + -0.1016, + 0.1285 + ], + [ + 0.1086, + 0.1053, + -0.0 + ], + [ + 0.1086, + 0.1053, + 0.1285 + ] + ], + "extents": [ + 0.2172, + 0.2069, + 0.1285 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.1086, + -0.1016, + 0.1285 + ], + [ + 0.1086, + -0.1016, + 0.1285 + ], + [ + -0.1086, + 0.1053, + 0.1285 + ], + [ + 0.1086, + 0.1053, + 0.1285 + ], + [ + -0.1086, + -0.1016, + -0.0 + ], + [ + 0.1086, + -0.1016, + -0.0 + ], + [ + -0.1086, + 0.1053, + -0.0 + ], + [ + 0.1086, + 0.1053, + -0.0 + ] + ], + "extents": [ + 0.2172, + 0.2069, + 0.1285 + ] + }, + "radius": 0.1332 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + -0.0003, + -0.0, + 0.0019 + ], + "projection_circle": { + "center": [ + 0.0, + 0.003, + -0.0, + 1.0, + 0.0003, + 0.0, + -0.0019 + ], + "radius": 0.1296 + }, + "contact_circle": { + "center": [ + -0.0, + 0.0, + -0.0, + 1.0, + 0.0003, + 0.0, + -0.0019 + ], + "radius": 0.0967 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/foosball_table/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/foosball_table/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..e4a47f556629cabf6ae62af6b617cd04bf8ca583 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/foosball_table/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ecc3426678fae2a807e83f9ce0c7bf92c8b0febf342a825f5c02571448b2e259 +size 49862653 diff --git a/Assets/Object/RoboDojo/Clutter/gamepad/00000/description.json b/Assets/Object/RoboDojo/Clutter/gamepad/00000/description.json new file mode 100644 index 0000000000000000000000000000000000000000..599cde29a70a017ba8207f23e24507ee97b9d75e --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/gamepad/00000/description.json @@ -0,0 +1,137 @@ +{ + "uuid": "a7de032a-defc-4dd3-8cf7-8c3286c16201", + "caption": { + "color": [ + "matte gray", + "glossy dark gray", + "metallic silver" + ], + "material": [ + "smooth plastic", + "shiny coated polymer", + "hard molded resin" + ], + "size": [ + "handheld", + "fits two hands", + "standard controller size" + ], + "name": [ + "PlayStation controller", + "PS5 DualSense", + "gamepad" + ], + "shape": [ + "ergonomic dual-grip", + "symmetrical curved body", + "twin analog stick layout" + ], + "function": [ + "playing video games", + "controlling on-screen actions", + "haptic feedback input" + ] + }, + "description": [ + "matte gray object used for haptic feedback input", + "fits two hands matte gray object for playing video games", + "hard molded resin twin analog stick layout object used for controlling on-screen actions", + "gamepad for controlling on-screen actions", + "glossy dark gray standard controller size smooth plastic object", + "fits two hands matte gray PlayStation controller", + "PS5 DualSense for controlling on-screen actions scenarios", + "PS5 DualSense commonly used for haptic feedback input", + "smooth plastic symmetrical curved body for playing video games", + "PlayStation controller with twin analog stick layout geometry", + "standard controller size PlayStation controller perfect for haptic feedback input", + "PS5 DualSense with matte gray color", + "gamepad with smooth plastic body", + "hard molded resin matte gray PS5 DualSense", + "PS5 DualSense commonly found in fits two hands size", + "handheld shiny coated polymer symmetrical curved body for controlling on-screen actions", + "glossy dark gray object used for controlling on-screen actions", + "hard molded resin ergonomic dual-grip PlayStation controller", + "smooth plastic object used for controlling on-screen actions", + "fits two hands glossy dark gray shiny coated polymer PlayStation controller", + "matte gray gamepad typically used for controlling on-screen actions", + "metallic silver hard molded resin PS5 DualSense", + "gamepad commonly featuring smooth plastic", + "PlayStation controller built from shiny coated polymer", + "smooth plastic twin analog stick layout for playing video games", + "PS5 DualSense with symmetrical curved body geometry", + "PlayStation controller optimized for playing video games", + "hard molded resin symmetrical curved body for playing video games", + "PlayStation controller in metallic silver", + "standard controller size PlayStation controller used for controlling on-screen actions", + "gamepad with twin analog stick layout profile", + "gamepad built from hard molded resin", + "twin analog stick layout object used for controlling on-screen actions", + "symmetrical curved body-shaped gamepad", + "twin analog stick layout standard controller size PS5 DualSense", + "gamepad in ergonomic dual-grip", + "PlayStation controller designed for playing video games", + "gamepad with matte gray exterior", + "fits two hands gamepad for controlling on-screen actions", + "PlayStation controller appropriate for playing video games use", + "gamepad with glossy dark gray exterior", + "fits two hands hard molded resin object", + "PlayStation controller with symmetrical curved body geometry", + "glossy dark gray ergonomic dual-grip object for haptic feedback input", + "PlayStation controller for haptic feedback input", + "PlayStation controller for haptic feedback input activities", + "glossy dark gray hard molded resin PS5 DualSense", + "smooth plastic metallic silver gamepad", + "gamepad colored glossy dark gray", + "handheld ergonomic dual-grip object", + "PS5 DualSense in ergonomic dual-grip form", + "PlayStation controller built from hard molded resin", + "matte gray fits two hands symmetrical curved body PS5 DualSense", + "shiny coated polymer object for playing video games", + "PS5 DualSense for playing video games with smooth plastic", + "symmetrical curved body PlayStation controller for playing video games", + "metallic silver object used for controlling on-screen actions", + "matte gray twin analog stick layout object for controlling on-screen actions", + "matte gray hard molded resin gamepad", + "standard controller size smooth plastic PS5 DualSense for controlling on-screen actions", + "PS5 DualSense optimized for controlling on-screen actions", + "matte gray ergonomic dual-grip PS5 DualSense", + "metallic silver PlayStation controller suitable for playing video games", + "PS5 DualSense typically made of hard molded resin", + "PS5 DualSense made from smooth plastic", + "hard molded resin PlayStation controller", + "metallic silver hard molded resin gamepad", + "glossy dark gray gamepad used for playing video games", + "standard controller size twin analog stick layout gamepad", + "gamepad with twin analog stick layout geometry", + "ergonomic dual-grip PS5 DualSense used for playing video games", + "twin analog stick layout shiny coated polymer object for controlling on-screen actions", + "twin analog stick layout PlayStation controller ideal for playing video games", + "ergonomic dual-grip gamepad for haptic feedback input", + "matte gray twin analog stick layout PlayStation controller used for playing video games", + "glossy dark gray gamepad for playing video games", + "handheld symmetrical curved body object for playing video games", + "PlayStation controller with matte gray color", + "handheld PlayStation controller for haptic feedback input", + "glossy dark gray PS5 DualSense used for haptic feedback input", + "PlayStation controller featuring symmetrical curved body shape", + "standard controller size metallic silver hard molded resin symmetrical curved body object", + "ergonomic dual-grip hard molded resin gamepad for playing video games", + "hard molded resin ergonomic dual-grip object used for haptic feedback input", + "gamepad sized fits two hands", + "standard controller size object used for controlling on-screen actions", + "hard molded resin gamepad for controlling on-screen actions", + "standard controller size matte gray hard molded resin gamepad", + "ergonomic dual-grip PlayStation controller ideal for haptic feedback input", + "haptic feedback input with PlayStation controller", + "metallic silver twin analog stick layout PlayStation controller", + "matte gray standard controller size PlayStation controller for controlling on-screen actions", + "haptic feedback input with PS5 DualSense", + "shiny coated polymer gamepad", + "metallic silver object used for haptic feedback input", + "matte gray handheld symmetrical curved body gamepad", + "PlayStation controller commonly found in standard controller size size", + "gamepad shaped like a ergonomic dual-grip", + "gamepad featuring ergonomic dual-grip shape", + "standard controller size matte gray PS5 DualSense" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/gamepad/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/gamepad/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..d8e56457fafa83ee0bf85979b5df943ced0bff8f --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/gamepad/00000/metadata.json @@ -0,0 +1,146 @@ +{ + "uuid": "a7de032a-defc-4dd3-8cf7-8c3286c16201", + "physics": { + "mass": 0.22, + "friction": 0.38 + }, + "geometry": { + "faces": 737935, + "vertices": 436551, + "aligned_bbox": { + "vertices": [ + [ + -0.0702, + -0.0243, + -0.0457 + ], + [ + -0.0702, + -0.0243, + 0.0457 + ], + [ + -0.0702, + 0.0244, + -0.0457 + ], + [ + -0.0702, + 0.0244, + 0.0457 + ], + [ + 0.07, + -0.0243, + -0.0457 + ], + [ + 0.07, + -0.0243, + 0.0457 + ], + [ + 0.07, + 0.0244, + -0.0457 + ], + [ + 0.07, + 0.0244, + 0.0457 + ] + ], + "extents": [ + 0.1402, + 0.0487, + 0.0914 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0702, + -0.021, + -0.0477 + ], + [ + 0.07, + -0.021, + -0.0477 + ], + [ + -0.0702, + -0.0271, + 0.0439 + ], + [ + 0.07, + -0.0271, + 0.044 + ], + [ + -0.0702, + 0.026, + -0.0446 + ], + [ + 0.07, + 0.026, + -0.0445 + ], + [ + -0.0702, + 0.0199, + 0.0471 + ], + [ + 0.07, + 0.0199, + 0.0471 + ] + ], + "extents": [ + 0.1402, + 0.0532, + 0.0948 + ] + }, + "radius": 0.0726 + }, + "active": { + "place": { + "up": { + "orientation": [ + -0.6853, + 0.7283, + -0.0037, + -0.001 + ], + "projection_circle": { + "center": [ + 0.0001, + 0.0237, + -0.0088, + -0.6853, + -0.7283, + 0.0037, + 0.001 + ], + "radius": 0.0725 + }, + "contact_circle": { + "center": [ + 0.0014, + 0.0237, + -0.0101, + -0.6853, + -0.7283, + 0.0037, + 0.001 + ], + "radius": 0.0622 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/gamepad/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/gamepad/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..93c8f22721784cf078638c5d99436caa07d32ee3 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/gamepad/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de381ac675a423b23e9b6bdadbec4782bcbe755ff84e0e24b2ea94e1eb9c3b10 +size 39589009 diff --git a/Assets/Object/RoboDojo/Clutter/glasses/00001/description.json b/Assets/Object/RoboDojo/Clutter/glasses/00001/description.json new file mode 100644 index 0000000000000000000000000000000000000000..e2a6b94d6bb11b28a3d758b167222029ca0d6272 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/glasses/00001/description.json @@ -0,0 +1,135 @@ +{ + "uuid": "6c26115f-6e95-4da7-ab08-77928762b65d", + "caption": { + "color": [ + "glossy black", + "dark charcoal highlights" + ], + "material": [ + "smooth plastic", + "matte-finish polymer" + ], + "size": [ + "standard eyewear", + "adult fit", + "lightweight frame" + ], + "name": [ + "smart glasses", + "AR glasses", + "wearable display glasses" + ], + "shape": [ + "rectangular lenses", + "slim temple arms", + "integrated hinge modules" + ], + "function": [ + "overlaying digital information", + "augmented reality viewing", + "hands-free interface" + ] + }, + "description": [ + "dark charcoal highlights object used for hands-free interface", + "AR glasses with glossy black color", + "dark charcoal highlights adult fit rectangular lenses wearable display glasses", + "smart glasses with integrated hinge modules profile", + "wearable display glasses for hands-free interface use", + "smart glasses for overlaying digital information with smooth plastic", + "smart glasses intended for augmented reality viewing usage", + "smooth plastic wearable display glasses used for augmented reality viewing", + "matte-finish polymer AR glasses", + "AR glasses used to overlaying digital information", + "standard eyewear slim temple arms object", + "adult fit matte-finish polymer integrated hinge modules for overlaying digital information", + "smart glasses intended for overlaying digital information", + "smart glasses colored glossy black", + "lightweight frame AR glasses for augmented reality viewing", + "slim temple arms matte-finish polymer object for overlaying digital information", + "integrated hinge modules object used for augmented reality viewing", + "standard eyewear glossy black matte-finish polymer integrated hinge modules object", + "wearable display glasses designed for hands-free interface", + "wearable display glasses used to hands-free interface", + "glossy black wearable display glasses used for augmented reality viewing", + "adult fit slim temple arms object for hands-free interface", + "AR glasses shaped like a integrated hinge modules", + "smart glasses with rectangular lenses geometry", + "smart glasses ideal for overlaying digital information", + "wearable display glasses sized as standard eyewear", + "smart glasses made of smooth plastic", + "augmented reality viewing use of smart glasses", + "matte-finish polymer wearable display glasses suitable for overlaying digital information", + "AR glasses appropriate for hands-free interface", + "dark charcoal highlights AR glasses suitable for augmented reality viewing", + "standard eyewear matte-finish polymer smart glasses for overlaying digital information", + "smart glasses with rectangular lenses profile", + "standard eyewear glossy black AR glasses", + "wearable display glasses sized adult fit", + "rectangular lenses-shaped wearable display glasses", + "standard eyewear glossy black object for augmented reality viewing", + "AR glasses appropriate for augmented reality viewing", + "glossy black object used for augmented reality viewing", + "standard eyewear glossy black rectangular lenses object", + "wearable display glasses in dark charcoal highlights", + "smart glasses for hands-free interface with smooth plastic", + "smart glasses with slim temple arms profile", + "slim temple arms smooth plastic AR glasses for hands-free interface", + "slim temple arms object made of matte-finish polymer", + "wearable display glasses featuring rectangular lenses shape", + "AR glasses for augmented reality viewing activities", + "smooth plastic wearable display glasses", + "dark charcoal highlights adult fit matte-finish polymer object", + "glossy black wearable display glasses typically used for hands-free interface", + "dark charcoal highlights integrated hinge modules wearable display glasses used for augmented reality viewing", + "smart glasses suitable for overlaying digital information", + "integrated hinge modules matte-finish polymer wearable display glasses for hands-free interface", + "integrated hinge modules smooth plastic wearable display glasses for overlaying digital information", + "AR glasses appropriate for overlaying digital information use", + "wearable display glasses appropriate for hands-free interface", + "wearable display glasses in slim temple arms form", + "smart glasses commonly featuring matte-finish polymer", + "glossy black adult fit integrated hinge modules smart glasses", + "AR glasses with integrated hinge modules profile", + "adult fit dark charcoal highlights matte-finish polymer wearable display glasses", + "wearable display glasses intended for hands-free interface", + "standard eyewear dark charcoal highlights slim temple arms for hands-free interface", + "lightweight frame integrated hinge modules AR glasses", + "wearable display glasses with matte-finish polymer construction", + "wearable display glasses ideal for overlaying digital information", + "adult fit dark charcoal highlights smooth plastic slim temple arms object", + "wearable display glasses featuring smooth plastic build", + "smart glasses colored dark charcoal highlights", + "slim temple arms-shaped AR glasses", + "standard eyewear dark charcoal highlights object for augmented reality viewing", + "dark charcoal highlights slim temple arms smart glasses used for overlaying digital information", + "AR glasses intended for overlaying digital information usage", + "AR glasses commonly found in lightweight frame size", + "integrated hinge modules smooth plastic object for hands-free interface", + "matte-finish polymer AR glasses used for augmented reality viewing", + "glossy black AR glasses used for hands-free interface", + "wearable display glasses optimized for augmented reality viewing", + "glossy black smart glasses for overlaying digital information", + "augmented reality viewing use of AR glasses", + "adult fit matte-finish polymer wearable display glasses", + "wearable display glasses with matte-finish polymer body", + "lightweight frame slim temple arms AR glasses", + "integrated hinge modules adult fit smart glasses", + "slim temple arms-shaped wearable display glasses", + "AR glasses made of smooth plastic", + "smart glasses for augmented reality viewing activities", + "glossy black adult fit matte-finish polymer object", + "glossy black object used for overlaying digital information", + "lightweight frame smooth plastic wearable display glasses", + "matte-finish polymer integrated hinge modules smart glasses", + "smart glasses appropriate for overlaying digital information", + "matte-finish polymer slim temple arms for overlaying digital information", + "smooth plastic rectangular lenses AR glasses", + "dark charcoal highlights wearable display glasses typically used for hands-free interface", + "AR glasses commonly used for hands-free interface", + "slim temple arms AR glasses ideal for overlaying digital information", + "glossy black wearable display glasses for augmented reality viewing", + "smooth plastic smart glasses", + "smart glasses with matte-finish polymer construction" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/glasses/00001/object.usdz b/Assets/Object/RoboDojo/Clutter/glasses/00001/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..3012209bbd0b2703a08d67e0268cf7beb828dd76 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/glasses/00001/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9121641427f85555e497e212d949abb62f14639f641086467cb11c75057991d +size 26979605 diff --git a/Assets/Object/RoboDojo/Clutter/graphics_card/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/graphics_card/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..471102fbd0718cfa4e3c33adc6cc122ca242d884 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/graphics_card/00000/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "c32d54ff-b3e6-44e3-a3d7-163a7d8568b7", + "geometry": { + "faces": 399138, + "vertices": 242701, + "aligned_bbox": { + "vertices": [ + [ + -0.0791, + -0.1684, + -0.0295 + ], + [ + -0.0791, + -0.1684, + 0.0295 + ], + [ + -0.0791, + 0.1684, + -0.0295 + ], + [ + -0.0791, + 0.1684, + 0.0295 + ], + [ + 0.0791, + -0.1684, + -0.0295 + ], + [ + 0.0791, + -0.1684, + 0.0295 + ], + [ + 0.0791, + 0.1684, + -0.0295 + ], + [ + 0.0791, + 0.1684, + 0.0295 + ] + ], + "extents": [ + 0.1582, + 0.3368, + 0.059 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + 0.1054, + 0.1643, + -0.0293 + ], + [ + 0.0758, + -0.1705, + -0.0295 + ], + [ + -0.0495, + 0.178, + -0.0293 + ], + [ + -0.0791, + -0.1568, + -0.0295 + ], + [ + 0.1054, + 0.1643, + 0.0295 + ], + [ + 0.0758, + -0.1706, + 0.0293 + ], + [ + -0.0495, + 0.178, + 0.0295 + ], + [ + -0.0791, + -0.1569, + 0.0293 + ] + ], + "extents": [ + 0.1845, + 0.3486, + 0.0591 + ] + }, + "radius": 0.1796 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + 0.0003, + -0.0002, + -0.0 + ], + "projection_circle": { + "center": [ + 0.0009, + 0.0018, + -0.0296, + 1.0, + -0.0003, + 0.0002, + 0.0 + ], + "radius": 0.1778 + }, + "contact_circle": { + "center": [ + 0.0082, + 0.0057, + -0.0296, + 1.0, + -0.0003, + 0.0002, + 0.0 + ], + "radius": 0.1716 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/graphics_card/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/graphics_card/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..93c492a93af6c87556f045acd35013a6cf7658ec --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/graphics_card/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1fb5f2b9b97d349a94a90eb390c4a66346a3417cff8143feb532c384250c64ad +size 28182884 diff --git a/Assets/Object/RoboDojo/Clutter/graphics_card/00001/metadata.json b/Assets/Object/RoboDojo/Clutter/graphics_card/00001/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..f25783de1c8ac4d9c83eddea42a7083bf153d071 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/graphics_card/00001/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "23e3dc7d-0f06-452a-a0be-b754d092f633", + "geometry": { + "faces": 86447, + "vertices": 73632, + "aligned_bbox": { + "vertices": [ + [ + -0.1587, + -0.0871, + -0.003 + ], + [ + -0.1587, + -0.0871, + 0.0384 + ], + [ + -0.1587, + 0.0183, + -0.003 + ], + [ + -0.1587, + 0.0183, + 0.0384 + ], + [ + 0.0944, + -0.0871, + -0.003 + ], + [ + 0.0944, + -0.0871, + 0.0384 + ], + [ + 0.0944, + 0.0183, + -0.003 + ], + [ + 0.0944, + 0.0183, + 0.0384 + ] + ], + "extents": [ + 0.2531, + 0.1054, + 0.0414 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + 0.0944, + 0.0185, + 0.0384 + ], + [ + -0.1587, + 0.0181, + 0.0384 + ], + [ + 0.0946, + -0.0867, + 0.0384 + ], + [ + -0.1586, + -0.0871, + 0.0384 + ], + [ + 0.0944, + 0.0185, + -0.003 + ], + [ + -0.1587, + 0.0181, + -0.003 + ], + [ + 0.0946, + -0.0867, + -0.003 + ], + [ + -0.1586, + -0.0871, + -0.003 + ] + ], + "extents": [ + 0.2534, + 0.1056, + 0.0414 + ] + }, + "radius": 0.135 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + -0.0054, + -0.0002, + 0.0005 + ], + "projection_circle": { + "center": [ + -0.0296, + -0.0367, + -0.0033, + 1.0, + 0.0054, + 0.0002, + -0.0005 + ], + "radius": 0.134 + }, + "contact_circle": { + "center": [ + -0.0321, + 0.0008, + -0.0029, + 1.0, + 0.0054, + 0.0002, + -0.0005 + ], + "radius": 0.1273 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/graphics_card/00001/object.usdz b/Assets/Object/RoboDojo/Clutter/graphics_card/00001/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..fb7d68ff2ce6400b6167b1474a6289495ee947af --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/graphics_card/00001/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab7a42e658c6c235a00c02e1da767f93c91c56f251754377179696667e9284cf +size 39091416 diff --git a/Assets/Object/RoboDojo/Clutter/hammer/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/hammer/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..dea20ba8df80502c2078df690397ba13ca44a0e2 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/hammer/00000/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "a1c504e6-85f0-4f62-8237-6f9d8a0ff0c9", + "geometry": { + "faces": 2050, + "vertices": 1363, + "aligned_bbox": { + "vertices": [ + [ + -0.0391, + -0.0886, + 0.0003 + ], + [ + -0.0391, + -0.0886, + 0.0177 + ], + [ + -0.0391, + 0.0816, + 0.0003 + ], + [ + -0.0391, + 0.0816, + 0.0177 + ], + [ + 0.0374, + -0.0886, + 0.0003 + ], + [ + 0.0374, + -0.0886, + 0.0177 + ], + [ + 0.0374, + 0.0816, + 0.0003 + ], + [ + 0.0374, + 0.0816, + 0.0177 + ] + ], + "extents": [ + 0.0765, + 0.1702, + 0.0174 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0417, + 0.0764, + 0.0169 + ], + [ + -0.0093, + -0.0919, + 0.0174 + ], + [ + 0.0282, + 0.0899, + 0.0181 + ], + [ + 0.0607, + -0.0784, + 0.0187 + ], + [ + -0.0414, + 0.0764, + -0.0005 + ], + [ + -0.009, + -0.0919, + 0.0001 + ], + [ + 0.0285, + 0.0899, + 0.0008 + ], + [ + 0.061, + -0.0784, + 0.0014 + ] + ], + "extents": [ + 0.1027, + 0.1818, + 0.0191 + ] + }, + "radius": 0.0864 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + 0.0048, + 0.0042, + -0.0016 + ], + "projection_circle": { + "center": [ + -0.007, + -0.0037, + 0.0004, + 1.0, + -0.0048, + -0.0042, + 0.0016 + ], + "radius": 0.0865 + }, + "contact_circle": { + "center": [ + -0.0088, + -0.0067, + 0.0004, + 1.0, + -0.0048, + -0.0042, + 0.0016 + ], + "radius": 0.0828 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/hammer/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/hammer/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..5ca175c58b778f4c168fa6d0bd539144e67bd638 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/hammer/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f966aa20e8714f324a8e3c33254f063c7d35fd185fd4fcc7281f04dad4672f4a +size 6156611 diff --git a/Assets/Object/RoboDojo/Clutter/house/00000/description.json b/Assets/Object/RoboDojo/Clutter/house/00000/description.json new file mode 100644 index 0000000000000000000000000000000000000000..ab748e0a07b9cd28624d69a2b797a280032e810c --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/house/00000/description.json @@ -0,0 +1,140 @@ +{ + "uuid": "ec0f4341-ea5d-4094-a55f-34087e84dfeb", + "caption": { + "color": [ + "deep red", + "dark gray roof", + "cream paneling", + "red window accents" + ], + "material": [ + "painted wood", + "metal roof tiles", + "glass windows", + "weathered finish" + ], + "size": [ + "small diorama", + "tabletop scale", + "miniature building" + ], + "name": [ + "Japanese shop", + "traditional storefront", + "tiny merchant house" + ], + "shape": [ + "gabled roof", + "rectangular base", + "asymmetrical facade", + "eaves with decorative brackets" + ], + "function": [ + "displaying collectible models", + "representing historic street scenes", + "serving as game terrain piece" + ] + }, + "description": [ + "traditional storefront designed for serving as game terrain piece", + "tiny merchant house commonly used for serving as game terrain piece", + "tabletop scale deep red eaves with decorative brackets for displaying collectible models", + "Japanese shop ideal for displaying collectible models", + "Japanese shop for representing historic street scenes activities", + "cream paneling asymmetrical facade Japanese shop", + "Japanese shop featuring rectangular base shape", + "tiny merchant house for displaying collectible models activities", + "small diorama object used for displaying collectible models", + "serving as game terrain piece with Japanese shop", + "tiny merchant house typically made of glass windows", + "dark gray roof object used for displaying collectible models", + "weathered finish object for representing historic street scenes", + "tabletop scale red window accents painted wood eaves with decorative brackets object", + "miniature building metal roof tiles Japanese shop", + "tiny merchant house intended for displaying collectible models", + "red window accents Japanese shop for displaying collectible models", + "dark gray roof eaves with decorative brackets object for serving as game terrain piece", + "tiny merchant house primarily used for representing historic street scenes", + "traditional storefront with gabled roof geometry", + "tiny merchant house in asymmetrical facade form", + "Japanese shop primarily used for representing historic street scenes", + "Japanese shop for displaying collectible models with metal roof tiles", + "small diorama dark gray roof gabled roof object", + "small diorama deep red object for representing historic street scenes", + "cream paneling object used for displaying collectible models", + "small diorama painted wood object", + "traditional storefront in rectangular base form", + "small diorama cream paneling weathered finish tiny merchant house", + "small diorama dark gray roof tiny merchant house", + "traditional storefront typically made of painted wood", + "dark gray roof metal roof tiles rectangular base tiny merchant house", + "deep red small diorama tiny merchant house for representing historic street scenes", + "traditional storefront featuring weathered finish build", + "asymmetrical facade Japanese shop used for serving as game terrain piece", + "red window accents rectangular base Japanese shop", + "dark gray roof Japanese shop designed for displaying collectible models", + "Japanese shop for displaying collectible models scenarios", + "glass windows deep red traditional storefront", + "asymmetrical facade tiny merchant house ideal for serving as game terrain piece", + "gabled roof object made of painted wood", + "gabled roof metal roof tiles tiny merchant house for serving as game terrain piece", + "tiny merchant house with weathered finish construction", + "traditional storefront intended for representing historic street scenes", + "tiny merchant house sized as miniature building", + "Japanese shop typically made of metal roof tiles", + "serving as game terrain piece with tiny merchant house", + "Japanese shop with deep red exterior", + "Japanese shop with small diorama dimensions", + "tabletop scale rectangular base object for serving as game terrain piece", + "metal roof tiles deep red Japanese shop", + "tiny merchant house made from metal roof tiles", + "rectangular base traditional storefront used for representing historic street scenes", + "tiny merchant house for representing historic street scenes activities", + "cream paneling small diorama glass windows object", + "Japanese shop with tabletop scale dimensions", + "displaying collectible models with traditional storefront", + "miniature building glass windows object", + "tabletop scale red window accents object for representing historic street scenes", + "small diorama object used for representing historic street scenes", + "metal roof tiles cream paneling tiny merchant house", + "small diorama asymmetrical facade Japanese shop", + "tiny merchant house for serving as game terrain piece tasks", + "traditional storefront with weathered finish body", + "rectangular base tiny merchant house ideal for representing historic street scenes", + "small diorama painted wood Japanese shop", + "metal roof tiles tiny merchant house", + "metal roof tiles Japanese shop suitable for serving as game terrain piece", + "miniature building red window accents object for displaying collectible models", + "tabletop scale gabled roof object", + "gabled roof metal roof tiles Japanese shop for serving as game terrain piece", + "small diorama cream paneling weathered finish traditional storefront", + "traditional storefront with weathered finish construction", + "glass windows gabled roof for displaying collectible models", + "traditional storefront sized as tabletop scale", + "gabled roof object used for serving as game terrain piece", + "Japanese shop for displaying collectible models with painted wood", + "small diorama deep red metal roof tiles Japanese shop", + "tabletop scale red window accents gabled roof for serving as game terrain piece", + "eaves with decorative brackets object used for serving as game terrain piece", + "miniature building object used for serving as game terrain piece", + "dark gray roof traditional storefront suitable for serving as game terrain piece", + "representing historic street scenes with traditional storefront", + "tiny merchant house designed for serving as game terrain piece", + "Japanese shop in cream paneling", + "miniature building red window accents tiny merchant house", + "glass windows object used for representing historic street scenes", + "tiny merchant house shaped like a eaves with decorative brackets", + "tiny merchant house in eaves with decorative brackets", + "tiny merchant house primarily used for displaying collectible models", + "red window accents tabletop scale rectangular base tiny merchant house", + "traditional storefront commonly used for representing historic street scenes", + "metal roof tiles rectangular base object used for displaying collectible models", + "traditional storefront designed for displaying collectible models", + "metal roof tiles tiny merchant house for displaying collectible models", + "miniature building tiny merchant house for displaying collectible models", + "tiny merchant house for representing historic street scenes", + "tabletop scale rectangular base object", + "tabletop scale metal roof tiles gabled roof for representing historic street scenes", + "traditional storefront appropriate for displaying collectible models" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/house/00000/grasps/proposal.json b/Assets/Object/RoboDojo/Clutter/house/00000/grasps/proposal.json new file mode 100644 index 0000000000000000000000000000000000000000..11bab26e614a1df5888ee3726a3f3d4b1935d191 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/house/00000/grasps/proposal.json @@ -0,0 +1,1205 @@ +{ + "uuid": "ec0f4341-ea5d-4094-a55f-34087e84dfeb", + "grasp": [ + [ + [ + 0.02000079828825357, + -0.19661417344456972, + -0.16601899223169586, + 0.6027287059376794, + -0.34697203908540347, + 0.6120891251006095, + 0.3763979464146656 + ], + 0.7523565888404846 + ], + [ + [ + 0.21624411794867876, + 0.012702315842151049, + -0.15486626283964416, + 0.10384645748191056, + 0.6573316030644352, + 0.11988900077082543, + -0.736720913491242 + ], + 0.7334898710250854 + ], + [ + [ + 0.21090616438117388, + 0.12268354257696808, + -0.029826120974033095, + 0.48149939870939384, + -0.4614212383641679, + -0.5110889928881202, + 0.542251612425059 + ], + 0.7256009578704834 + ], + [ + [ + 0.22426597926345232, + 0.030306508561014536, + -0.13240800754865906, + 0.029421449178149043, + -0.7294639263192442, + -0.02175204786078644, + 0.683039974628888 + ], + 0.7216328382492065 + ], + [ + [ + 0.22383414361205461, + 0.0037660196250075134, + -0.14962268577656052, + 0.7292357598620571, + -0.10181399613604884, + -0.668639479193236, + -0.10378036227251863 + ], + 0.7117353677749634 + ], + [ + [ + 0.22442826781001451, + 0.038273767364560965, + -0.154507226811259, + 0.7389919720873094, + 0.03659306167812206, + -0.6716835486899008, + 0.03732322931999123 + ], + 0.7055888772010803 + ], + [ + [ + 0.09545264545407656, + 0.20698113998526274, + -0.13845945106586716, + 0.5199225776906277, + 0.462902586709906, + 0.5196958420161153, + -0.4952958108201327 + ], + 0.7055128216743469 + ], + [ + [ + 0.2008597717019594, + 0.12317884227389038, + -0.002346213476269461, + 0.28714862474960745, + -0.5789132729881832, + -0.6692517890715178, + 0.3667521403987865 + ], + 0.7043164372444153 + ], + [ + [ + -0.18437097814354536, + -0.16933710614091219, + -0.0788659132435014, + 0.7219879778688094, + -0.6001725717383124, + 0.2598032554735604, + -0.22589491448739488 + ], + 0.7034582495689392 + ], + [ + [ + -0.12396404739889738, + -0.1736931029880649, + 0.05304859621682861, + 0.10826147692794671, + -0.23752233041936252, + -0.8148170385083884, + -0.5176251432474603 + ], + 0.7033937573432922 + ], + [ + [ + 0.23077006790366533, + 0.04335200300568283, + -0.16385133521398804, + 0.02146360973747541, + -0.6327520123745232, + 0.04034841123301558, + 0.7730046636366432 + ], + 0.7001751661300659 + ], + [ + [ + 0.19959664497104052, + 0.11783496549481094, + 0.009766541852147363, + 0.35526509490569763, + 0.6509337314608822, + -0.5989825685113419, + -0.30214544876203836 + ], + 0.6999470591545105 + ], + [ + [ + 0.025228542867568756, + -0.1842788133943683, + -0.18687859134516022, + 0.6927882624666344, + -0.3162128711751759, + 0.5123023197941685, + 0.396988887281655 + ], + 0.6999094486236572 + ], + [ + [ + 0.041895368728307514, + -0.19197065869218172, + -0.16611874805530807, + 0.37483914571490784, + -0.6193885783843065, + -0.34818922444280065, + -0.5954978318925325 + ], + 0.6932413578033447 + ], + [ + [ + 0.2075588867398775, + -0.008942299726069566, + -0.16573133276542923, + 0.15381973107355082, + 0.621881163640161, + 0.20354346702077508, + -0.7403873078836394 + ], + 0.6900761723518372 + ], + [ + [ + 0.21160477552142504, + 0.01692938784265459, + -0.16838154898723862, + 0.16763692929034055, + 0.6033457274686491, + 0.1927498892578906, + -0.7554596437100417 + ], + 0.6898424625396729 + ], + [ + [ + 0.19608757052150133, + 0.1507552888070935, + -0.07264579603215954, + 0.5826577164811712, + -0.25491082137673376, + -0.4585239727062722, + 0.6207142861443125 + ], + 0.6847256422042847 + ], + [ + [ + -0.07971402477893469, + -0.2278448168361789, + -0.161709837184756, + 0.46683861332549725, + -0.4526056824585838, + 0.48915146670842613, + 0.5813266275782675 + ], + 0.6803535223007202 + ], + [ + [ + 0.22314569506373766, + 0.11676714828365982, + -0.11516775892814896, + 0.47193852687483473, + -0.49485981596350875, + -0.48107769858988525, + 0.5485909562827597 + ], + 0.6764377951622009 + ], + [ + [ + -0.022764056794824575, + -0.20354184249287904, + -0.1519158776267459, + 0.6203641567558986, + -0.40037647775314655, + -0.5902403897182937, + -0.32628709968327446 + ], + 0.6714472770690918 + ], + [ + [ + 0.21109053644862535, + -0.031116613390505907, + -0.1567250932916095, + 0.1438375439542418, + -0.6637665096602154, + 0.1520443168958583, + 0.7180580110982528 + ], + 0.6714106202125549 + ], + [ + [ + -0.13896089639935133, + -0.15912279227620424, + 0.07271594597259262, + 0.0512526260784127, + 0.15663680874627928, + 0.9038418506378467, + 0.3948518551322763 + ], + 0.667984664440155 + ], + [ + [ + -0.1103856101301634, + -0.22149419525510133, + -0.15065488176187775, + 0.5787531220292712, + -0.5587296985349148, + -0.4187449853246593, + -0.42132954439714504 + ], + 0.6650416851043701 + ], + [ + [ + 0.06385830942120913, + 0.20803535243624388, + -0.1538322116597583, + 0.616730734600826, + 0.3760663038932209, + 0.5475928176346317, + -0.4223262271630575 + ], + 0.6647636890411377 + ], + [ + [ + 0.11784763786521318, + 0.2169844832097882, + -0.13446015821537277, + 0.521319695578197, + 0.47573049376992604, + 0.5044136095874464, + -0.49746676548553703 + ], + 0.6617195010185242 + ], + [ + [ + -0.029700570147963738, + -0.20148578027135194, + -0.16221643941244385, + 0.37448042250020275, + -0.5848016920765328, + 0.3563320280930612, + 0.6251390884143943 + ], + 0.6614611744880676 + ], + [ + [ + 0.10359461012807253, + 0.2055486168538922, + -0.14014789419016144, + 0.5830336981172822, + 0.42758820507939443, + 0.54068579735364, + -0.42999872357569385 + ], + 0.6609364151954651 + ], + [ + [ + -0.22576272335323927, + -0.03880613410717308, + -0.1492563034757068, + 0.020785100533270873, + -0.7097608234461564, + 0.005085597344980819, + -0.7041176675787225 + ], + 0.6573918461799622 + ], + [ + [ + 0.05060001615014437, + -0.1949224595153934, + -0.15464764045318863, + 0.3800171458044157, + -0.6008496406406969, + 0.39355995857151405, + 0.5828183569910946 + ], + 0.6571710109710693 + ], + [ + [ + 0.09766817245211962, + -0.21044490972405733, + -0.17792764262995026, + 0.5486352086742444, + -0.44264796060515377, + 0.4746146526290651, + 0.5270703200568769 + ], + 0.6571633815765381 + ], + [ + [ + 0.05448146316733721, + -0.19315793851262392, + -0.1708048503263881, + 0.5520691843845623, + -0.45190118947469154, + 0.5082151449121691, + 0.48241299431734463 + ], + 0.6548192501068115 + ], + [ + [ + -0.025989183564218258, + -0.20738579073792757, + -0.1486163433059146, + 0.4941392193013524, + -0.5370805133005975, + -0.5127522988978501, + -0.45216814809978234 + ], + 0.6544871926307678 + ], + [ + [ + 0.2007255867454088, + 0.09761996826285065, + 0.018466808332593225, + 0.43399489108156974, + -0.5529026820820345, + -0.5658400559112897, + 0.43101286499117103 + ], + 0.6543747782707214 + ], + [ + [ + 0.23159602436747911, + -0.03282490486151039, + -0.174940436647742, + 0.0922474823503248, + -0.6086173330121001, + 0.01851883285113054, + 0.7878657225613367 + ], + 0.6534910202026367 + ], + [ + [ + 0.047946469518808155, + -0.19368907550221742, + -0.16682598696789047, + 0.5662462132060806, + -0.4471856694127656, + 0.5296075929325642, + 0.44598878978042306 + ], + 0.6524168848991394 + ], + [ + [ + -0.012115326583864664, + -0.21320402363187135, + -0.14814195738872787, + 0.48641487258700233, + -0.5405751090016213, + -0.5235922543227522, + -0.44388092374788307 + ], + 0.6515893936157227 + ], + [ + [ + 0.11951048824515703, + 0.20943804344290434, + -0.11077169658383629, + 0.43572747425947683, + 0.5912188679283523, + -0.4709190348917278, + 0.48870960800624536 + ], + 0.6512688994407654 + ], + [ + [ + 0.19619815203872087, + 0.0970237653529042, + -0.17785742835840485, + 0.6313213887219635, + -0.3069361915437393, + -0.24099255294117172, + 0.6701836075954802 + ], + 0.6511943936347961 + ], + [ + [ + -0.20075741257938978, + -0.15663651862984956, + 0.015117899014146112, + 0.4935323979045882, + -0.7516611998281082, + 0.3442802597936234, + -0.27000428812882116 + ], + 0.6505323648452759 + ], + [ + [ + 0.21990922245707872, + 0.0930179681455487, + -0.09419362203916809, + 0.5155825135871958, + -0.5009019928999068, + -0.4778847323344396, + 0.5048742890994278 + ], + 0.6503273844718933 + ], + [ + [ + 0.22390471551146868, + 0.040279618260800246, + -0.15659778522094986, + 0.12785183138024617, + -0.645547734431954, + 0.11807013801870192, + 0.7436272414931645 + ], + 0.6487607955932617 + ], + [ + [ + 0.23072756979194048, + 0.09318168720358551, + -0.13002810584148666, + 0.3067339452668742, + -0.640860100291209, + -0.27213045659007595, + 0.6489665887176603 + ], + 0.6457710862159729 + ], + [ + [ + 0.206830577585367, + -0.1335774932230121, + -0.10913785131415626, + 0.5105308721669447, + 0.13316792093241453, + -0.8234708719419083, + -0.20861509164542896 + ], + 0.6454800367355347 + ], + [ + [ + -0.055039456453653546, + -0.19853114822751344, + -0.12633216337999603, + 0.2588455741393818, + -0.6186349566200784, + 0.39143645652193804, + 0.6301327318126524 + ], + 0.6454408764839172 + ], + [ + [ + 0.13391333970752123, + -0.202957240136922, + -0.17194081054767868, + 0.4439732023437898, + -0.5440703975816721, + 0.38158484612503885, + 0.6010559069534651 + ], + 0.644065797328949 + ], + [ + [ + 0.011613465506104256, + 0.2108916219150418, + -0.17851249830564758, + 0.5465751904246325, + 0.4479605893128697, + 0.41474829323199924, + -0.5732108904198234 + ], + 0.6440476775169373 + ], + [ + [ + 0.09685310128655794, + -0.20507174471265138, + -0.1721536736353328, + 0.5270980793638885, + -0.4726505538699891, + 0.477956971369787, + 0.5199290357119067 + ], + 0.6438860893249512 + ], + [ + [ + 0.2204002008172548, + 0.10887542626017273, + -0.024377669708340384, + 0.5238082595994398, + 0.4932108761697644, + -0.4960838242223353, + -0.48607486887124945 + ], + 0.6431166529655457 + ], + [ + [ + -0.05981300246390936, + -0.20751934984570802, + -0.17212911652168533, + 0.49183180550102795, + -0.4380000789602767, + 0.5005192689426878, + 0.561905567996499 + ], + 0.6422603130340576 + ], + [ + [ + -0.18253363516602156, + -0.18940399328118623, + -0.06410796524724266, + 0.13660116808505968, + 0.245614034023852, + 0.633517734855339, + 0.7208808131668423 + ], + 0.6412303447723389 + ], + [ + [ + 0.09605050239291552, + 0.19279547294729887, + -0.16740460650762817, + 0.6178479176260145, + 0.3738589528770592, + 0.4770480186264793, + -0.500917779643942 + ], + 0.6398022770881653 + ], + [ + [ + -0.22259226289066908, + -0.11889460423833191, + -0.10152402849635384, + 0.6181061296450728, + 0.29396676474098926, + 0.6658391332681738, + 0.29696229109365274 + ], + 0.639707088470459 + ], + [ + [ + 0.2243725821706331, + -0.035742693784297105, + -0.11646551595768234, + 0.5797340429627406, + -0.02261854521854716, + -0.8128091397035389, + -0.052327270678540275 + ], + 0.6391721367835999 + ], + [ + [ + 0.21330021474089983, + -0.04866317400580704, + -0.17206510113319656, + 0.16651107527666958, + 0.6194561187204121, + 0.06765308261989234, + -0.7641801091379411 + ], + 0.6390407681465149 + ], + [ + [ + 0.008104703980950142, + 0.2020710434591168, + -0.17718848543009064, + 0.6143400406639142, + 0.3954784294422098, + 0.42925217035005325, + -0.5309667602899005 + ], + 0.6387331485748291 + ], + [ + [ + -0.15142066624436018, + -0.16278639176732362, + 0.02046705080428817, + 0.07724623915969112, + 0.18195878585619882, + 0.8945261880907042, + 0.40093255992166 + ], + 0.6370692253112793 + ], + [ + [ + 0.1549959943028963, + -0.19448001423722566, + -0.1709022070630481, + 0.3833814887437078, + -0.5861145480316896, + 0.3266302357593538, + 0.6346661010027677 + ], + 0.634368360042572 + ], + [ + [ + 0.011356787416604782, + -0.1960588667715198, + -0.1578980679973056, + 0.3998945745372566, + -0.5815521264760655, + 0.4203105708487219, + 0.570281051306857 + ], + 0.6338843703269958 + ], + [ + [ + 0.06396694633689287, + 0.20852010211104094, + -0.15697199063143036, + 0.5448001497524005, + 0.44641561119819395, + 0.48806259576754385, + -0.5154617362335944 + ], + 0.6329370141029358 + ], + [ + [ + -0.21728376891884443, + 0.03608999846631229, + -0.16215524034342071, + 0.7457010203716467, + -0.03451440596732105, + 0.6648827414489834, + 0.025878255750562004 + ], + 0.632273256778717 + ], + [ + [ + -0.20916758325371382, + -0.16441997626668275, + -0.06570905962726376, + 0.6031616453297957, + -0.6550293295024188, + 0.3036068525491278, + -0.33905086075672725 + ], + 0.6314014792442322 + ], + [ + [ + 0.09754574451175096, + 0.16247508188837706, + -0.2329098130925586, + 0.6952805731772527, + 0.20942412159360715, + 0.13115029845272064, + -0.6749267079267347 + ], + 0.6310067176818848 + ], + [ + [ + -0.020482648503514504, + -0.2037088100040561, + -0.1637613247497966, + 0.48669692097246126, + -0.498976726209558, + 0.4809300220718108, + 0.5318408104753952 + ], + 0.6301446557044983 + ], + [ + [ + 0.10274369421925905, + -0.20175285378342928, + -0.1706524710520198, + 0.5311160197285812, + -0.4926780765443088, + -0.46976177848782674, + -0.5044878174467878 + ], + 0.6280736923217773 + ], + [ + [ + 0.010280413213638092, + 0.2230543222104901, + -0.15857148127397797, + 0.5287486598311354, + 0.49740216035841534, + 0.4526835023426894, + -0.5177775509852819 + ], + 0.6274685859680176 + ], + [ + [ + 0.22556160542693499, + -0.13630145529156984, + -0.174998089240401, + 0.15226811523265324, + -0.6446801219839654, + 0.14862006128297556, + 0.7342438551234048 + ], + 0.6268534660339355 + ], + [ + [ + 0.10472103360619905, + -0.20591708758717836, + -0.1617827783687999, + 0.5264409876369115, + -0.5029711963323686, + -0.4801397344303804, + -0.4892296982164747 + ], + 0.624921977519989 + ], + [ + [ + 0.0015586350443637619, + 0.21144993862265288, + -0.1697311695083072, + 0.6290331001845325, + 0.3802267504478691, + 0.5008104958901372, + -0.45709279618296844 + ], + 0.6223970651626587 + ], + [ + [ + 0.1529459521504915, + -0.19903814533597292, + -0.16232904748758575, + 0.368644528671094, + -0.587284293665176, + 0.36617621833661684, + 0.6205750132093274 + ], + 0.6211358308792114 + ], + [ + [ + -0.04639289748344061, + -0.2058678094471103, + -0.15728340999922058, + 0.44678892226906547, + -0.5017375544092775, + 0.4916418989160872, + 0.5540102243309486 + ], + 0.6208136081695557 + ], + [ + [ + 0.22629968974318865, + 0.10462045183533371, + -0.031264466734140135, + 0.4513816391810433, + -0.5288871428911945, + -0.5426384721798387, + 0.4712499277506092 + ], + 0.6207026839256287 + ], + [ + [ + 0.12443006190982225, + 0.215968164411723, + -0.12608340339502594, + 0.5029193590417484, + 0.48859776436621377, + -0.5086879185304505, + 0.49958076874368573 + ], + 0.6196708083152771 + ], + [ + [ + -0.1155128165749037, + -0.2097018931234485, + -0.1458927984698703, + 0.4828660259099242, + -0.4840709151272047, + 0.5183601983086275, + 0.5136326069860702 + ], + 0.6168506741523743 + ], + [ + [ + 0.12262147817340258, + -0.19710257390385927, + -0.16352971600136063, + 0.515383042423885, + -0.4835028099096895, + 0.47856886856555914, + 0.5211306845995689 + ], + 0.6167659759521484 + ], + [ + [ + 0.21412900242534044, + -0.1451126758182651, + -0.17757615403970978, + 0.1944896052572271, + -0.634295220479651, + 0.1345247316158621, + 0.7360342813396941 + ], + 0.6151207089424133 + ], + [ + [ + 0.2123259172174013, + 0.10174667349213302, + 0.016859211458356164, + 0.47749065512962596, + -0.503440637224843, + -0.5234276130339797, + 0.49454396464629424 + ], + 0.6135875582695007 + ], + [ + [ + 0.1155640945169008, + 0.2291122998868817, + -0.12495225624880096, + 0.4916082989473769, + 0.4995965062719382, + 0.5105245678204307, + -0.49808561209766167 + ], + 0.6130929589271545 + ], + [ + [ + 0.20193475637164476, + -0.17029589155560793, + -0.15950106786331436, + 0.21444938218569412, + -0.6556276574753773, + 0.22416270489683132, + 0.6884147870047971 + ], + 0.6103450655937195 + ], + [ + [ + -0.209412275221678, + 0.06750247514003456, + -0.17786173479398987, + 0.7929662767343211, + 0.010864887481332465, + 0.6074640448548373, + -0.04553978909400077 + ], + 0.6092560887336731 + ], + [ + [ + 0.07447854581799868, + 0.20561237892264067, + -0.1455304618342807, + 0.632139514374919, + 0.3794663763427255, + 0.5784115718403073, + -0.34906297018215504 + ], + 0.6080655455589294 + ], + [ + [ + -0.13216251727614042, + -0.19495346883183778, + -0.015436872409193732, + 0.10150203571082018, + -0.09924283613621342, + -0.8323138446105107, + -0.5358188689210843 + ], + 0.6080197691917419 + ], + [ + [ + -0.15634232607159254, + -0.19933262208348573, + -0.0939048859640052, + 0.056593049463978334, + -0.23015678014174332, + -0.574405987088933, + -0.783506761491911 + ], + 0.6044076681137085 + ], + [ + [ + 0.18348600122657183, + -0.18140488603955568, + -0.17624656812986633, + 0.6659679548194604, + -0.3183938043809635, + -0.5700613404999124, + -0.36075218163282774 + ], + 0.6039177179336548 + ], + [ + [ + 0.23739460262980822, + 0.11584567537659347, + -0.12776684717973968, + 0.44742622253150155, + -0.5072789490963246, + -0.46651731961917575, + 0.5699468691819092 + ], + 0.5997143983840942 + ], + [ + [ + -0.18069587495598433, + -0.14582799116021455, + 0.057395831181199335, + 0.35847780515261957, + -0.8797353583786995, + 0.2106262834299289, + -0.23064243139491242 + ], + 0.5992916822433472 + ], + [ + [ + 0.2229862377378023, + 0.0966544028198117, + -0.15212679611286423, + 0.1288937446803869, + 0.6466943417662194, + -0.04160266879070795, + -0.7506277698428923 + ], + 0.5966772437095642 + ], + [ + [ + 0.20292811248031023, + -0.15763009825593294, + -0.15802687363466522, + 0.685873810467685, + -0.23545293119833702, + -0.6622076424380353, + -0.18873280478313148 + ], + 0.596627414226532 + ], + [ + [ + -0.07787069525990126, + -0.18637865522748293, + 0.06804286731639603, + 0.32332759987702914, + -0.34285823795684606, + -0.633413557238378, + -0.6137546393547754 + ], + 0.5963776707649231 + ], + [ + [ + 0.0654167101117647, + 0.2295952763234967, + -0.1625815476640155, + 0.522299355606664, + 0.44132301066980645, + 0.4847485361128204, + -0.5453954896427726 + ], + 0.5949221253395081 + ], + [ + [ + -0.20283001508984205, + -0.17423118391877473, + -0.14564974562963745, + 0.1972444548750931, + -0.6861205886484844, + -0.18999326153262752, + -0.6739701205735156 + ], + 0.5937929749488831 + ], + [ + [ + 0.22315451655116442, + -0.11597516873723328, + -0.15175115274032852, + 0.6894389423450473, + -0.0886915955834074, + -0.7041736389785856, + -0.1447315854216656 + ], + 0.5925352573394775 + ], + [ + [ + 0.21676883253779772, + 0.1030221681868428, + -0.1563542406423976, + 0.7675736353312453, + -0.006570092357142392, + -0.6388126082276944, + 0.052019225293393055 + ], + 0.5913453698158264 + ], + [ + [ + 0.199248613450197, + -0.026069076004088518, + -0.1629913370474269, + 0.1049456103807728, + -0.6450238224928542, + 0.10287986895168266, + 0.7498976062390108 + ], + 0.5911566615104675 + ], + [ + [ + -0.22838324156078932, + -0.06773452201730072, + -0.14547867284855148, + 0.7000809269367959, + 0.024011951040950608, + 0.7131765448810392, + -0.026255242868173313 + ], + 0.5905113220214844 + ], + [ + [ + 0.22823411378589037, + 0.1155706967985028, + -0.12040983842453262, + 0.4886918922577304, + -0.47652005799555447, + -0.5155453443660748, + 0.5179979407989356 + ], + 0.5902014970779419 + ], + [ + [ + -0.10199288871559736, + -0.2217112902725345, + -0.1076121176942279, + 0.40602001385132164, + -0.5411852808261771, + 0.5437344610802091, + 0.49660756740416184 + ], + 0.5893045663833618 + ], + [ + [ + -0.08990596082481978, + 0.21081471702212035, + -0.17774693624815247, + 0.5563690083005617, + 0.41647243259628974, + 0.48356667275073384, + -0.5321348630702211 + ], + 0.5891802906990051 + ], + [ + [ + 0.17434197816577318, + -0.17336941996461214, + -0.1703528981073787, + 0.3690712311934285, + -0.5897523711864455, + 0.3145995960348922, + 0.6457597549863374 + ], + 0.589033305644989 + ], + [ + [ + 0.23315400037494066, + 0.0847552370106572, + -0.12103795962175629, + 0.09821202969672589, + -0.717254709349913, + -0.04958800669723462, + 0.6880705695857195 + ], + 0.587975263595581 + ], + [ + [ + 0.03916150483813646, + -0.1844229523265964, + -0.15787801848491928, + 0.49158902722122505, + -0.5322575143832716, + -0.47386230890923564, + -0.5004964324482635 + ], + 0.5864631533622742 + ] + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/house/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/house/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..71f6cb82df9b5a4eb89fa0865259a8af4ef629fe --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/house/00000/metadata.json @@ -0,0 +1,146 @@ +{ + "uuid": "ec0f4341-ea5d-4094-a55f-34087e84dfeb", + "physics": { + "mass": 1.8, + "friction": 0.55 + }, + "geometry": { + "faces": 1646384, + "vertices": 936305, + "aligned_bbox": { + "vertices": [ + [ + -0.1516, + -0.1328, + -0.16 + ], + [ + -0.1516, + -0.1328, + 0.16 + ], + [ + -0.1516, + 0.1334, + -0.16 + ], + [ + -0.1516, + 0.1334, + 0.16 + ], + [ + 0.1511, + -0.1328, + -0.16 + ], + [ + 0.1511, + -0.1328, + 0.16 + ], + [ + 0.1511, + 0.1334, + -0.16 + ], + [ + 0.1511, + 0.1334, + 0.16 + ] + ], + "extents": [ + 0.3027, + 0.2662, + 0.32 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.1516, + -0.1325, + 0.1603 + ], + [ + -0.1516, + -0.133, + -0.1601 + ], + [ + 0.1511, + -0.1325, + 0.1603 + ], + [ + 0.1511, + -0.133, + -0.16 + ], + [ + -0.1516, + 0.1334, + 0.1599 + ], + [ + -0.1516, + 0.1329, + -0.1604 + ], + [ + 0.1511, + 0.1334, + 0.1599 + ], + [ + 0.1511, + 0.1329, + -0.1604 + ] + ], + "extents": [ + 0.3028, + 0.2663, + 0.3208 + ] + }, + "radius": 0.2339 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + -0.0001, + -0.0001, + -0.0025 + ], + "projection_circle": { + "center": [ + -0.0021, + -0.0012, + -0.1601, + 1.0, + 0.0001, + 0.0001, + 0.0025 + ], + "radius": 0.1963 + }, + "contact_circle": { + "center": [ + -0.002, + -0.0007, + -0.1601, + 1.0, + 0.0001, + 0.0001, + 0.0025 + ], + "radius": 0.1959 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/house/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/house/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..32c20ff6f74ac4bcce38986a9439116ad4230d80 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/house/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57d2b7b0e16f5aff0d1133d059c4efaf581a43c8e9bf8c977cbb07e712cf0476 +size 65770980 diff --git a/Assets/Object/RoboDojo/Clutter/house/00001/description.json b/Assets/Object/RoboDojo/Clutter/house/00001/description.json new file mode 100644 index 0000000000000000000000000000000000000000..9d5d8fbc49a9b068c1713481b3b2eb723a560f87 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/house/00001/description.json @@ -0,0 +1,140 @@ +{ + "uuid": "592b0308-3f8a-48c0-b3c8-a3c21c9d3032", + "caption": { + "color": [ + "red tiled roof", + "off-white walls", + "dark brown brick base and chimney", + "black window frames" + ], + "material": [ + "clay roof tiles", + "stucco or plaster walls", + "brick masonry", + "wooden porch posts" + ], + "size": [ + "small single-family house", + "two-story height", + "compact footprint" + ], + "name": [ + "cottage", + "small house", + "brick-and-stucco home" + ], + "shape": [ + "gabled roof with dormer", + "rectangular main body", + "attached chimney stack", + "front porch overhang" + ], + "function": [ + "providing shelter", + "residential living", + "housing a family" + ] + }, + "description": [ + "cottage optimized for housing a family", + "red tiled roof compact footprint rectangular main body brick-and-stucco home", + "cottage appropriate for residential living", + "small single-family house clay roof tiles cottage for residential living", + "black window frames two-story height front porch overhang cottage", + "cottage with dark brown brick base and chimney color", + "two-story height gabled roof with dormer small house", + "dark brown brick base and chimney wooden porch posts cottage", + "two-story height black window frames gabled roof with dormer for residential living", + "small house with attached chimney stack geometry", + "cottage designed for housing a family", + "red tiled roof brick masonry gabled roof with dormer object", + "brick masonry brick-and-stucco home suitable for residential living", + "stucco or plaster walls object used for providing shelter", + "dark brown brick base and chimney cottage typically used for housing a family", + "two-story height stucco or plaster walls object", + "small house made of brick masonry", + "wooden porch posts object for providing shelter", + "front porch overhang compact footprint small house", + "small single-family house wooden porch posts gabled roof with dormer for providing shelter", + "attached chimney stack small house ideal for housing a family", + "front porch overhang small house ideal for housing a family", + "brick-and-stucco home optimized for housing a family", + "brick masonry brick-and-stucco home for providing shelter", + "small house with wooden porch posts surface", + "small house commonly used for providing shelter", + "small house primarily used for residential living", + "cottage sized as small single-family house", + "two-story height brick-and-stucco home for residential living", + "cottage in front porch overhang form", + "brick-and-stucco home with wooden porch posts surface", + "wooden porch posts cottage suitable for residential living", + "cottage appropriate for providing shelter use", + "brick-and-stucco home featuring rectangular main body shape", + "rectangular main body-shaped cottage", + "cottage with off-white walls exterior", + "wooden porch posts object used for providing shelter", + "brick-and-stucco home for residential living with stucco or plaster walls", + "two-story height wooden porch posts object", + "small house for housing a family tasks", + "small house commonly used for residential living", + "cottage designed for providing shelter", + "cottage appropriate for housing a family", + "off-white walls wooden porch posts small house", + "cottage in off-white walls", + "rectangular main body object used for providing shelter", + "compact footprint wooden porch posts object", + "compact footprint small house perfect for residential living", + "stucco or plaster walls object used for housing a family", + "dark brown brick base and chimney stucco or plaster walls small house", + "two-story height attached chimney stack cottage", + "small house with off-white walls exterior", + "red tiled roof front porch overhang cottage", + "stucco or plaster walls brick-and-stucco home", + "front porch overhang wooden porch posts small house for housing a family", + "off-white walls front porch overhang object for housing a family", + "cottage sized as two-story height", + "off-white walls cottage suitable for residential living", + "black window frames cottage for housing a family", + "black window frames clay roof tiles attached chimney stack small house", + "dark brown brick base and chimney brick masonry rectangular main body small house", + "brick-and-stucco home with rectangular main body geometry", + "stucco or plaster walls attached chimney stack for residential living", + "wooden porch posts rectangular main body brick-and-stucco home", + "small house for providing shelter scenarios", + "cottage with gabled roof with dormer geometry", + "dark brown brick base and chimney object used for residential living", + "brick-and-stucco home commonly featuring stucco or plaster walls", + "small house intended for residential living", + "brick-and-stucco home with stucco or plaster walls surface", + "cottage for residential living", + "brick-and-stucco home for residential living", + "brick-and-stucco home in rectangular main body form", + "clay roof tiles off-white walls small house", + "stucco or plaster walls object for providing shelter", + "brick-and-stucco home in gabled roof with dormer form", + "small house commonly featuring clay roof tiles", + "dark brown brick base and chimney compact footprint gabled roof with dormer cottage", + "small house featuring brick masonry build", + "brick-and-stucco home sized two-story height", + "brick-and-stucco home with brick masonry body", + "clay roof tiles cottage", + "rectangular main body object made of wooden porch posts", + "off-white walls gabled roof with dormer cottage", + "compact footprint brick masonry cottage for providing shelter", + "off-white walls small house for residential living", + "two-story height dark brown brick base and chimney small house", + "off-white walls gabled roof with dormer small house", + "red tiled roof two-story height brick masonry object", + "cottage for residential living scenarios", + "wooden porch posts attached chimney stack cottage", + "cottage shaped like a rectangular main body", + "brick-and-stucco home primarily used for housing a family", + "small house with dark brown brick base and chimney color", + "compact footprint dark brown brick base and chimney cottage", + "off-white walls stucco or plaster walls attached chimney stack cottage", + "brick-and-stucco home colored black window frames", + "clay roof tiles gabled roof with dormer object used for housing a family", + "brick-and-stucco home made from stucco or plaster walls", + "cottage with attached chimney stack profile" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/house/00001/metadata.json b/Assets/Object/RoboDojo/Clutter/house/00001/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..938c98c2ca046c8096d30207900ff95ff3e96767 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/house/00001/metadata.json @@ -0,0 +1,146 @@ +{ + "uuid": "592b0308-3f8a-48c0-b3c8-a3c21c9d3032", + "physics": { + "mass": 1200.0, + "friction": 0.65 + }, + "geometry": { + "faces": 818214, + "vertices": 572529, + "aligned_bbox": { + "vertices": [ + [ + -0.0449, + -0.0573, + -0.0572 + ], + [ + -0.0449, + -0.0573, + 0.0572 + ], + [ + -0.0449, + 0.0574, + -0.0572 + ], + [ + -0.0449, + 0.0574, + 0.0572 + ], + [ + 0.0448, + -0.0573, + -0.0572 + ], + [ + 0.0448, + -0.0573, + 0.0572 + ], + [ + 0.0448, + 0.0574, + -0.0572 + ], + [ + 0.0448, + 0.0574, + 0.0572 + ] + ], + "extents": [ + 0.0897, + 0.1146, + 0.1143 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0449, + 0.0574, + -0.0569 + ], + [ + -0.0449, + -0.0573, + -0.0573 + ], + [ + -0.0449, + 0.0569, + 0.0572 + ], + [ + -0.0449, + -0.0577, + 0.0567 + ], + [ + 0.0448, + 0.0574, + -0.0569 + ], + [ + 0.0448, + -0.0573, + -0.0573 + ], + [ + 0.0448, + 0.0569, + 0.0572 + ], + [ + 0.0448, + -0.0577, + 0.0567 + ] + ], + "extents": [ + 0.0897, + 0.1151, + 0.1145 + ] + }, + "radius": 0.0803 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + -0.0003, + -0.0008, + 0.0002 + ], + "projection_circle": { + "center": [ + -0.0002, + 0.0002, + -0.0571, + 1.0, + 0.0003, + 0.0008, + -0.0002 + ], + "radius": 0.0636 + }, + "contact_circle": { + "center": [ + -0.0005, + 0.0, + -0.0571, + 1.0, + 0.0003, + 0.0008, + -0.0002 + ], + "radius": 0.0591 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/house/00001/object.usdz b/Assets/Object/RoboDojo/Clutter/house/00001/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..4eeb24a3d8a7c106d326f0570a57bc7f7dd02116 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/house/00001/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9435df4fc94fd0c4ed437fc207f465de0f3452390e089de32d2f70454e77ad01 +size 32384971 diff --git a/Assets/Object/RoboDojo/Clutter/house/00002/description.json b/Assets/Object/RoboDojo/Clutter/house/00002/description.json new file mode 100644 index 0000000000000000000000000000000000000000..c07da2a68f34ba19d2605cc049253de3a040c0ef --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/house/00002/description.json @@ -0,0 +1,138 @@ +{ + "uuid": "f9b4a047-2a8e-4f5a-9dfd-5d5c2c44dabc", + "caption": { + "color": [ + "beige walls", + "dark gray roof", + "black shingles", + "light gray porch" + ], + "material": [ + "painted wood", + "plastic-like finish", + "molded resin" + ], + "size": [ + "small model", + "toy-scale", + "hand-sized" + ], + "name": [ + "dollhouse", + "miniature house", + "toy cottage" + ], + "shape": [ + "two-story rectangular box", + "gabled roof with dormers", + "front porch with balusters" + ], + "function": [ + "decorative display", + "children's imaginative play", + "collectible model" + ] + }, + "description": [ + "plastic-like finish beige walls toy cottage", + "miniature house commonly found in toy-scale size", + "toy cottage in gabled roof with dormers", + "hand-sized two-story rectangular box object for decorative display", + "dollhouse for decorative display scenarios", + "hand-sized two-story rectangular box toy cottage", + "dark gray roof painted wood front porch with balusters miniature house", + "decorative display use of miniature house", + "painted wood black shingles dollhouse", + "toy-scale black shingles toy cottage", + "dollhouse with molded resin body", + "toy cottage with black shingles exterior", + "miniature house made of molded resin", + "toy cottage with beige walls color", + "hand-sized molded resin dollhouse", + "miniature house sized as small model", + "small model object used for children's imaginative play", + "miniature house with two-story rectangular box profile", + "miniature house intended for children's imaginative play", + "toy cottage suitable for collectible model", + "two-story rectangular box small model toy cottage", + "toy cottage optimized for collectible model", + "black shingles object used for decorative display", + "front porch with balusters dollhouse for decorative display", + "toy cottage with light gray porch exterior", + "two-story rectangular box molded resin miniature house for decorative display", + "light gray porch small model plastic-like finish object", + "toy-scale front porch with balusters object for children's imaginative play", + "toy-scale beige walls painted wood miniature house", + "molded resin front porch with balusters object used for decorative display", + "decorative display with toy cottage", + "miniature house intended for decorative display", + "miniature house with painted wood surface", + "painted wood front porch with balusters object used for collectible model", + "miniature house sized as toy-scale", + "plastic-like finish miniature house for children's imaginative play", + "toy cottage ideal for children's imaginative play", + "dark gray roof molded resin miniature house", + "light gray porch dollhouse typically used for collectible model", + "painted wood object for decorative display", + "toy-scale light gray porch toy cottage", + "small model two-story rectangular box object", + "toy cottage intended for decorative display", + "hand-sized plastic-like finish object", + "plastic-like finish gabled roof with dormers object used for collectible model", + "miniature house with plastic-like finish body", + "toy-scale beige walls plastic-like finish gabled roof with dormers object", + "light gray porch object used for collectible model", + "toy-scale beige walls dollhouse", + "gabled roof with dormers painted wood dollhouse for collectible model", + "small model light gray porch object for collectible model", + "beige walls toy-scale gabled roof with dormers miniature house", + "dollhouse made of painted wood", + "toy cottage sized toy-scale", + "painted wood front porch with balusters for children's imaginative play", + "hand-sized gabled roof with dormers dollhouse for decorative display", + "painted wood miniature house used for decorative display", + "small model dollhouse used for collectible model", + "toy cottage used to children's imaginative play", + "black shingles two-story rectangular box dollhouse used for collectible model", + "miniature house for decorative display use", + "toy cottage intended for collectible model usage", + "two-story rectangular box object used for collectible model", + "miniature house for collectible model scenarios", + "small model gabled roof with dormers object for collectible model", + "toy cottage with beige walls exterior", + "miniature house appropriate for collectible model use", + "beige walls gabled roof with dormers object for decorative display", + "two-story rectangular box molded resin object for collectible model", + "dark gray roof toy cottage suitable for decorative display", + "small model two-story rectangular box object for decorative display", + "plastic-like finish gabled roof with dormers dollhouse", + "hand-sized object used for collectible model", + "dollhouse featuring gabled roof with dormers shape", + "dollhouse for collectible model tasks", + "dollhouse appropriate for children's imaginative play", + "hand-sized painted wood toy cottage for decorative display", + "hand-sized front porch with balusters object", + "black shingles dollhouse suitable for collectible model", + "plastic-like finish toy cottage suitable for collectible model", + "toy cottage appropriate for collectible model use", + "beige walls object used for children's imaginative play", + "black shingles miniature house designed for decorative display", + "miniature house sized toy-scale", + "dollhouse commonly featuring plastic-like finish", + "toy cottage with plastic-like finish body", + "dark gray roof hand-sized toy cottage for children's imaginative play", + "miniature house typically made of molded resin", + "toy-scale front porch with balusters object", + "toy-scale light gray porch painted wood two-story rectangular box object", + "plastic-like finish miniature house used for decorative display", + "dollhouse with light gray porch color", + "two-story rectangular box painted wood dollhouse for collectible model", + "black shingles front porch with balusters toy cottage", + "dollhouse commonly used for collectible model", + "beige walls two-story rectangular box miniature house", + "gabled roof with dormers object made of painted wood", + "dollhouse featuring painted wood build", + "hand-sized miniature house for collectible model", + "hand-sized dollhouse for children's imaginative play" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/house/00002/metadata.json b/Assets/Object/RoboDojo/Clutter/house/00002/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..99f0e8939c53b9db962fa219fc2989c103633c50 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/house/00002/metadata.json @@ -0,0 +1,146 @@ +{ + "uuid": "f9b4a047-2a8e-4f5a-9dfd-5d5c2c44dabc", + "physics": { + "mass": 0.08, + "friction": 0.42 + }, + "geometry": { + "faces": 423100, + "vertices": 364507, + "aligned_bbox": { + "vertices": [ + [ + -0.0417, + -0.0341, + -0.0457 + ], + [ + -0.0417, + -0.0341, + 0.0457 + ], + [ + -0.0417, + 0.0343, + -0.0457 + ], + [ + -0.0417, + 0.0343, + 0.0457 + ], + [ + 0.0416, + -0.0341, + -0.0457 + ], + [ + 0.0416, + -0.0341, + 0.0457 + ], + [ + 0.0416, + 0.0343, + -0.0457 + ], + [ + 0.0416, + 0.0343, + 0.0457 + ] + ], + "extents": [ + 0.0832, + 0.0684, + 0.0914 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0417, + -0.0301, + 0.0465 + ], + [ + -0.0416, + -0.0358, + -0.0455 + ], + [ + 0.0415, + -0.0301, + 0.0465 + ], + [ + 0.0416, + -0.0359, + -0.0455 + ], + [ + -0.0416, + 0.0357, + 0.0424 + ], + [ + -0.0416, + 0.03, + -0.0496 + ], + [ + 0.0416, + 0.0357, + 0.0424 + ], + [ + 0.0416, + 0.0299, + -0.0496 + ] + ], + "extents": [ + 0.0833, + 0.0716, + 0.0961 + ] + }, + "radius": 0.0632 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + -0.0048, + -0.0, + 0.0002 + ], + "projection_circle": { + "center": [ + -0.0, + 0.0038, + -0.0459, + 1.0, + 0.0048, + 0.0, + -0.0002 + ], + "radius": 0.0516 + }, + "contact_circle": { + "center": [ + -0.0, + -0.0011, + -0.046, + 1.0, + 0.0048, + 0.0, + -0.0002 + ], + "radius": 0.048 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/house/00002/object.usdz b/Assets/Object/RoboDojo/Clutter/house/00002/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..680cc60f2104d9060b11082005f24933bdcfdc27 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/house/00002/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6bcedbb5c146a4c533ef45110824e468e44d13200edfdf8020a9d88140cda84 +size 21560232 diff --git a/Assets/Object/RoboDojo/Clutter/kettle/00000/description.json b/Assets/Object/RoboDojo/Clutter/kettle/00000/description.json new file mode 100644 index 0000000000000000000000000000000000000000..12ab6ec4191430c920db825571e43059073d12cf --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/kettle/00000/description.json @@ -0,0 +1,137 @@ +{ + "uuid": "2e0ee33b-4890-4592-bda7-89e56fc88bdd", + "caption": { + "color": [ + "matte gray", + "metallic silver", + "dark gray base" + ], + "material": [ + "stainless steel", + "brushed metal", + "plastic handle" + ], + "size": [ + "counter-top size", + "holds about 1.7 liters", + "fits one hand grip" + ], + "name": [ + "electric kettle", + "water boiler", + "kettle" + ], + "shape": [ + "tall cylinder", + "vertical ribbed body", + "curved handle with button" + ], + "function": [ + "boiling water", + "making tea or coffee", + "heating liquids quickly" + ] + }, + "description": [ + "kettle for boiling water scenarios", + "brushed metal vertical ribbed body kettle", + "tall cylinder stainless steel electric kettle for making tea or coffee", + "kettle ideal for making tea or coffee", + "plastic handle kettle used for making tea or coffee", + "dark gray base object used for heating liquids quickly", + "metallic silver kettle designed for boiling water", + "dark gray base object used for boiling water", + "kettle with curved handle with button profile", + "holds about 1.7 liters vertical ribbed body object for making tea or coffee", + "fits one hand grip vertical ribbed body water boiler", + "curved handle with button-shaped electric kettle", + "kettle designed for heating liquids quickly", + "metallic silver brushed metal vertical ribbed body object", + "heating liquids quickly with electric kettle", + "electric kettle with plastic handle surface", + "curved handle with button object made of stainless steel", + "electric kettle with stainless steel body", + "matte gray electric kettle used for making tea or coffee", + "kettle with stainless steel surface", + "water boiler commonly featuring stainless steel", + "curved handle with button plastic handle object for heating liquids quickly", + "kettle with vertical ribbed body geometry", + "electric kettle sized holds about 1.7 liters", + "kettle in curved handle with button", + "stainless steel water boiler for making tea or coffee", + "matte gray tall cylinder electric kettle", + "curved handle with button water boiler for boiling water", + "stainless steel electric kettle used for boiling water", + "boiling water use of kettle", + "matte gray vertical ribbed body electric kettle", + "water boiler sized counter-top size", + "water boiler for boiling water tasks", + "electric kettle made from plastic handle", + "electric kettle in dark gray base", + "heating liquids quickly use of kettle", + "holds about 1.7 liters tall cylinder electric kettle", + "electric kettle colored dark gray base", + "dark gray base counter-top size stainless steel object", + "counter-top size matte gray curved handle with button for boiling water", + "counter-top size tall cylinder electric kettle", + "kettle commonly found in fits one hand grip size", + "water boiler appropriate for making tea or coffee use", + "fits one hand grip tall cylinder water boiler for making tea or coffee", + "matte gray object used for boiling water", + "kettle with counter-top size dimensions", + "brushed metal curved handle with button object used for boiling water", + "vertical ribbed body counter-top size kettle", + "water boiler colored matte gray", + "kettle made of stainless steel", + "metallic silver object used for heating liquids quickly", + "kettle commonly featuring plastic handle", + "fits one hand grip dark gray base tall cylinder object", + "dark gray base electric kettle designed for heating liquids quickly", + "counter-top size metallic silver plastic handle kettle", + "plastic handle object for heating liquids quickly", + "electric kettle intended for boiling water usage", + "kettle in holds about 1.7 liters", + "tall cylinder electric kettle ideal for heating liquids quickly", + "fits one hand grip stainless steel electric kettle", + "holds about 1.7 liters stainless steel object", + "kettle in matte gray", + "stainless steel water boiler for heating liquids quickly", + "fits one hand grip plastic handle object", + "electric kettle commonly featuring stainless steel", + "kettle colored metallic silver", + "brushed metal matte gray kettle", + "dark gray base water boiler typically used for heating liquids quickly", + "kettle built from plastic handle", + "matte gray holds about 1.7 liters water boiler for making tea or coffee", + "tall cylinder object made of plastic handle", + "holds about 1.7 liters electric kettle for boiling water", + "metallic silver plastic handle tall cylinder kettle", + "matte gray water boiler typically used for heating liquids quickly", + "vertical ribbed body object made of stainless steel", + "dark gray base kettle designed for boiling water", + "kettle featuring tall cylinder shape", + "water boiler made of stainless steel", + "matte gray electric kettle used for heating liquids quickly", + "electric kettle featuring plastic handle build", + "holds about 1.7 liters metallic silver brushed metal curved handle with button object", + "holds about 1.7 liters curved handle with button object", + "kettle shaped like a curved handle with button", + "metallic silver tall cylinder object for heating liquids quickly", + "brushed metal kettle suitable for boiling water", + "dark gray base counter-top size electric kettle for boiling water", + "metallic silver brushed metal electric kettle", + "electric kettle commonly found in counter-top size size", + "metallic silver electric kettle used for boiling water", + "tall cylinder object used for making tea or coffee", + "matte gray water boiler designed for boiling water", + "matte gray kettle for boiling water", + "metallic silver counter-top size electric kettle for heating liquids quickly", + "kettle shaped like a vertical ribbed body", + "holds about 1.7 liters plastic handle electric kettle for heating liquids quickly", + "kettle commonly featuring stainless steel", + "counter-top size dark gray base stainless steel water boiler", + "dark gray base curved handle with button kettle used for making tea or coffee", + "plastic handle kettle", + "kettle intended for heating liquids quickly" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/kettle/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/kettle/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..fed21b16b1713131632cffadb50126601c26b00b --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/kettle/00000/metadata.json @@ -0,0 +1,146 @@ +{ + "uuid": "2e0ee33b-4890-4592-bda7-89e56fc88bdd", + "physics": { + "mass": 1.1, + "friction": 0.45 + }, + "geometry": { + "faces": 480230, + "vertices": 306232, + "aligned_bbox": { + "vertices": [ + [ + -0.0835, + -0.0577, + -0.1029 + ], + [ + -0.0835, + -0.0577, + 0.1029 + ], + [ + -0.0835, + 0.0579, + -0.1029 + ], + [ + -0.0835, + 0.0579, + 0.1029 + ], + [ + 0.0833, + -0.0577, + -0.1029 + ], + [ + 0.0833, + -0.0577, + 0.1029 + ], + [ + 0.0833, + 0.0579, + -0.1029 + ], + [ + 0.0833, + 0.0579, + 0.1029 + ] + ], + "extents": [ + 0.1668, + 0.1157, + 0.2057 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0983, + -0.0225, + 0.1031 + ], + [ + -0.0987, + -0.0231, + -0.1027 + ], + [ + 0.034, + -0.0949, + 0.1031 + ], + [ + 0.0337, + -0.0955, + -0.1027 + ], + [ + -0.0432, + 0.0782, + 0.1027 + ], + [ + -0.0436, + 0.0776, + -0.1031 + ], + [ + 0.0891, + 0.0058, + 0.1027 + ], + [ + 0.0888, + 0.0052, + -0.1031 + ] + ], + "extents": [ + 0.1878, + 0.1737, + 0.2062 + ] + }, + "radius": 0.1124 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + 0.0005, + 0.0003, + 0.0001 + ], + "projection_circle": { + "center": [ + -0.0, + -0.001, + -0.1029, + 1.0, + -0.0005, + -0.0003, + -0.0001 + ], + "radius": 0.0834 + }, + "contact_circle": { + "center": [ + -0.0199, + 0.0, + -0.1029, + 1.0, + -0.0005, + -0.0003, + -0.0001 + ], + "radius": 0.0545 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/kettle/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/kettle/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..1ad6f9e3a8d5521b034f0ab7c8402c808147d445 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/kettle/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08633fea2e86c0c81d5a9fdbed6963bf2b73e7b49dfa659130cf1b14798b1267 +size 31059597 diff --git a/Assets/Object/RoboDojo/Clutter/kettle/00001/description.json b/Assets/Object/RoboDojo/Clutter/kettle/00001/description.json new file mode 100644 index 0000000000000000000000000000000000000000..7ba2bfa34fa64650d75c05a3365a3af2002d5595 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/kettle/00001/description.json @@ -0,0 +1,137 @@ +{ + "uuid": "cb736740-099c-4a9e-9f15-f183278bbd03", + "caption": { + "color": [ + "shiny silver", + "metallic gray", + "reflective surface" + ], + "material": [ + "stainless steel", + "polished metal", + "chrome-like finish" + ], + "size": [ + "counter-top size", + "holds about 1.5 liters", + "fits one hand on handle" + ], + "name": [ + "electric kettle", + "kettle", + "water boiler" + ], + "shape": [ + "tall cylinder", + "curved handle on side", + "lid with small knob" + ], + "function": [ + "boiling water", + "making tea or coffee", + "heating liquids quickly" + ] + }, + "description": [ + "boiling water with kettle", + "shiny silver holds about 1.5 liters kettle for heating liquids quickly", + "fits one hand on handle curved handle on side kettle for boiling water", + "water boiler shaped like a lid with small knob", + "curved handle on side object made of stainless steel", + "kettle made from chrome-like finish", + "metallic gray polished metal lid with small knob object", + "kettle designed for making tea or coffee", + "kettle commonly featuring polished metal", + "kettle with tall cylinder profile", + "water boiler shaped like a curved handle on side", + "lid with small knob polished metal water boiler for making tea or coffee", + "curved handle on side counter-top size electric kettle", + "kettle with counter-top size dimensions", + "stainless steel metallic gray kettle", + "water boiler sized fits one hand on handle", + "counter-top size chrome-like finish object", + "fits one hand on handle object used for making tea or coffee", + "water boiler typically made of polished metal", + "water boiler in fits one hand on handle", + "shiny silver lid with small knob kettle used for boiling water", + "water boiler featuring lid with small knob shape", + "stainless steel lid with small knob object used for heating liquids quickly", + "shiny silver fits one hand on handle stainless steel object", + "water boiler featuring curved handle on side shape", + "holds about 1.5 liters electric kettle perfect for boiling water", + "shiny silver stainless steel lid with small knob object", + "tall cylinder-shaped kettle", + "kettle featuring chrome-like finish build", + "shiny silver counter-top size curved handle on side electric kettle", + "water boiler with holds about 1.5 liters dimensions", + "electric kettle commonly featuring stainless steel", + "curved handle on side-shaped kettle", + "water boiler used to boiling water", + "kettle with polished metal surface", + "lid with small knob stainless steel object for heating liquids quickly", + "kettle made of stainless steel", + "holds about 1.5 liters shiny silver object for heating liquids quickly", + "electric kettle for heating liquids quickly", + "kettle with stainless steel construction", + "kettle sized holds about 1.5 liters", + "curved handle on side holds about 1.5 liters water boiler", + "shiny silver object used for boiling water", + "water boiler commonly featuring chrome-like finish", + "polished metal water boiler", + "holds about 1.5 liters reflective surface polished metal curved handle on side object", + "tall cylinder object made of stainless steel", + "polished metal object for making tea or coffee", + "water boiler made from polished metal", + "water boiler commonly used for heating liquids quickly", + "water boiler intended for heating liquids quickly", + "chrome-like finish electric kettle used for heating liquids quickly", + "counter-top size electric kettle for making tea or coffee", + "counter-top size curved handle on side object", + "kettle with stainless steel body", + "polished metal metallic gray electric kettle", + "water boiler with tall cylinder geometry", + "electric kettle commonly featuring chrome-like finish", + "shiny silver holds about 1.5 liters kettle for boiling water", + "electric kettle for making tea or coffee with stainless steel", + "fits one hand on handle lid with small knob kettle", + "fits one hand on handle chrome-like finish electric kettle", + "reflective surface tall cylinder kettle", + "curved handle on side object used for heating liquids quickly", + "fits one hand on handle stainless steel object", + "electric kettle with chrome-like finish body", + "counter-top size reflective surface stainless steel electric kettle", + "water boiler commonly featuring stainless steel", + "curved handle on side stainless steel object for making tea or coffee", + "metallic gray holds about 1.5 liters polished metal object", + "water boiler commonly used for making tea or coffee", + "water boiler for heating liquids quickly activities", + "polished metal water boiler used for making tea or coffee", + "reflective surface kettle designed for boiling water", + "kettle in lid with small knob form", + "counter-top size reflective surface lid with small knob for heating liquids quickly", + "shiny silver water boiler for heating liquids quickly", + "electric kettle suitable for boiling water", + "metallic gray kettle used for heating liquids quickly", + "electric kettle featuring curved handle on side shape", + "water boiler commonly found in holds about 1.5 liters size", + "kettle made from stainless steel", + "counter-top size shiny silver water boiler", + "counter-top size stainless steel water boiler for heating liquids quickly", + "stainless steel kettle suitable for heating liquids quickly", + "reflective surface stainless steel lid with small knob object", + "heating liquids quickly use of kettle", + "kettle for boiling water with polished metal", + "lid with small knob object used for heating liquids quickly", + "holds about 1.5 liters lid with small knob object", + "shiny silver lid with small knob object for boiling water", + "shiny silver tall cylinder water boiler", + "polished metal kettle for heating liquids quickly", + "tall cylinder counter-top size water boiler", + "kettle sized as fits one hand on handle", + "chrome-like finish object used for making tea or coffee", + "counter-top size shiny silver kettle", + "curved handle on side electric kettle ideal for making tea or coffee", + "kettle appropriate for making tea or coffee", + "lid with small knob object made of chrome-like finish" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/kettle/00001/metadata.json b/Assets/Object/RoboDojo/Clutter/kettle/00001/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..7ae10f7835bfb6a90dfd18614ccb9e722bfbe4b8 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/kettle/00001/metadata.json @@ -0,0 +1,146 @@ +{ + "uuid": "cb736740-099c-4a9e-9f15-f183278bbd03", + "physics": { + "mass": 1.1, + "friction": 0.25 + }, + "geometry": { + "faces": 311682, + "vertices": 196847, + "aligned_bbox": { + "vertices": [ + [ + -0.0729, + -0.0557, + -0.1029 + ], + [ + -0.0729, + -0.0557, + 0.1029 + ], + [ + -0.0729, + 0.0558, + -0.1029 + ], + [ + -0.0729, + 0.0558, + 0.1029 + ], + [ + 0.0726, + -0.0557, + -0.1029 + ], + [ + 0.0726, + -0.0557, + 0.1029 + ], + [ + 0.0726, + 0.0558, + -0.1029 + ], + [ + 0.0726, + 0.0558, + 0.1029 + ] + ], + "extents": [ + 0.1455, + 0.1115, + 0.2057 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0929, + 0.0175, + -0.1021 + ], + [ + -0.0877, + 0.0169, + 0.1047 + ], + [ + 0.0208, + 0.0872, + -0.1047 + ], + [ + 0.0259, + 0.0866, + 0.1021 + ], + [ + -0.0361, + -0.075, + -0.1038 + ], + [ + -0.031, + -0.0757, + 0.103 + ], + [ + 0.0775, + -0.0053, + -0.1065 + ], + [ + 0.0827, + -0.0059, + 0.1004 + ] + ], + "extents": [ + 0.1755, + 0.1629, + 0.2112 + ] + }, + "radius": 0.11 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "projection_circle": { + "center": [ + -0.0003, + -0.0013, + -0.1029, + 1.0, + 0.0, + 0.0, + 0.0 + ], + "radius": 0.073 + }, + "contact_circle": { + "center": [ + -0.0181, + -0.0001, + -0.1029, + 1.0, + 0.0, + 0.0, + 0.0 + ], + "radius": 0.053 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/kettle/00001/object.usdz b/Assets/Object/RoboDojo/Clutter/kettle/00001/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..ff6e98cdaa5eda13314a0f6148261dadd55499de --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/kettle/00001/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70c6c39a36b35cc7275c3c91e36049390ad328d9d9c7034fe2fe774a70eb52a4 +size 26620804 diff --git a/Assets/Object/RoboDojo/Clutter/key/00000/description.json b/Assets/Object/RoboDojo/Clutter/key/00000/description.json new file mode 100644 index 0000000000000000000000000000000000000000..c85f45cb5b7f67e04a205ed5e1495c9e19dc7c97 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/key/00000/description.json @@ -0,0 +1,137 @@ +{ + "uuid": "e6be4026-6e87-4b7d-beac-39707cb34c6c", + "caption": { + "color": [ + "brass-colored", + "silver-toned", + "two-tone finish" + ], + "material": [ + "metal", + "zinc alloy", + "machined key blank" + ], + "size": [ + "standard house key", + "about 2 inches long", + "fits in palm" + ], + "name": [ + "Schlage key", + "house key", + "pin-tumbler key" + ], + "shape": [ + "flat blade with cut teeth", + "hexagonal bow with hole", + "rectangular head with brand logo" + ], + "function": [ + "unlocking doors", + "operating pin-tumbler locks", + "turning lock cylinders" + ] + }, + "description": [ + "about 2 inches long silver-toned hexagonal bow with hole object", + "house key with zinc alloy construction", + "brass-colored object used for turning lock cylinders", + "machined key blank Schlage key for operating pin-tumbler locks", + "brass-colored house key typically used for unlocking doors", + "brass-colored flat blade with cut teeth object for operating pin-tumbler locks", + "silver-toned metal hexagonal bow with hole object", + "silver-toned Schlage key suitable for unlocking doors", + "Schlage key with machined key blank body", + "hexagonal bow with hole metal object for unlocking doors", + "house key commonly used for operating pin-tumbler locks", + "fits in palm flat blade with cut teeth pin-tumbler key for operating pin-tumbler locks", + "house key used to operating pin-tumbler locks", + "house key for turning lock cylinders", + "Schlage key for operating pin-tumbler locks", + "Schlage key made of zinc alloy", + "standard house key zinc alloy Schlage key for turning lock cylinders", + "Schlage key intended for operating pin-tumbler locks usage", + "brass-colored object used for operating pin-tumbler locks", + "flat blade with cut teeth Schlage key ideal for turning lock cylinders", + "operating pin-tumbler locks use of pin-tumbler key", + "machined key blank hexagonal bow with hole house key", + "silver-toned machined key blank hexagonal bow with hole house key", + "house key built from metal", + "silver-toned metal rectangular head with brand logo Schlage key", + "hexagonal bow with hole zinc alloy pin-tumbler key for turning lock cylinders", + "hexagonal bow with hole-shaped pin-tumbler key", + "fits in palm two-tone finish hexagonal bow with hole object", + "house key with metal surface", + "Schlage key with silver-toned exterior", + "Schlage key in silver-toned", + "fits in palm flat blade with cut teeth Schlage key for turning lock cylinders", + "metal house key used for turning lock cylinders", + "about 2 inches long rectangular head with brand logo object", + "zinc alloy rectangular head with brand logo pin-tumbler key", + "rectangular head with brand logo Schlage key used for unlocking doors", + "about 2 inches long house key used for unlocking doors", + "pin-tumbler key with silver-toned color", + "two-tone finish about 2 inches long Schlage key for unlocking doors", + "pin-tumbler key colored brass-colored", + "zinc alloy rectangular head with brand logo for unlocking doors", + "brass-colored fits in palm flat blade with cut teeth Schlage key", + "flat blade with cut teeth object used for unlocking doors", + "fits in palm metal object", + "standard house key Schlage key used for turning lock cylinders", + "Schlage key featuring machined key blank build", + "pin-tumbler key for unlocking doors scenarios", + "brass-colored Schlage key used for unlocking doors", + "brass-colored pin-tumbler key for turning lock cylinders", + "brass-colored machined key blank hexagonal bow with hole Schlage key", + "about 2 inches long silver-toned object for unlocking doors", + "about 2 inches long house key used for operating pin-tumbler locks", + "house key appropriate for unlocking doors", + "pin-tumbler key appropriate for unlocking doors", + "two-tone finish standard house key hexagonal bow with hole Schlage key", + "silver-toned house key used for turning lock cylinders", + "metal rectangular head with brand logo for operating pin-tumbler locks", + "metal brass-colored pin-tumbler key", + "two-tone finish Schlage key for unlocking doors", + "Schlage key for turning lock cylinders with zinc alloy", + "house key in hexagonal bow with hole", + "house key sized fits in palm", + "house key optimized for operating pin-tumbler locks", + "about 2 inches long two-tone finish object for turning lock cylinders", + "house key in rectangular head with brand logo form", + "metal house key suitable for operating pin-tumbler locks", + "silver-toned zinc alloy hexagonal bow with hole object", + "Schlage key made of metal", + "standard house key object used for operating pin-tumbler locks", + "pin-tumbler key with brass-colored color", + "rectangular head with brand logo object made of metal", + "standard house key house key used for operating pin-tumbler locks", + "about 2 inches long brass-colored metal flat blade with cut teeth object", + "Schlage key with fits in palm dimensions", + "two-tone finish zinc alloy flat blade with cut teeth object", + "house key with standard house key dimensions", + "rectangular head with brand logo machined key blank object for operating pin-tumbler locks", + "rectangular head with brand logo Schlage key ideal for turning lock cylinders", + "about 2 inches long hexagonal bow with hole house key for turning lock cylinders", + "pin-tumbler key sized standard house key", + "pin-tumbler key for turning lock cylinders scenarios", + "brass-colored about 2 inches long Schlage key for turning lock cylinders", + "silver-toned fits in palm house key for unlocking doors", + "rectangular head with brand logo object used for operating pin-tumbler locks", + "hexagonal bow with hole fits in palm pin-tumbler key", + "pin-tumbler key shaped like a hexagonal bow with hole", + "silver-toned object used for turning lock cylinders", + "fits in palm silver-toned Schlage key", + "machined key blank brass-colored pin-tumbler key", + "standard house key two-tone finish hexagonal bow with hole for operating pin-tumbler locks", + "pin-tumbler key built from zinc alloy", + "house key built from zinc alloy", + "metal pin-tumbler key used for turning lock cylinders", + "zinc alloy flat blade with cut teeth object used for turning lock cylinders", + "flat blade with cut teeth object made of machined key blank", + "house key typically made of zinc alloy", + "silver-toned object used for unlocking doors", + "house key for operating pin-tumbler locks", + "machined key blank object used for operating pin-tumbler locks", + "Schlage key shaped like a flat blade with cut teeth" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/key/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/key/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..4527432d578f289cf2432d6d3c1f886da95adcd0 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/key/00000/metadata.json @@ -0,0 +1,146 @@ +{ + "uuid": "e6be4026-6e87-4b7d-beac-39707cb34c6c", + "physics": { + "mass": 0.012, + "friction": 0.3 + }, + "geometry": { + "faces": 133673, + "vertices": 83921, + "aligned_bbox": { + "vertices": [ + [ + -0.0202, + -0.0051, + -0.0457 + ], + [ + -0.0202, + -0.0051, + 0.0457 + ], + [ + -0.0202, + 0.0052, + -0.0457 + ], + [ + -0.0202, + 0.0052, + 0.0457 + ], + [ + 0.0201, + -0.0051, + -0.0457 + ], + [ + 0.0201, + -0.0051, + 0.0457 + ], + [ + 0.0201, + 0.0052, + -0.0457 + ], + [ + 0.0201, + 0.0052, + 0.0457 + ] + ], + "extents": [ + 0.0403, + 0.0103, + 0.0914 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + 0.0201, + -0.0051, + -0.0457 + ], + [ + 0.0201, + -0.0051, + 0.0457 + ], + [ + -0.0202, + -0.0051, + -0.0457 + ], + [ + -0.0202, + -0.0051, + 0.0457 + ], + [ + 0.0201, + 0.0052, + -0.0457 + ], + [ + 0.0201, + 0.0052, + 0.0457 + ], + [ + -0.0202, + 0.0052, + -0.0457 + ], + [ + -0.0202, + 0.0052, + 0.0457 + ] + ], + "extents": [ + 0.0404, + 0.0103, + 0.0915 + ] + }, + "radius": 0.0459 + }, + "active": { + "place": { + "up": { + "orientation": [ + 0.6494, + 0.6592, + 0.2642, + 0.2719 + ], + "projection_circle": { + "center": [ + -0.0002, + -0.0051, + 0.0002, + 0.6494, + -0.6592, + -0.2642, + -0.2719 + ], + "radius": 0.0459 + }, + "contact_circle": { + "center": [ + -0.0, + -0.0051, + 0.0003, + 0.6494, + -0.6592, + -0.2642, + -0.2719 + ], + "radius": 0.0456 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/key/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/key/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..415450d321aafe4a74924ea8ec100523f68b8689 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/key/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cfab2ab2f8bc587c5d14be87b52a027c639fbfd4efa85bc64fe2d72fa73d3bb0 +size 34159751 diff --git a/Assets/Object/RoboDojo/Clutter/lamp/00000/description.json b/Assets/Object/RoboDojo/Clutter/lamp/00000/description.json new file mode 100644 index 0000000000000000000000000000000000000000..af2784d5016661cce98cee97af57b4bb4b8d4ef4 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/lamp/00000/description.json @@ -0,0 +1,137 @@ +{ + "uuid": "14e445d7-467f-403d-9399-921f6e102f65", + "caption": { + "color": [ + "olive green", + "dark green metallic", + "gunmetal gray accents" + ], + "material": [ + "painted metal", + "cast iron base", + "chrome-plated joints" + ], + "size": [ + "desk-sized", + "medium height", + "compact footprint" + ], + "name": [ + "adjustable desk lamp", + "gooseneck lamp", + "architect lamp" + ], + "shape": [ + "circular weighted base", + "two-segment articulated arm", + "conical shade with open front" + ], + "function": [ + "directing focused light onto a workspace", + "illuminating reading material", + "providing task lighting" + ] + }, + "description": [ + "gooseneck lamp with dark green metallic exterior", + "gooseneck lamp with cast iron base body", + "architect lamp with chrome-plated joints construction", + "adjustable desk lamp with medium height dimensions", + "cast iron base gooseneck lamp suitable for illuminating reading material", + "gunmetal gray accents object used for providing task lighting", + "architect lamp for providing task lighting", + "adjustable desk lamp sized as medium height", + "compact footprint dark green metallic object for directing focused light onto a workspace", + "gooseneck lamp commonly found in medium height size", + "painted metal adjustable desk lamp suitable for illuminating reading material", + "gunmetal gray accents desk-sized circular weighted base adjustable desk lamp", + "cast iron base object for illuminating reading material", + "architect lamp colored dark green metallic", + "architect lamp in dark green metallic", + "adjustable desk lamp intended for illuminating reading material usage", + "circular weighted base architect lamp used for providing task lighting", + "cast iron base object used for directing focused light onto a workspace", + "medium height gunmetal gray accents conical shade with open front for providing task lighting", + "architect lamp appropriate for illuminating reading material", + "architect lamp with two-segment articulated arm profile", + "gunmetal gray accents object used for illuminating reading material", + "medium height chrome-plated joints conical shade with open front for providing task lighting", + "gooseneck lamp made from cast iron base", + "gunmetal gray accents architect lamp for illuminating reading material", + "chrome-plated joints architect lamp for illuminating reading material", + "adjustable desk lamp shaped like a two-segment articulated arm", + "gooseneck lamp in desk-sized", + "gooseneck lamp ideal for directing focused light onto a workspace", + "gooseneck lamp commonly found in desk-sized size", + "medium height gunmetal gray accents painted metal adjustable desk lamp", + "compact footprint circular weighted base gooseneck lamp", + "gooseneck lamp intended for providing task lighting", + "gooseneck lamp optimized for directing focused light onto a workspace", + "conical shade with open front architect lamp ideal for providing task lighting", + "architect lamp typically made of painted metal", + "adjustable desk lamp appropriate for illuminating reading material use", + "architect lamp appropriate for directing focused light onto a workspace use", + "adjustable desk lamp made of chrome-plated joints", + "painted metal object for directing focused light onto a workspace", + "medium height circular weighted base adjustable desk lamp", + "two-segment articulated arm adjustable desk lamp ideal for directing focused light onto a workspace", + "gooseneck lamp with gunmetal gray accents exterior", + "architect lamp with painted metal body", + "desk-sized architect lamp used for providing task lighting", + "adjustable desk lamp for directing focused light onto a workspace scenarios", + "gooseneck lamp appropriate for providing task lighting use", + "conical shade with open front painted metal object for directing focused light onto a workspace", + "circular weighted base architect lamp for providing task lighting", + "compact footprint olive green adjustable desk lamp", + "adjustable desk lamp with circular weighted base profile", + "gunmetal gray accents circular weighted base object for directing focused light onto a workspace", + "desk-sized cast iron base gooseneck lamp", + "gunmetal gray accents architect lamp typically used for providing task lighting", + "architect lamp appropriate for directing focused light onto a workspace", + "gunmetal gray accents medium height conical shade with open front gooseneck lamp", + "painted metal two-segment articulated arm for providing task lighting", + "conical shade with open front object used for illuminating reading material", + "conical shade with open front architect lamp used for illuminating reading material", + "architect lamp for directing focused light onto a workspace", + "olive green gooseneck lamp for providing task lighting", + "compact footprint olive green gooseneck lamp", + "painted metal two-segment articulated arm object used for directing focused light onto a workspace", + "adjustable desk lamp used to illuminating reading material", + "adjustable desk lamp featuring chrome-plated joints build", + "medium height two-segment articulated arm gooseneck lamp for illuminating reading material", + "desk-sized adjustable desk lamp for directing focused light onto a workspace", + "dark green metallic object used for illuminating reading material", + "gooseneck lamp typically made of cast iron base", + "architect lamp primarily used for directing focused light onto a workspace", + "desk-sized gooseneck lamp perfect for illuminating reading material", + "architect lamp intended for directing focused light onto a workspace usage", + "two-segment articulated arm painted metal object for illuminating reading material", + "circular weighted base-shaped adjustable desk lamp", + "adjustable desk lamp optimized for illuminating reading material", + "gooseneck lamp designed for providing task lighting", + "circular weighted base painted metal gooseneck lamp for directing focused light onto a workspace", + "architect lamp for providing task lighting scenarios", + "adjustable desk lamp with dark green metallic exterior", + "compact footprint chrome-plated joints object", + "compact footprint gunmetal gray accents two-segment articulated arm for illuminating reading material", + "olive green architect lamp suitable for directing focused light onto a workspace", + "architect lamp typically made of chrome-plated joints", + "dark green metallic chrome-plated joints architect lamp", + "painted metal gooseneck lamp used for illuminating reading material", + "architect lamp commonly used for providing task lighting", + "medium height dark green metallic object for providing task lighting", + "architect lamp built from chrome-plated joints", + "gooseneck lamp colored olive green", + "adjustable desk lamp with circular weighted base geometry", + "painted metal two-segment articulated arm architect lamp", + "desk-sized cast iron base conical shade with open front for illuminating reading material", + "architect lamp appropriate for illuminating reading material use", + "adjustable desk lamp used to directing focused light onto a workspace", + "gunmetal gray accents gooseneck lamp for illuminating reading material", + "circular weighted base gooseneck lamp ideal for illuminating reading material", + "adjustable desk lamp with painted metal body", + "adjustable desk lamp used to providing task lighting", + "desk-sized conical shade with open front adjustable desk lamp", + "gooseneck lamp for directing focused light onto a workspace tasks" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/lamp/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/lamp/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..d2e649aacc2bff57e26b14b122569af693db371b --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/lamp/00000/metadata.json @@ -0,0 +1,146 @@ +{ + "uuid": "14e445d7-467f-403d-9399-921f6e102f65", + "physics": { + "mass": 1.1, + "friction": 0.25 + }, + "geometry": { + "faces": 240495, + "vertices": 156091, + "aligned_bbox": { + "vertices": [ + [ + -0.0373, + -0.093, + -0.1029 + ], + [ + -0.0373, + -0.093, + 0.1029 + ], + [ + -0.0373, + 0.0933, + -0.1029 + ], + [ + -0.0373, + 0.0933, + 0.1029 + ], + [ + 0.0371, + -0.093, + -0.1029 + ], + [ + 0.0371, + -0.093, + 0.1029 + ], + [ + 0.0371, + 0.0933, + -0.1029 + ], + [ + 0.0371, + 0.0933, + 0.1029 + ] + ], + "extents": [ + 0.0745, + 0.1863, + 0.2057 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0033, + 0.0744, + 0.1138 + ], + [ + -0.0157, + 0.0974, + -0.1009 + ], + [ + -0.043, + -0.0887, + 0.0987 + ], + [ + -0.0555, + -0.0657, + -0.116 + ], + [ + 0.0697, + 0.0572, + 0.1078 + ], + [ + 0.0572, + 0.0802, + -0.1069 + ], + [ + 0.03, + -0.1059, + 0.0926 + ], + [ + 0.0175, + -0.0829, + -0.1221 + ] + ], + "extents": [ + 0.1252, + 0.2033, + 0.2359 + ] + }, + "radius": 0.1212 + }, + "active": { + "place": { + "up": { + "orientation": [ + 0.9999, + 0.0146, + -0.0004, + -0.0 + ], + "projection_circle": { + "center": [ + -0.0006, + -0.0021, + -0.1039, + 0.9999, + -0.0146, + 0.0004, + 0.0 + ], + "radius": 0.0953 + }, + "contact_circle": { + "center": [ + -0.0002, + -0.0073, + -0.1038, + 0.9999, + -0.0146, + 0.0004, + 0.0 + ], + "radius": 0.0361 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/lamp/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/lamp/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..4ae19d8f5b7cccbd33406cbe4cbebd7b54ae3821 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/lamp/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac5b3ded4a49c0447f35ef35c9c9e8f71b0b3f0aa81f6588fd585a1bec7c532d +size 31180348 diff --git a/Assets/Object/RoboDojo/Clutter/meta_quest/00000/description.json b/Assets/Object/RoboDojo/Clutter/meta_quest/00000/description.json new file mode 100644 index 0000000000000000000000000000000000000000..a3c0e63c129d05c529d3281d49dbfb517b39f87d --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/meta_quest/00000/description.json @@ -0,0 +1,137 @@ +{ + "uuid": "bfb0c8a0-b3d0-4e66-b8f9-cc763b4a745b", + "caption": { + "color": [ + "matte gray", + "glossy black interior", + "silver-gray headband" + ], + "material": [ + "smooth plastic shell", + "flexible polymer straps", + "soft black foam padding" + ], + "size": [ + "head-mounted", + "fits adult head", + "compact front unit" + ], + "name": [ + "VR headset", + "virtual reality headset", + "Oculus Quest-style headset" + ], + "shape": [ + "curved front housing", + "U-shaped head strap", + "contoured eye cup" + ], + "function": [ + "immersing in virtual environments", + "tracking head movement", + "displaying 3D visuals" + ] + }, + "description": [ + "fits adult head silver-gray headband flexible polymer straps U-shaped head strap object", + "flexible polymer straps virtual reality headset for immersing in virtual environments", + "VR headset with soft black foam padding body", + "virtual reality headset ideal for immersing in virtual environments", + "virtual reality headset sized compact front unit", + "curved front housing soft black foam padding Oculus Quest-style headset for displaying 3D visuals", + "compact front unit U-shaped head strap VR headset", + "virtual reality headset designed for displaying 3D visuals", + "head-mounted glossy black interior smooth plastic shell contoured eye cup object", + "head-mounted silver-gray headband U-shaped head strap object", + "VR headset commonly used for displaying 3D visuals", + "Oculus Quest-style headset for immersing in virtual environments", + "flexible polymer straps object for immersing in virtual environments", + "smooth plastic shell U-shaped head strap object used for displaying 3D visuals", + "fits adult head silver-gray headband object for tracking head movement", + "silver-gray headband Oculus Quest-style headset designed for displaying 3D visuals", + "virtual reality headset commonly found in fits adult head size", + "virtual reality headset made from soft black foam padding", + "VR headset commonly used for immersing in virtual environments", + "head-mounted virtual reality headset used for immersing in virtual environments", + "virtual reality headset sized as head-mounted", + "Oculus Quest-style headset in contoured eye cup form", + "compact front unit VR headset for tracking head movement", + "curved front housing smooth plastic shell object for displaying 3D visuals", + "smooth plastic shell Oculus Quest-style headset for immersing in virtual environments", + "soft black foam padding Oculus Quest-style headset", + "soft black foam padding VR headset suitable for immersing in virtual environments", + "head-mounted contoured eye cup VR headset for displaying 3D visuals", + "Oculus Quest-style headset commonly found in fits adult head size", + "virtual reality headset colored matte gray", + "glossy black interior VR headset typically used for displaying 3D visuals", + "glossy black interior compact front unit VR headset for immersing in virtual environments", + "smooth plastic shell object for displaying 3D visuals", + "silver-gray headband smooth plastic shell U-shaped head strap object", + "matte gray Oculus Quest-style headset typically used for tracking head movement", + "VR headset with curved front housing geometry", + "curved front housing smooth plastic shell Oculus Quest-style headset for displaying 3D visuals", + "smooth plastic shell U-shaped head strap Oculus Quest-style headset", + "fits adult head soft black foam padding virtual reality headset", + "VR headset appropriate for displaying 3D visuals", + "curved front housing compact front unit virtual reality headset", + "VR headset made from flexible polymer straps", + "VR headset with glossy black interior color", + "fits adult head virtual reality headset used for immersing in virtual environments", + "virtual reality headset commonly used for displaying 3D visuals", + "virtual reality headset in U-shaped head strap", + "Oculus Quest-style headset typically made of smooth plastic shell", + "virtual reality headset for tracking head movement", + "soft black foam padding U-shaped head strap for immersing in virtual environments", + "compact front unit soft black foam padding U-shaped head strap for displaying 3D visuals", + "soft black foam padding Oculus Quest-style headset for displaying 3D visuals", + "Oculus Quest-style headset built from smooth plastic shell", + "compact front unit silver-gray headband object for displaying 3D visuals", + "virtual reality headset for tracking head movement use", + "matte gray VR headset used for tracking head movement", + "VR headset built from flexible polymer straps", + "Oculus Quest-style headset in U-shaped head strap form", + "compact front unit soft black foam padding VR headset for immersing in virtual environments", + "fits adult head flexible polymer straps VR headset", + "virtual reality headset shaped like a U-shaped head strap", + "VR headset made of smooth plastic shell", + "matte gray smooth plastic shell U-shaped head strap object", + "Oculus Quest-style headset sized compact front unit", + "fits adult head object used for tracking head movement", + "Oculus Quest-style headset for immersing in virtual environments with smooth plastic shell", + "U-shaped head strap soft black foam padding object for displaying 3D visuals", + "glossy black interior contoured eye cup virtual reality headset used for immersing in virtual environments", + "virtual reality headset appropriate for immersing in virtual environments", + "contoured eye cup flexible polymer straps VR headset for immersing in virtual environments", + "U-shaped head strap head-mounted virtual reality headset", + "matte gray object used for tracking head movement", + "Oculus Quest-style headset for displaying 3D visuals scenarios", + "Oculus Quest-style headset commonly used for tracking head movement", + "Oculus Quest-style headset for immersing in virtual environments scenarios", + "silver-gray headband virtual reality headset used for displaying 3D visuals", + "glossy black interior Oculus Quest-style headset for immersing in virtual environments", + "soft black foam padding curved front housing virtual reality headset", + "U-shaped head strap soft black foam padding Oculus Quest-style headset for tracking head movement", + "VR headset typically made of smooth plastic shell", + "fits adult head silver-gray headband soft black foam padding contoured eye cup object", + "matte gray VR headset typically used for displaying 3D visuals", + "silver-gray headband compact front unit virtual reality headset for tracking head movement", + "virtual reality headset with silver-gray headband exterior", + "VR headset primarily used for tracking head movement", + "VR headset with contoured eye cup profile", + "glossy black interior curved front housing VR headset", + "silver-gray headband Oculus Quest-style headset suitable for displaying 3D visuals", + "VR headset in U-shaped head strap", + "VR headset used to immersing in virtual environments", + "fits adult head glossy black interior contoured eye cup object", + "Oculus Quest-style headset for displaying 3D visuals", + "flexible polymer straps curved front housing for immersing in virtual environments", + "virtual reality headset sized as compact front unit", + "fits adult head smooth plastic shell VR headset", + "smooth plastic shell Oculus Quest-style headset", + "glossy black interior curved front housing virtual reality headset used for tracking head movement", + "glossy black interior Oculus Quest-style headset typically used for tracking head movement", + "virtual reality headset typically made of soft black foam padding", + "virtual reality headset built from flexible polymer straps", + "contoured eye cup object used for tracking head movement" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/meta_quest/00000/grasps/proposal.json b/Assets/Object/RoboDojo/Clutter/meta_quest/00000/grasps/proposal.json new file mode 100644 index 0000000000000000000000000000000000000000..639bd89ddf96ba746ba7b53ab766cc99259a795a --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/meta_quest/00000/grasps/proposal.json @@ -0,0 +1,1205 @@ +{ + "uuid": "bfb0c8a0-b3d0-4e66-b8f9-cc763b4a745b", + "grasp": [ + [ + [ + -0.08046045115657255, + 0.059171304396297, + -0.11829728492496912, + 0.350076501399823, + 0.09030850029746178, + 0.2053269736477703, + 0.9094677849348657 + ], + 0.9764838814735413 + ], + [ + [ + -0.05543594023652479, + 0.09057643293490555, + -0.11865803458689157, + 0.6245505286600429, + 0.13993703017714676, + 0.24270703887504208, + 0.7290044979396013 + ], + 0.9756190776824951 + ], + [ + [ + 0.022365887104793345, + 0.09957531868567612, + -0.12734445043800777, + 0.6795335352187984, + -0.13058335175338695, + -0.05893701220184222, + 0.7195196949011285 + ], + 0.9744945764541626 + ], + [ + [ + 0.0697360564165552, + 0.08931543707003739, + -0.12127935745714609, + 0.9351109905719405, + 0.0394107723179637, + -0.06482305161460422, + 0.34613898699255996 + ], + 0.9741126298904419 + ], + [ + [ + 0.07097643652491167, + 0.06487637042155411, + -0.12948194005487865, + 0.9126214075876123, + -0.10347387159329766, + -0.04571894665258558, + 0.3928423376206757 + ], + 0.9721261858940125 + ], + [ + [ + -0.04920720270343229, + 0.09174065320840027, + -0.12340681114195291, + 0.48837243740970027, + 0.04874719867516658, + 0.009316024390894406, + 0.8712228674049949 + ], + 0.9710888266563416 + ], + [ + [ + -0.04469288101859495, + 0.08932297705760148, + -0.12284412094353143, + 0.8408686988586417, + -0.07965521139240865, + 0.05257700894335593, + -0.532757483953418 + ], + 0.9704986810684204 + ], + [ + [ + -0.048335481048301904, + 0.10265290766110566, + -0.12290430673359339, + 0.6823957112985853, + 0.18929103040964623, + 0.2423747412386228, + 0.6631436373948425 + ], + 0.968993067741394 + ], + [ + [ + -0.040841884524301736, + 0.10584826051345017, + -0.12437558033464853, + 0.7088756620226377, + 0.16028389669597576, + 0.1876711598085089, + 0.660744961409506 + ], + 0.9688552021980286 + ], + [ + [ + 0.062391356020494254, + 0.042629152825976874, + -0.1276527033090443, + 0.9774643049887123, + -0.060013921648535036, + 0.07589569675609242, + 0.1876211738989082 + ], + 0.9674697518348694 + ], + [ + [ + 0.002011244157297895, + 0.10636710404505875, + -0.13185461469887202, + 0.6936242387877559, + -0.0008033276156115937, + -0.011337578328884046, + -0.7202473390082633 + ], + 0.9669405817985535 + ], + [ + [ + -0.09297686031527921, + 0.08959290414204743, + -0.10662805148361627, + 0.4733624842716938, + 0.24722531803460496, + 0.21850727931159475, + 0.8167387400476755 + ], + 0.9642118215560913 + ], + [ + [ + -0.07898291906781599, + 0.07115078001370576, + -0.11101467766760294, + 0.45394270086514155, + 0.15338001912123828, + 0.26743056241696017, + 0.8359973016409668 + ], + 0.9635123014450073 + ], + [ + [ + -0.05341223961182043, + 0.07570086448540833, + -0.11705551900862161, + 0.90416775551075, + -0.09062269291053732, + 0.017316844961491218, + -0.4170951022307449 + ], + 0.960928738117218 + ], + [ + [ + 0.0742402974658449, + 0.011102281800414587, + -0.13967472174166148, + 0.9985427997885232, + 0.016724611279042404, + 0.04387910550189933, + 0.026593015406582605 + ], + 0.9599913358688354 + ], + [ + [ + 0.06961186268858507, + 0.04486463992943909, + -0.12352521576879923, + 0.9901184640221848, + -0.00332880198429723, + 0.05192168401239361, + 0.13022474806662507 + ], + 0.9593448042869568 + ], + [ + [ + -0.0829935368008177, + 0.12894205032935288, + -0.09487189956901972, + 0.5283558525874555, + 0.33903647602501513, + -0.007020640341950268, + 0.7783605023190165 + ], + 0.9575396180152893 + ], + [ + [ + -0.08207015654511854, + 0.06540878891101029, + -0.11334587492941324, + 0.8767942351534648, + -0.1612957398135553, + 0.09164510292862338, + -0.4436403144765474 + ], + 0.9544445276260376 + ], + [ + [ + 0.0595489893250902, + 0.020466268352176215, + -0.13895772256849712, + 0.9924452081913859, + 0.03952444599882692, + 0.10502864222568009, + 0.04959144299848289 + ], + 0.9537824392318726 + ], + [ + [ + 0.00828957875750855, + 0.11807134031405594, + -0.12018453934191171, + 0.8376847538932346, + 0.19889775419124459, + -0.12416531660049557, + -0.4932615032880716 + ], + 0.9535729289054871 + ], + [ + [ + 0.010142372376545224, + 0.12103436171164658, + -0.11619609453676645, + 0.5937184399956976, + -0.0672792873640465, + -0.14281179680314193, + 0.7890352984466027 + ], + 0.9535166025161743 + ], + [ + [ + -0.024648839221076215, + 0.07107003807177689, + -0.12970673152206844, + 0.8480595282234991, + -0.12172474859260403, + -0.12162024687433337, + -0.5011852329425027 + ], + 0.953415036201477 + ], + [ + [ + 0.036307540177627357, + 0.10572750150313523, + -0.1186160803675503, + 0.866885042927444, + 0.06801241864149697, + -0.028131428246598422, + 0.4930448823423935 + ], + 0.9522563219070435 + ], + [ + [ + 0.0500565808408697, + 0.11303784727206376, + -0.11443626739977304, + 0.7156055703461079, + 0.2008204753399377, + -0.1742927480114027, + -0.6459116366535727 + ], + 0.9510084986686707 + ], + [ + [ + 0.012847979008479867, + 0.16403777181258347, + -0.11412788041828577, + 0.6317680057459193, + 0.16844154113506873, + -0.27942049534931, + 0.703150638849609 + ], + 0.9501142501831055 + ], + [ + [ + -0.015532943964676109, + 0.11909074365248826, + -0.11734491446016733, + 0.7564642460956982, + 0.18221813886742383, + 0.10239271952099216, + 0.6197371420494783 + ], + 0.9499439001083374 + ], + [ + [ + -0.07359667828746244, + -0.02068474766710851, + -0.13181917973755305, + 0.30115990780979573, + -0.021551559353475976, + 0.18676172831026416, + -0.9348573672256062 + ], + 0.9476940035820007 + ], + [ + [ + -0.023970894128755773, + 0.1069841313277736, + -0.11878061153887216, + 0.6630005434502222, + 0.09061879181959911, + 0.03797328039877845, + 0.7421432098521298 + ], + 0.9473138451576233 + ], + [ + [ + -0.055564555884079186, + 0.08065862237563279, + -0.11750180133579675, + 0.7923031422303434, + -0.20860224950744005, + 0.04739151311448686, + -0.5713973020561781 + ], + 0.9463993906974792 + ], + [ + [ + 0.009610208138151917, + 0.15977548836817887, + -0.11192146548031275, + 0.760714837070548, + 0.33187672461769696, + -0.13785319362800286, + 0.5405249978718092 + ], + 0.9461977481842041 + ], + [ + [ + -0.014150369525627341, + 0.11668402730574753, + -0.1187921599387974, + 0.8426338911004911, + 0.1496827321937951, + -0.04660155354344908, + -0.5151616255692801 + ], + 0.9460256099700928 + ], + [ + [ + 0.04188655355505541, + 0.08990013628354218, + -0.13506594159601634, + 0.5664306561824413, + -0.013758654282625226, + -0.060746070099826355, + -0.8217523508554672 + ], + 0.9450101256370544 + ], + [ + [ + 0.05387367346815661, + 0.09417940705170777, + -0.11640979208944742, + 0.6218664300401728, + 0.10127046604049295, + -0.12669910378566862, + -0.7661421362886525 + ], + 0.9411463737487793 + ], + [ + [ + -0.008330240458921638, + 0.11123804031958726, + -0.1162526593446583, + 0.5750412970472333, + -0.039440115332158694, + -0.09690636245157103, + 0.8114068898581193 + ], + 0.9404420852661133 + ], + [ + [ + -0.09677322170205518, + 0.0854452553307071, + -0.09542605885265772, + 0.49395180626059493, + 0.29891906640780314, + 0.3750290077207731, + 0.7252670185509303 + ], + 0.9383524060249329 + ], + [ + [ + -0.13465971461005613, + 0.09889305411925461, + -0.07972753652332727, + 0.2393954414831607, + 0.44671937387780103, + -0.16492874322975537, + 0.8461265468332511 + ], + 0.9379920363426208 + ], + [ + [ + -0.02570466286011144, + 0.10323609440674927, + -0.11947318770883981, + 0.3542524246962815, + -0.08720885729208616, + -0.17761101531692314, + 0.913977112429357 + ], + 0.9362613558769226 + ], + [ + [ + 0.08112910428576067, + 0.03843594743957665, + -0.12487535783050958, + 0.9543448789933857, + 0.24682511684120392, + 0.04391707569351733, + -0.16240229092582378 + ], + 0.9347333312034607 + ], + [ + [ + -0.10200867763228819, + 0.120009325734283, + -0.0943291694760174, + 0.5027759822725372, + 0.42202677980868253, + 0.18366103847185933, + 0.7316955184512457 + ], + 0.9338884353637695 + ], + [ + [ + 0.0919400084906061, + 0.007565291888023878, + -0.12430313833950464, + 0.9653804803137876, + -0.21022593596465777, + -0.0018649596679094493, + 0.15440889223856613 + ], + 0.9336261749267578 + ], + [ + [ + 0.08319209554724291, + 0.0030857327496066345, + -0.12432864167688791, + 0.05713384800265702, + -0.013205905429329331, + -0.12155851174717336, + -0.9908505718300885 + ], + 0.9335432052612305 + ], + [ + [ + -0.07508494666285917, + -0.05264058680186126, + -0.12878023692367976, + 0.27814740493321605, + -0.05700655580272303, + 0.0006720600666162424, + -0.958845045906634 + ], + 0.9331749081611633 + ], + [ + [ + 0.06011620947651461, + -0.027221075900886987, + -0.1405369029283375, + 0.9321018844567072, + 0.12231584916540715, + 0.07681901464072882, + -0.3321501904633334 + ], + 0.9313260316848755 + ], + [ + [ + -0.12015776297517225, + 0.1288831311379924, + -0.06248636030553286, + 0.2823828639136377, + 0.538048145600467, + -0.10722011160276324, + 0.7869358035136803 + ], + 0.9303131699562073 + ], + [ + [ + -0.1294919174022238, + 0.10599652706732896, + -0.06896436818836633, + 0.22299582482448888, + 0.4941278908296352, + -0.13130391647627215, + 0.8299817896394437 + ], + 0.9300766587257385 + ], + [ + [ + 0.09435908535055712, + 0.13404988526454117, + -0.10322882839439813, + 0.7669194607960705, + 0.05952024156705552, + -0.3555551767149159, + 0.530916563884843 + ], + 0.9299849271774292 + ], + [ + [ + -0.0009072838208834786, + 0.09939306258311417, + -0.11877147712706033, + 0.8561806658417397, + 0.13452116065539252, + 0.23195960144881833, + 0.4416485798351747 + ], + 0.9273104667663574 + ], + [ + [ + 0.0365842733674486, + 0.1637671816264644, + -0.11471390583513681, + 0.7269327509344482, + 0.2177574350479345, + -0.26755007417556964, + 0.5937738903899933 + ], + 0.9261603951454163 + ], + [ + [ + 0.013398622549398694, + 0.10660388349642899, + -0.11388727136848871, + 0.769891986839026, + -0.014344953514683415, + 0.020613978098553365, + 0.6376798685991829 + ], + 0.925505518913269 + ], + [ + [ + 0.1247238967709978, + 0.1073784160529628, + -0.0690133892834038, + 0.7979026845032864, + -0.11555931120320961, + -0.4856474369556022, + 0.3378519182055106 + ], + 0.9237979054450989 + ], + [ + [ + 0.07300146707825259, + -0.0018527523512587296, + -0.1302711726069302, + 0.08562326094648934, + -0.06779966067335925, + -0.11651639895262611, + -0.9871655342304952 + ], + 0.9222690463066101 + ], + [ + [ + 0.07644423136047915, + 0.09380143909802582, + -0.11199324437378351, + 0.966338812246836, + 0.22003519285060785, + -0.027385438621997604, + 0.13047548276994975 + ], + 0.9219443202018738 + ], + [ + [ + 0.01159941443733767, + 0.1135519373332515, + -0.11364346601961557, + 0.6638216887705352, + -0.02787941100734835, + -0.10187707270287072, + 0.7403948716848409 + ], + 0.9214993715286255 + ], + [ + [ + 0.07757044622234896, + -0.020971384570292045, + -0.13265242286919063, + 0.880835293581729, + 0.24493077918534417, + 0.006852196724207227, + -0.40508165397670526 + ], + 0.916845977306366 + ], + [ + [ + 0.07163170018724993, + 0.04872407793154862, + -0.12138878413437311, + 0.9602891939843221, + 0.25007441657445906, + 0.06877625178166558, + -0.10284589093760568 + ], + 0.915304958820343 + ], + [ + [ + -0.05586725434728071, + 0.09468810289254334, + -0.11309963324068491, + 0.20461942087922794, + -0.024923843797538425, + -0.19586251558830925, + 0.9587218416187381 + ], + 0.9147455096244812 + ], + [ + [ + 0.07115539947084978, + 0.07838775991549637, + -0.12222267546652262, + 0.9894275686267787, + 0.1410406527808557, + -0.030841703705954737, + -0.013762631178852854 + ], + 0.9125669002532959 + ], + [ + [ + -0.07438456228442594, + -0.04091755458066318, + -0.1366822854518742, + 0.477759593867564, + -0.08246383135172856, + 0.2149533598629485, + -0.8477856687099183 + ], + 0.9123486876487732 + ], + [ + [ + -0.06711669972606107, + 0.005098805121089484, + -0.1325476155519337, + 0.1370573424007511, + -0.05447143699758626, + 0.13472504548904063, + 0.979845553933597 + ], + 0.9112317562103271 + ], + [ + [ + 0.0900210220509012, + 0.17370203911414292, + -0.03202311553953593, + 0.33229631582390257, + 0.6095700158935969, + 0.2974140332931763, + -0.6553994560675397 + ], + 0.9101703763008118 + ], + [ + [ + -0.10813387444682523, + 0.12917069374671128, + -0.07441849865911905, + 0.5152044518969268, + 0.4932166595913884, + 0.15738577983265079, + 0.6830310503583038 + ], + 0.9100151658058167 + ], + [ + [ + -0.06903623750873014, + -0.04070586682209823, + -0.13055497267244762, + 0.8838500980693201, + 0.2002353228631063, + 0.048083900717375005, + 0.4200032834545006 + ], + 0.9093649387359619 + ], + [ + [ + 0.0520782437317808, + -0.044050145604704355, + -0.1452460572957844, + 0.8926136219385937, + 0.09403941486537083, + 0.03082012519605193, + -0.43982681849148697 + ], + 0.9092820882797241 + ], + [ + [ + -0.16772178521819517, + 0.03445098205557015, + -0.024241609023496556, + 0.7451899692406807, + -0.07659785862186112, + 0.661410708895872, + 0.03688566056719438 + ], + 0.9065151214599609 + ], + [ + [ + 0.16466561743549898, + 0.06553411512723115, + -0.03260345988868182, + 0.7490029312416723, + 0.027272174721037528, + -0.6608494621941376, + -0.03910020198267743 + ], + 0.9060443639755249 + ], + [ + [ + 0.07404767015509203, + -0.028830774304513668, + -0.13627935805319255, + 0.9821421882904378, + -0.16660481958011547, + 0.08488892689060445, + 0.020818889598379547 + ], + 0.9047449827194214 + ], + [ + [ + -0.0032370789765576976, + 0.1117022263919368, + -0.11415193834303324, + 0.46816883565916023, + -0.13500796752528177, + -0.1767240492779304, + 0.8551955334477896 + ], + 0.9040520787239075 + ], + [ + [ + -0.09694423487849638, + 0.014414988747741247, + -0.11825410881040994, + 0.9887930647300602, + -0.07010621160965042, + 0.10122224889878229, + -0.08442422971724295 + ], + 0.9029845595359802 + ], + [ + [ + 0.07258094885878161, + 0.08214191376319077, + -0.11255418368576471, + 0.961916490284989, + 0.27004734962547167, + 0.03994396968790703, + -0.013984776138299869 + ], + 0.8986220359802246 + ], + [ + [ + 0.14980923423103884, + 0.10184780537238267, + 0.002908532983079507, + 0.20356561922878277, + 0.7376807988930912, + 0.21845834479435644, + -0.6055278930009441 + ], + 0.8967610597610474 + ], + [ + [ + 0.014325011908336434, + 0.18681674479594376, + -0.06568233155606691, + 0.587291062859427, + 0.4213753597144163, + 0.3864274077232528, + -0.572892548626073 + ], + 0.8938925862312317 + ], + [ + [ + -0.034542522937730996, + 0.16128518461337235, + -0.09652212866543237, + 0.49449664743397237, + 0.19538112600430463, + -0.39637783220105616, + 0.7484543375633832 + ], + 0.8923887610435486 + ], + [ + [ + -0.11677205523915693, + 0.024489432862903143, + -0.10286258765457575, + 0.21609455720515078, + 0.21096080853308022, + 0.33736860327779505, + 0.8916171292274334 + ], + 0.8891972899436951 + ], + [ + [ + 0.0847536180310686, + 0.027407925865556265, + -0.12326381214855615, + 0.9264036664679898, + 0.28988313912355873, + 0.026255495276888086, + -0.2388611759459925 + ], + 0.8889129161834717 + ], + [ + [ + 0.004122504885568176, + 0.19241527496924546, + -0.0631513395249695, + 0.605797510264634, + 0.3819320015117339, + -0.42436120375986275, + 0.5541253391804887 + ], + 0.8862676024436951 + ], + [ + [ + 0.15620357581905916, + 0.0774191322838321, + -0.06600443505643312, + 0.8341637751575154, + 0.019757394140246076, + -0.5456010057020656, + 0.07810239540912822 + ], + 0.8841575980186462 + ], + [ + [ + 0.062220938890500815, + -0.044352316939328645, + -0.13436671950815623, + 0.34867856097174316, + 0.023116125758550352, + -0.03762625996270197, + 0.9362014582395224 + ], + 0.8818762302398682 + ], + [ + [ + 0.12497043648295, + 0.09574596612801697, + -0.1040233508586735, + 0.9017573325995129, + 0.06391672591005013, + -0.400209949162154, + 0.15026763405197277 + ], + 0.8801709413528442 + ], + [ + [ + -0.035543888420538156, + 0.10447535692801621, + -0.116103200697884, + 0.6675650298256267, + -0.1472786489456247, + 0.12175917940174563, + -0.7196114456775095 + ], + 0.8781036138534546 + ], + [ + [ + -0.07714489063687727, + 0.017740365407372977, + -0.12176257231234018, + 0.9719818241098849, + 0.180692036325105, + -0.012813240556328709, + 0.14979166357028437 + ], + 0.8780407309532166 + ], + [ + [ + -0.03523781111903593, + -0.07170048699626777, + -0.13678581871984904, + 0.38992931880450904, + 0.10024203214917679, + -0.09043573173387631, + -0.9108940881095965 + ], + 0.8772385120391846 + ], + [ + [ + -0.1048242594904463, + 0.04906832455744889, + -0.10234758117197458, + 0.8949739896442066, + -0.24205187214394788, + 0.1779403820347879, + -0.3298024704171506 + ], + 0.8769233822822571 + ], + [ + [ + 0.09009730109505251, + 0.17999901651492264, + -0.04593263798354571, + 0.6432821827880508, + 0.31927042951446943, + -0.5746482443547367, + 0.3924714275015509 + ], + 0.8755348324775696 + ], + [ + [ + -0.08648276290364668, + 0.1742514002238765, + -0.0036932118140012484, + 0.5031412855907893, + 0.34478150872508373, + 0.6676609631936259, + -0.4268528976153996 + ], + 0.8748273253440857 + ], + [ + [ + -0.05517867541380331, + -0.049089975365494226, + -0.13647475697992748, + 0.612361583283486, + -0.06425321307578927, + 0.2338956045300422, + -0.7524477803206715 + ], + 0.87317955493927 + ], + [ + [ + -0.03150400108166143, + 0.1892609673654094, + -0.03166244597135489, + 0.5882193568166943, + 0.39359286895025997, + 0.593899895793802, + -0.3825775157452007 + ], + 0.8658903241157532 + ], + [ + [ + 0.08787474074892596, + -0.038627223753427004, + -0.12817917623518413, + 0.8832229934379626, + 0.19373725338479753, + -0.07709678008984544, + -0.4200465533880477 + ], + 0.8654629588127136 + ], + [ + [ + -0.05295495277710363, + 0.18736774503340867, + -0.05623901867268984, + 0.4708677571701616, + 0.5519718472165456, + -0.3079012930491254, + 0.6154733372588714 + ], + 0.8597919344902039 + ], + [ + [ + -0.07075940033860609, + -0.04945341282436702, + -0.12969015398024028, + 0.48726985705882214, + -0.0900135782342092, + 0.21215410290198278, + -0.8422922763252692 + ], + 0.8589853644371033 + ], + [ + [ + 0.08851464876465395, + 0.05502899020066407, + -0.11120910801886026, + 0.31514758363907297, + 0.09620227141087921, + -0.23055488697780457, + -0.9155717162475548 + ], + 0.8554450273513794 + ], + [ + [ + -0.10880707910724088, + 0.16277276753535416, + -0.025510501572474885, + 0.4603502689690403, + 0.6461594926817075, + -0.2126399612040164, + 0.5703856474146282 + ], + 0.8545122146606445 + ], + [ + [ + -0.05955640932984754, + 0.17925565718760636, + -0.051436590486750054, + 0.40355885519697454, + 0.5972142998643976, + -0.2695041890585157, + 0.6386257296018508 + ], + 0.8527296185493469 + ], + [ + [ + -0.04596512726016447, + 0.10008122800936844, + -0.11352025576828424, + 0.7308259542857685, + 0.16409856354963184, + 0.22275770031344544, + 0.6239744329171742 + ], + 0.8499775528907776 + ], + [ + [ + -0.059934485316948144, + -0.052440151282642816, + -0.12886722990272945, + 0.9392624568553832, + 0.08205685653699354, + 0.023734697353728573, + 0.33239941874014006 + ], + 0.8497747182846069 + ], + [ + [ + 0.051912974952979835, + -0.045471684717629884, + -0.13136777886150783, + 0.06483458028710501, + 0.13577811694006317, + 0.17333771714167834, + 0.9733009894042629 + ], + 0.8475887775421143 + ], + [ + [ + 0.03372150325707987, + -0.05582446203479621, + -0.1433518365859837, + 0.7638208677199467, + 0.1368204486941914, + -0.010662795492808685, + -0.6306696057738529 + ], + 0.8440790772438049 + ], + [ + [ + 0.0998341221504648, + 0.09194027661433365, + -0.09898166962860529, + 0.9310445735256269, + -0.001714708071873179, + -0.29555974053653045, + 0.21400350851958255 + ], + 0.840798020362854 + ], + [ + [ + 0.12237750777535036, + 0.12376397132029679, + -0.09962442376612131, + 0.8557238831630666, + 0.10000884880297767, + -0.4182544497004751, + 0.28774655732289534 + ], + 0.8405576944351196 + ], + [ + [ + -0.1588011603660147, + 0.04378788947215226, + -0.053882377678141045, + 0.11229415594420376, + 0.5594686377397396, + -0.03392681270361131, + 0.8205082798523075 + ], + 0.8401508331298828 + ], + [ + [ + -0.06200285962291166, + 0.09766154765238907, + -0.10251673170326654, + 0.5593171379491844, + 0.1980528010558076, + 0.17610543523761046, + 0.7854465627081536 + ], + 0.8390127420425415 + ] + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/meta_quest/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/meta_quest/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..25708b8a30001d077a03f25d56a092c0844f1484 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/meta_quest/00000/metadata.json @@ -0,0 +1,146 @@ +{ + "uuid": "bfb0c8a0-b3d0-4e66-b8f9-cc763b4a745b", + "physics": { + "mass": 0.45, + "friction": 0.38 + }, + "geometry": { + "faces": 518071, + "vertices": 312433, + "aligned_bbox": { + "vertices": [ + [ + -0.0863, + -0.1099, + -0.0651 + ], + [ + -0.0863, + -0.1099, + 0.0649 + ], + [ + -0.0863, + 0.1101, + -0.0651 + ], + [ + -0.0863, + 0.1101, + 0.0649 + ], + [ + 0.086, + -0.1099, + -0.0651 + ], + [ + 0.086, + -0.1099, + 0.0649 + ], + [ + 0.086, + 0.1101, + -0.0651 + ], + [ + 0.086, + 0.1101, + 0.0649 + ] + ], + "extents": [ + 0.1723, + 0.22, + 0.1299 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + 0.0864, + -0.1194, + 0.0505 + ], + [ + 0.0855, + 0.0988, + 0.0758 + ], + [ + -0.0858, + -0.1202, + 0.0505 + ], + [ + -0.0867, + 0.0981, + 0.0758 + ], + [ + 0.0864, + -0.1053, + -0.0716 + ], + [ + 0.0855, + 0.113, + -0.0463 + ], + [ + -0.0859, + -0.106, + -0.0717 + ], + [ + -0.0868, + 0.1123, + -0.0464 + ] + ], + "extents": [ + 0.1732, + 0.2332, + 0.1475 + ] + }, + "radius": 0.1138 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + 0.0035, + 0.0003, + -0.0005 + ], + "projection_circle": { + "center": [ + -0.0001, + -0.0023, + -0.0654, + 1.0, + -0.0035, + -0.0003, + 0.0005 + ], + "radius": 0.1139 + }, + "contact_circle": { + "center": [ + -0.0001, + -0.0462, + -0.0651, + 1.0, + -0.0035, + -0.0003, + 0.0005 + ], + "radius": 0.0602 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/meta_quest/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/meta_quest/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..559bb77e4648bb61f170f58c0bb317215b290028 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/meta_quest/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37cbfdcb42ff9d274fbd3833b5a2c8c6ee6aa6fbc2837fb6a485bcb1c5001524 +size 40648315 diff --git a/Assets/Object/RoboDojo/Clutter/plane/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/plane/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..82ed69b151a7abf3bc1fdb2a9e7d6f188a318f30 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/plane/00000/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "0bc6ebe8-ae49-4933-8daf-c1df3d52f8d9", + "geometry": { + "faces": 20948, + "vertices": 13884, + "aligned_bbox": { + "vertices": [ + [ + -0.0695, + -0.062, + -0.0001 + ], + [ + -0.0695, + -0.062, + 0.0362 + ], + [ + -0.0695, + 0.0597, + -0.0001 + ], + [ + -0.0695, + 0.0597, + 0.0362 + ], + [ + 0.0695, + -0.062, + -0.0001 + ], + [ + 0.0695, + -0.062, + 0.0362 + ], + [ + 0.0695, + 0.0597, + -0.0001 + ], + [ + 0.0695, + 0.0597, + 0.0362 + ] + ], + "extents": [ + 0.1391, + 0.1217, + 0.0362 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0024, + 0.0864, + 0.0128 + ], + [ + 0.0895, + -0.0004, + 0.0037 + ], + [ + -0.0891, + -0.0045, + 0.0033 + ], + [ + 0.0027, + -0.0913, + -0.0057 + ], + [ + -0.0024, + 0.0828, + 0.0465 + ], + [ + 0.0895, + -0.0039, + 0.0375 + ], + [ + -0.0891, + -0.008, + 0.037 + ], + [ + 0.0027, + -0.0948, + 0.028 + ] + ], + "extents": [ + 0.1786, + 0.1812, + 0.0522 + ] + }, + "radius": 0.07 + }, + "active": { + "place": { + "up": { + "orientation": [ + 0.9978, + -0.0669, + 0.0008, + -0.0012 + ], + "projection_circle": { + "center": [ + 0.0, + 0.0009, + 0.0049, + 0.9978, + 0.0669, + -0.0008, + 0.0012 + ], + "radius": 0.07 + }, + "contact_circle": { + "center": [ + -0.0, + -0.0018, + 0.0046, + 0.9978, + 0.0669, + -0.0008, + 0.0012 + ], + "radius": 0.0625 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/plane/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/plane/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..76673e32e8f24526283b7f8a8b16d2ca77b3b902 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/plane/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:589ca834fae962d39c8532dcad11942df6071f9a1428bae6fc55f03c1a3e3bb8 +size 2594011 diff --git a/Assets/Object/RoboDojo/Clutter/plate/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/plate/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..9cc9de968d9dbe622fa84e9789a2c31fbb910397 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/plate/00000/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "068c9fa4-b84a-4cd9-9347-b0c9297c5411", + "geometry": { + "faces": 166480, + "vertices": 107948, + "aligned_bbox": { + "vertices": [ + [ + -0.1104, + -0.0107, + -0.1104 + ], + [ + -0.1104, + -0.0107, + 0.1102 + ], + [ + -0.1104, + 0.0107, + -0.1104 + ], + [ + -0.1104, + 0.0107, + 0.1102 + ], + [ + 0.1102, + -0.0107, + -0.1104 + ], + [ + 0.1102, + -0.0107, + 0.1102 + ], + [ + 0.1102, + 0.0107, + -0.1104 + ], + [ + 0.1102, + 0.0107, + 0.1102 + ] + ], + "extents": [ + 0.2206, + 0.0213, + 0.2206 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + 0.1551, + -0.0107, + -0.0037 + ], + [ + 0.0034, + -0.0107, + 0.1551 + ], + [ + -0.0037, + -0.0107, + -0.1553 + ], + [ + -0.1553, + -0.0107, + 0.0034 + ], + [ + 0.1551, + 0.0107, + -0.0037 + ], + [ + 0.0034, + 0.0107, + 0.1551 + ], + [ + -0.0037, + 0.0107, + -0.1553 + ], + [ + -0.1553, + 0.0107, + 0.0034 + ] + ], + "extents": [ + 0.3104, + 0.0213, + 0.3104 + ] + }, + "radius": 0.1104 + }, + "active": { + "place": { + "up": { + "orientation": [ + 0.7067, + 0.7071, + -0.0158, + -0.0156 + ], + "projection_circle": { + "center": [ + -0.0002, + -0.0107, + -0.0001, + 0.7067, + -0.7071, + 0.0158, + 0.0156 + ], + "radius": 0.1104 + }, + "contact_circle": { + "center": [ + -0.0002, + -0.0107, + -0.0001, + 0.7067, + -0.7071, + 0.0158, + 0.0156 + ], + "radius": 0.0772 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/plate/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/plate/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..eaf88eb79f5547836513281e461c69db7ec06f7f --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/plate/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c18aa01d30c6f13d7007f35be0b10b1940ca01689012e17419dba1bfce0c9bd3 +size 43299154 diff --git a/Assets/Object/RoboDojo/Clutter/plate/00001/metadata.json b/Assets/Object/RoboDojo/Clutter/plate/00001/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..8167c6e5e242783329b7af90c2c55df8dd422bb2 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/plate/00001/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "a4c5a6d8-f8ee-4926-9c03-636479a0e4c0", + "geometry": { + "faces": 480181, + "vertices": 283095, + "aligned_bbox": { + "vertices": [ + [ + -0.095, + -0.0152, + -0.095 + ], + [ + -0.095, + -0.0152, + 0.0948 + ], + [ + -0.095, + 0.0152, + -0.095 + ], + [ + -0.095, + 0.0152, + 0.0948 + ], + [ + 0.0948, + -0.0152, + -0.095 + ], + [ + 0.0948, + -0.0152, + 0.0948 + ], + [ + 0.0948, + 0.0152, + -0.095 + ], + [ + 0.0948, + 0.0152, + 0.0948 + ] + ], + "extents": [ + 0.1897, + 0.0305, + 0.1898 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.1094, + -0.0152, + 0.0771 + ], + [ + -0.0772, + -0.0152, + -0.1094 + ], + [ + 0.077, + -0.0152, + 0.1093 + ], + [ + 0.1092, + -0.0152, + -0.0772 + ], + [ + -0.1094, + 0.0153, + 0.077 + ], + [ + -0.0772, + 0.0152, + -0.1094 + ], + [ + 0.077, + 0.0152, + 0.1093 + ], + [ + 0.1092, + 0.0152, + -0.0772 + ] + ], + "extents": [ + 0.2187, + 0.0305, + 0.2187 + ] + }, + "radius": 0.0951 + }, + "active": { + "place": { + "up": { + "orientation": [ + 0.707, + 0.706, + -0.0291, + -0.0291 + ], + "projection_circle": { + "center": [ + -0.0001, + -0.0153, + -0.0002, + 0.707, + -0.706, + 0.0291, + 0.0291 + ], + "radius": 0.0952 + }, + "contact_circle": { + "center": [ + -0.0001, + -0.0153, + -0.0002, + 0.707, + -0.706, + 0.0291, + 0.0291 + ], + "radius": 0.0562 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/plate/00001/object.usdz b/Assets/Object/RoboDojo/Clutter/plate/00001/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..37f2b779ff16e4ed27a72bd64e6ccf7a3805ddd9 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/plate/00001/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b5de1bc6c873ad1f35dbb4116c125968fa7659ccfa9ad846ef3733e19a6f255 +size 54988229 diff --git a/Assets/Object/RoboDojo/Clutter/pokeball/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/pokeball/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..ff2e2d1c55f4f7b79b3821a50212d07e0ddbf0ee --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/pokeball/00000/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "3dcafe21-ab3c-40c8-bd4c-2a1f81d58232", + "geometry": { + "faces": 7554, + "vertices": 5348, + "aligned_bbox": { + "vertices": [ + [ + -0.0397, + -0.0385, + -0.0399 + ], + [ + -0.0397, + -0.0385, + 0.04 + ], + [ + -0.0397, + 0.0422, + -0.0399 + ], + [ + -0.0397, + 0.0422, + 0.04 + ], + [ + 0.0397, + -0.0385, + -0.0399 + ], + [ + 0.0397, + -0.0385, + 0.04 + ], + [ + 0.0397, + 0.0422, + -0.0399 + ], + [ + 0.0397, + 0.0422, + 0.04 + ] + ], + "extents": [ + 0.0794, + 0.0807, + 0.0799 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0608, + -0.0298, + 0.0124 + ], + [ + -0.0289, + 0.0298, + 0.0549 + ], + [ + -0.0408, + 0.0075, + -0.0547 + ], + [ + -0.009, + 0.067, + -0.0122 + ], + [ + 0.009, + -0.067, + 0.0124 + ], + [ + 0.0408, + -0.0075, + 0.0549 + ], + [ + 0.0289, + -0.0298, + -0.0547 + ], + [ + 0.0608, + 0.0298, + -0.0122 + ] + ], + "extents": [ + 0.1215, + 0.1341, + 0.1096 + ] + }, + "radius": 0.0412 + }, + "active": { + "place": { + "up": { + "orientation": [ + 0.9993, + -0.0267, + 0.0243, + -0.0062 + ], + "projection_circle": { + "center": [ + 0.0018, + 0.0032, + -0.0396, + 0.9993, + 0.0267, + -0.0243, + 0.0062 + ], + "radius": 0.041 + }, + "contact_circle": { + "center": [ + 0.0038, + 0.0039, + -0.0395, + 0.9993, + 0.0267, + -0.0243, + 0.0062 + ], + "radius": 0.0056 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/pokeball/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/pokeball/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..6b9342241afa91b28d3f254f64d60381daa19b46 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/pokeball/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:071b8c9aa8b598a52e1f2a469db2fa6760c8530b4088a204eb0421a5c6e03d21 +size 4914244 diff --git a/Assets/Object/RoboDojo/Clutter/pokeball/00001/metadata.json b/Assets/Object/RoboDojo/Clutter/pokeball/00001/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..ce798bd8f2cf983554ec6ba9993f1a89ce832b4d --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/pokeball/00001/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "cda70107-01b9-4c17-b15b-40e75f3b0ea3", + "geometry": { + "faces": 8002, + "vertices": 5641, + "aligned_bbox": { + "vertices": [ + [ + -0.0397, + -0.0385, + -0.0399 + ], + [ + -0.0397, + -0.0385, + 0.0433 + ], + [ + -0.0397, + 0.0422, + -0.0399 + ], + [ + -0.0397, + 0.0422, + 0.0433 + ], + [ + 0.0397, + -0.0385, + -0.0399 + ], + [ + 0.0397, + -0.0385, + 0.0433 + ], + [ + 0.0397, + 0.0422, + -0.0399 + ], + [ + 0.0397, + 0.0422, + 0.0433 + ] + ], + "extents": [ + 0.0794, + 0.0807, + 0.0832 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0293, + 0.0298, + -0.0545 + ], + [ + -0.0608, + -0.0297, + -0.0119 + ], + [ + -0.009, + 0.067, + 0.0124 + ], + [ + -0.0405, + 0.0075, + 0.0551 + ], + [ + 0.0405, + -0.0075, + -0.055 + ], + [ + 0.009, + -0.067, + -0.0123 + ], + [ + 0.0608, + 0.0297, + 0.012 + ], + [ + 0.0293, + -0.0298, + 0.0547 + ] + ], + "extents": [ + 0.1217, + 0.1341, + 0.1101 + ] + }, + "radius": 0.0419 + }, + "active": { + "place": { + "up": { + "orientation": [ + 0.9934, + 0.0249, + 0.1119, + 0.0087 + ], + "projection_circle": { + "center": [ + 0.0089, + -0.0007, + -0.0388, + 0.9934, + -0.0249, + -0.1119, + -0.0087 + ], + "radius": 0.0413 + }, + "contact_circle": { + "center": [ + 0.0078, + -0.0038, + -0.0389, + 0.9934, + -0.0249, + -0.1119, + -0.0087 + ], + "radius": 0.0088 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/pokeball/00001/object.usdz b/Assets/Object/RoboDojo/Clutter/pokeball/00001/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..3e21391d6f602f0cf45f7233feee9fc24f758622 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/pokeball/00001/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1097d9684bd5c9c3a85d93dd201442fc1970ea55eec396df7aaf7cc76fac370 +size 5498461 diff --git a/Assets/Object/RoboDojo/Clutter/pokeball/00002/metadata.json b/Assets/Object/RoboDojo/Clutter/pokeball/00002/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..7dac2b9907609dfb7461ca57dba5dd149e90cf68 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/pokeball/00002/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "f679af60-d3e5-46cb-990e-61d082211e0d", + "geometry": { + "faces": 9218, + "vertices": 6400, + "aligned_bbox": { + "vertices": [ + [ + -0.0416, + -0.0385, + -0.0399 + ], + [ + -0.0416, + -0.0385, + 0.04 + ], + [ + -0.0416, + 0.0422, + -0.0399 + ], + [ + -0.0416, + 0.0422, + 0.04 + ], + [ + 0.0416, + -0.0385, + -0.0399 + ], + [ + 0.0416, + -0.0385, + 0.04 + ], + [ + 0.0416, + 0.0422, + -0.0399 + ], + [ + 0.0416, + 0.0422, + 0.04 + ] + ], + "extents": [ + 0.0831, + 0.0807, + 0.0799 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + 0.0373, + 0.0086, + 0.0573 + ], + [ + -0.0357, + 0.0386, + 0.0446 + ], + [ + 0.0137, + -0.0614, + 0.0281 + ], + [ + -0.0593, + -0.0315, + 0.0154 + ], + [ + 0.0593, + 0.0315, + -0.0152 + ], + [ + -0.0137, + 0.0614, + -0.0279 + ], + [ + 0.0357, + -0.0386, + -0.0445 + ], + [ + -0.0373, + -0.0086, + -0.0572 + ] + ], + "extents": [ + 0.1187, + 0.1229, + 0.1145 + ] + }, + "radius": 0.0449 + }, + "active": { + "place": { + "up": { + "orientation": [ + 0.9919, + -0.0065, + 0.1267, + -0.0012 + ], + "projection_circle": { + "center": [ + 0.0127, + 0.0017, + -0.0378, + 0.9919, + 0.0065, + -0.1267, + 0.0012 + ], + "radius": 0.043 + }, + "contact_circle": { + "center": [ + 0.0116, + 0.0, + -0.0382, + 0.9919, + 0.0065, + -0.1267, + 0.0012 + ], + "radius": 0.0088 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/pokeball/00002/object.usdz b/Assets/Object/RoboDojo/Clutter/pokeball/00002/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..19aadaf3bb0743749345c616ef43a3d94d34fbac --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/pokeball/00002/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32b253ee0b1546842bfc8f00c2c54e9870ff65090dc71597239a9ae44b5ead07 +size 5824608 diff --git a/Assets/Object/RoboDojo/Clutter/pokeball/00003/metadata.json b/Assets/Object/RoboDojo/Clutter/pokeball/00003/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..92253d6362eb2191128cff70f3028d89a0a2a3c9 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/pokeball/00003/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "21ecdd83-a53b-486a-9a54-08586d5d033d", + "geometry": { + "faces": 9520, + "vertices": 6617, + "aligned_bbox": { + "vertices": [ + [ + -0.0424, + -0.0424, + -0.039 + ], + [ + -0.0424, + -0.0424, + 0.039 + ], + [ + -0.0424, + 0.0424, + -0.039 + ], + [ + -0.0424, + 0.0424, + 0.039 + ], + [ + 0.0424, + -0.0424, + -0.039 + ], + [ + 0.0424, + -0.0424, + 0.039 + ], + [ + 0.0424, + 0.0424, + -0.039 + ], + [ + 0.0424, + 0.0424, + 0.039 + ] + ], + "extents": [ + 0.0849, + 0.0849, + 0.0779 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0281, + 0.0528, + 0.0389 + ], + [ + -0.0527, + -0.0281, + 0.039 + ], + [ + 0.0527, + 0.0282, + 0.0389 + ], + [ + 0.0281, + -0.0527, + 0.039 + ], + [ + -0.0281, + 0.0527, + -0.039 + ], + [ + -0.0527, + -0.0282, + -0.0389 + ], + [ + 0.0527, + 0.0281, + -0.039 + ], + [ + 0.0281, + -0.0528, + -0.0389 + ] + ], + "extents": [ + 0.1055, + 0.1055, + 0.0781 + ] + }, + "radius": 0.0425 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + -0.0004, + 0.0006, + 0.0007 + ], + "projection_circle": { + "center": [ + 0.0, + 0.0, + -0.039, + 1.0, + 0.0004, + -0.0006, + -0.0007 + ], + "radius": 0.0425 + }, + "contact_circle": { + "center": [ + 0.0, + 0.0, + -0.039, + 1.0, + 0.0004, + -0.0006, + -0.0007 + ], + "radius": 0.0159 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/pokeball/00003/object.usdz b/Assets/Object/RoboDojo/Clutter/pokeball/00003/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..1935b2792df0b165739eb55a267acaee7a1049fa --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/pokeball/00003/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43ed507e48824d0b2da9bd327b7fac376ab353a73b7eb7b8edbd219b5acdd862 +size 4489170 diff --git a/Assets/Object/RoboDojo/Clutter/pokeball/00004/metadata.json b/Assets/Object/RoboDojo/Clutter/pokeball/00004/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..ac4de29358dec095e7df5ee153f11ce5182ef6f6 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/pokeball/00004/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "172163b5-a49a-48bd-ba9f-8a3d5bc91189", + "geometry": { + "faces": 7554, + "vertices": 5348, + "aligned_bbox": { + "vertices": [ + [ + -0.0397, + -0.0385, + -0.0399 + ], + [ + -0.0397, + -0.0385, + 0.04 + ], + [ + -0.0397, + 0.0422, + -0.0399 + ], + [ + -0.0397, + 0.0422, + 0.04 + ], + [ + 0.0397, + -0.0385, + -0.0399 + ], + [ + 0.0397, + -0.0385, + 0.04 + ], + [ + 0.0397, + 0.0422, + -0.0399 + ], + [ + 0.0397, + 0.0422, + 0.04 + ] + ], + "extents": [ + 0.0794, + 0.0807, + 0.0799 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0608, + -0.0298, + 0.0124 + ], + [ + -0.0289, + 0.0298, + 0.0549 + ], + [ + -0.0408, + 0.0075, + -0.0547 + ], + [ + -0.009, + 0.067, + -0.0122 + ], + [ + 0.009, + -0.067, + 0.0124 + ], + [ + 0.0408, + -0.0075, + 0.0549 + ], + [ + 0.0289, + -0.0298, + -0.0547 + ], + [ + 0.0608, + 0.0298, + -0.0122 + ] + ], + "extents": [ + 0.1215, + 0.1341, + 0.1096 + ] + }, + "radius": 0.0412 + }, + "active": { + "place": { + "up": { + "orientation": [ + 0.9993, + -0.0267, + 0.0243, + -0.0062 + ], + "projection_circle": { + "center": [ + 0.0018, + 0.0032, + -0.0396, + 0.9993, + 0.0267, + -0.0243, + 0.0062 + ], + "radius": 0.041 + }, + "contact_circle": { + "center": [ + 0.0038, + 0.0039, + -0.0395, + 0.9993, + 0.0267, + -0.0243, + 0.0062 + ], + "radius": 0.0056 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/pokeball/00004/object.usdz b/Assets/Object/RoboDojo/Clutter/pokeball/00004/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..12feeb7d84584d9a1dfbfed51863f63fb3947904 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/pokeball/00004/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6c365b553210f84f3bce35e50f1c06e5e14ee2a18fe6bbe029a22402996095f +size 5309815 diff --git a/Assets/Object/RoboDojo/Clutter/pokeball/00005/metadata.json b/Assets/Object/RoboDojo/Clutter/pokeball/00005/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..bc554213647d039e57145eef9fbbe4693299c930 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/pokeball/00005/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "7374f7b1-27da-4d12-9ad3-dee182182308", + "geometry": { + "faces": 9010, + "vertices": 6232, + "aligned_bbox": { + "vertices": [ + [ + -0.0397, + -0.0385, + -0.0399 + ], + [ + -0.0397, + -0.0385, + 0.04 + ], + [ + -0.0397, + 0.0422, + -0.0399 + ], + [ + -0.0397, + 0.0422, + 0.04 + ], + [ + 0.0397, + -0.0385, + -0.0399 + ], + [ + 0.0397, + -0.0385, + 0.04 + ], + [ + 0.0397, + 0.0422, + -0.0399 + ], + [ + 0.0397, + 0.0422, + 0.04 + ] + ], + "extents": [ + 0.0794, + 0.0807, + 0.0799 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0108, + -0.0126, + 0.0668 + ], + [ + -0.0223, + 0.0574, + 0.0308 + ], + [ + -0.0472, + -0.0496, + 0.0065 + ], + [ + -0.0587, + 0.0203, + -0.0295 + ], + [ + 0.0587, + -0.0203, + 0.0297 + ], + [ + 0.0472, + 0.0496, + -0.0064 + ], + [ + 0.0223, + -0.0574, + -0.0306 + ], + [ + 0.0108, + 0.0126, + -0.0667 + ] + ], + "extents": [ + 0.1173, + 0.1147, + 0.1335 + ] + }, + "radius": 0.0428 + }, + "active": { + "place": { + "up": { + "orientation": [ + 0.9788, + -0.1156, + -0.167, + 0.0253 + ], + "projection_circle": { + "center": [ + -0.0131, + 0.0096, + -0.0364, + 0.9788, + 0.1156, + 0.167, + -0.0253 + ], + "radius": 0.0404 + }, + "contact_circle": { + "center": [ + -0.011, + 0.0116, + -0.0366, + 0.9788, + 0.1156, + 0.167, + -0.0253 + ], + "radius": 0.0055 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/pokeball/00005/object.usdz b/Assets/Object/RoboDojo/Clutter/pokeball/00005/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..c70a8c5a322b37bd143c1a144d47083cc27d90cd --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/pokeball/00005/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbc463c9348522aedb23d6a59a8dc10bf21f3512aeb1f265a54a23909389c83c +size 5455509 diff --git a/Assets/Object/RoboDojo/Clutter/pokeball/00006/metadata.json b/Assets/Object/RoboDojo/Clutter/pokeball/00006/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..71f7564d163eed7fea53e3b6ddcd90ad2a6c310b --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/pokeball/00006/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "da1edecf-7991-44e4-84a1-c0fb11109278", + "geometry": { + "faces": 10178, + "vertices": 7018, + "aligned_bbox": { + "vertices": [ + [ + -0.0397, + -0.0385, + -0.0399 + ], + [ + -0.0397, + -0.0385, + 0.04 + ], + [ + -0.0397, + 0.0422, + -0.0399 + ], + [ + -0.0397, + 0.0422, + 0.04 + ], + [ + 0.0397, + -0.0385, + -0.0399 + ], + [ + 0.0397, + -0.0385, + 0.04 + ], + [ + 0.0397, + 0.0422, + -0.0399 + ], + [ + 0.0397, + 0.0422, + 0.04 + ] + ], + "extents": [ + 0.0794, + 0.0807, + 0.0799 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + 0.0055, + 0.0551, + -0.0409 + ], + [ + 0.0055, + 0.0565, + 0.039 + ], + [ + 0.0558, + -0.0063, + -0.0398 + ], + [ + 0.0558, + -0.0048, + 0.0401 + ], + [ + -0.0558, + 0.0048, + -0.04 + ], + [ + -0.0558, + 0.0063, + 0.0399 + ], + [ + -0.0055, + -0.0565, + -0.0389 + ], + [ + -0.0055, + -0.0551, + 0.041 + ] + ], + "extents": [ + 0.1116, + 0.113, + 0.082 + ] + }, + "radius": 0.0419 + }, + "active": { + "place": { + "up": { + "orientation": [ + 0.9998, + 0.0176, + -0.011, + 0.0021 + ], + "projection_circle": { + "center": [ + -0.0009, + -0.0001, + -0.0399, + 0.9998, + -0.0176, + 0.011, + -0.0021 + ], + "radius": 0.0412 + }, + "contact_circle": { + "center": [ + -0.0, + -0.0, + -0.0399, + 0.9998, + -0.0176, + 0.011, + -0.0021 + ], + "radius": 0.0079 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/pokeball/00006/object.usdz b/Assets/Object/RoboDojo/Clutter/pokeball/00006/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..030cf0f1e72ae434e58f1c52fad615c3d38ba438 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/pokeball/00006/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b6a844500f85a8c8b96c77eb331d1f2118e04ed41fdc7bdaac12624964a3f3a +size 6324809 diff --git a/Assets/Object/RoboDojo/Clutter/pokeball/00007/metadata.json b/Assets/Object/RoboDojo/Clutter/pokeball/00007/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..ebe358f1359eab9bd9e5575a5dd565d0bab4bc0d --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/pokeball/00007/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "aab0fb70-4905-4221-aa69-520034a41820", + "geometry": { + "faces": 10470, + "vertices": 7180, + "aligned_bbox": { + "vertices": [ + [ + -0.0397, + -0.0385, + -0.0399 + ], + [ + -0.0397, + -0.0385, + 0.04 + ], + [ + -0.0397, + 0.0422, + -0.0399 + ], + [ + -0.0397, + 0.0422, + 0.04 + ], + [ + 0.0397, + -0.0385, + -0.0399 + ], + [ + 0.0397, + -0.0385, + 0.04 + ], + [ + 0.0397, + 0.0422, + -0.0399 + ], + [ + 0.0397, + 0.0422, + 0.04 + ] + ], + "extents": [ + 0.0794, + 0.0807, + 0.0799 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.039, + 0.023, + 0.0518 + ], + [ + -0.0322, + -0.053, + 0.0296 + ], + [ + 0.0397, + 0.0316, + 0.0465 + ], + [ + 0.0465, + -0.0445, + 0.0243 + ], + [ + -0.0465, + 0.0445, + -0.0242 + ], + [ + -0.0397, + -0.0315, + -0.0463 + ], + [ + 0.0322, + 0.0531, + -0.0295 + ], + [ + 0.039, + -0.023, + -0.0517 + ] + ], + "extents": [ + 0.0929, + 0.1061, + 0.1035 + ] + }, + "radius": 0.0416 + }, + "active": { + "place": { + "up": { + "orientation": [ + 0.9993, + 0.0274, + 0.0264, + 0.0004 + ], + "projection_circle": { + "center": [ + 0.002, + -0.0008, + -0.0397, + 0.9993, + -0.0274, + -0.0264, + -0.0004 + ], + "radius": 0.0412 + }, + "contact_circle": { + "center": [ + 0.0039, + -0.0039, + -0.0395, + 0.9993, + -0.0274, + -0.0264, + -0.0004 + ], + "radius": 0.0056 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/pokeball/00007/object.usdz b/Assets/Object/RoboDojo/Clutter/pokeball/00007/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..d482d95b07d67dae09cbfd86a96ad0022049f2d0 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/pokeball/00007/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f771b1c15eddd48ee6fc81f749b6dd207c9e79b3b42b9e28ddb7b673623eae7 +size 5658812 diff --git a/Assets/Object/RoboDojo/Clutter/pokeball/00008/metadata.json b/Assets/Object/RoboDojo/Clutter/pokeball/00008/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..d85555f7d9f0744cfeb87442ed3645e9b34387dc --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/pokeball/00008/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "3db251a3-8574-47d9-b661-ab5f628ddf04", + "geometry": { + "faces": 12930, + "vertices": 8934, + "aligned_bbox": { + "vertices": [ + [ + -0.0397, + -0.0385, + -0.0399 + ], + [ + -0.0397, + -0.0385, + 0.0408 + ], + [ + -0.0397, + 0.0422, + -0.0399 + ], + [ + -0.0397, + 0.0422, + 0.0408 + ], + [ + 0.0397, + -0.0385, + -0.0399 + ], + [ + 0.0397, + -0.0385, + 0.0408 + ], + [ + 0.0397, + 0.0422, + -0.0399 + ], + [ + 0.0397, + 0.0422, + 0.0408 + ] + ], + "extents": [ + 0.0794, + 0.0807, + 0.0807 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0398, + 0.0093, + -0.0551 + ], + [ + -0.0449, + -0.0517, + -0.0045 + ], + [ + -0.0338, + 0.0595, + 0.006 + ], + [ + -0.0389, + -0.0016, + 0.0566 + ], + [ + 0.0389, + 0.0016, + -0.0565 + ], + [ + 0.0338, + -0.0595, + -0.0059 + ], + [ + 0.0449, + 0.0517, + 0.0046 + ], + [ + 0.0398, + -0.0093, + 0.0552 + ] + ], + "extents": [ + 0.0899, + 0.119, + 0.1131 + ] + }, + "radius": 0.0417 + }, + "active": { + "place": { + "up": { + "orientation": [ + 0.9976, + -0.0684, + -0.0102, + -0.0029 + ], + "projection_circle": { + "center": [ + -0.001, + 0.006, + -0.0394, + 0.9976, + 0.0684, + 0.0102, + 0.0029 + ], + "radius": 0.0407 + }, + "contact_circle": { + "center": [ + -0.0001, + 0.004, + -0.0396, + 0.9976, + 0.0684, + 0.0102, + 0.0029 + ], + "radius": 0.0088 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/pokeball/00008/object.usdz b/Assets/Object/RoboDojo/Clutter/pokeball/00008/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..8c59108a1cde89c18213291b2f3c53033861b990 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/pokeball/00008/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e9cd6e19c3269a04b4566f7be330d8498aa1208819ca65cd190d5b9f9164da0 +size 5853490 diff --git a/Assets/Object/RoboDojo/Clutter/power_bank/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/power_bank/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a1c5570c638cac3b277ac25d391113e7a170dbdb --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/power_bank/00000/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "e88887a6-0800-40f5-817f-8078d0c99ebf", + "geometry": { + "faces": 2334, + "vertices": 1978, + "aligned_bbox": { + "vertices": [ + [ + -0.0313, + -0.076, + -0.0089 + ], + [ + -0.0313, + -0.076, + 0.0089 + ], + [ + -0.0313, + 0.0907, + -0.0089 + ], + [ + -0.0313, + 0.0907, + 0.0089 + ], + [ + 0.0387, + -0.076, + -0.0089 + ], + [ + 0.0387, + -0.076, + 0.0089 + ], + [ + 0.0387, + 0.0907, + -0.0089 + ], + [ + 0.0387, + 0.0907, + 0.0089 + ] + ], + "extents": [ + 0.07, + 0.1667, + 0.0178 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + 0.0387, + -0.076, + 0.0089 + ], + [ + 0.0387, + 0.0907, + 0.0089 + ], + [ + -0.0313, + -0.076, + 0.0089 + ], + [ + -0.0313, + 0.0907, + 0.0089 + ], + [ + 0.0387, + -0.076, + -0.0089 + ], + [ + 0.0387, + 0.0907, + -0.0089 + ], + [ + -0.0313, + -0.076, + -0.0089 + ], + [ + -0.0313, + 0.0907, + -0.0089 + ] + ], + "extents": [ + 0.07, + 0.1667, + 0.0178 + ] + }, + "radius": 0.0877 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "projection_circle": { + "center": [ + 0.0037, + 0.0073, + -0.0089, + 1.0, + 0.0, + 0.0, + 0.0 + ], + "radius": 0.0876 + }, + "contact_circle": { + "center": [ + 0.0037, + 0.0073, + -0.0089, + 1.0, + 0.0, + 0.0, + 0.0 + ], + "radius": 0.0862 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/power_bank/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/power_bank/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..a055c30fc8a71944ad4c1212afba9775a1f0f34e --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/power_bank/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d197c0c3bc366bf520087de5285f9ffc6bdd15b04d670118d36bc66a99a800bc +size 25346910 diff --git a/Assets/Object/RoboDojo/Clutter/sandwich/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/sandwich/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..115e679c43d83d6ea5fef9fc3d91ef907567440c --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/sandwich/00000/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "fc1d316d-ba89-4dbc-a474-5a4f6678dee7", + "geometry": { + "faces": 6252, + "vertices": 3356, + "aligned_bbox": { + "vertices": [ + [ + -0.0908, + -0.0542, + -0.0007 + ], + [ + -0.0908, + -0.0542, + 0.0716 + ], + [ + -0.0908, + 0.0547, + -0.0007 + ], + [ + -0.0908, + 0.0547, + 0.0716 + ], + [ + 0.0928, + -0.0542, + -0.0007 + ], + [ + 0.0928, + -0.0542, + 0.0716 + ], + [ + 0.0928, + 0.0547, + -0.0007 + ], + [ + 0.0928, + 0.0547, + 0.0716 + ] + ], + "extents": [ + 0.1836, + 0.1088, + 0.0723 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + 0.0907, + 0.0613, + 0.0689 + ], + [ + -0.0924, + 0.0546, + 0.0707 + ], + [ + 0.0947, + -0.047, + 0.071 + ], + [ + -0.0884, + -0.0537, + 0.0729 + ], + [ + 0.09, + 0.0599, + -0.0025 + ], + [ + -0.093, + 0.0531, + -0.0007 + ], + [ + 0.094, + -0.0484, + -0.0004 + ], + [ + -0.089, + -0.0552, + 0.0015 + ] + ], + "extents": [ + 0.1877, + 0.1165, + 0.0754 + ] + }, + "radius": 0.0972 + }, + "active": { + "place": { + "up": { + "orientation": [ + 0.9999, + 0.0162, + -0.0049, + 0.0 + ], + "projection_circle": { + "center": [ + -0.0037, + 0.001, + -0.0009, + 0.9999, + -0.0162, + 0.0049, + -0.0 + ], + "radius": 0.0971 + }, + "contact_circle": { + "center": [ + -0.0044, + -0.0067, + -0.0006, + 0.9999, + -0.0162, + 0.0049, + -0.0 + ], + "radius": 0.0806 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/sandwich/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/sandwich/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..5ebccc212cc81937ae7c53b8cb4c48dc2f7d3af8 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/sandwich/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3991850295959e4faf698cadf64228a56a3c790357e50b5895332efda6ff1c7b +size 3496819 diff --git a/Assets/Object/RoboDojo/Clutter/screwdriver/00000/description.json b/Assets/Object/RoboDojo/Clutter/screwdriver/00000/description.json new file mode 100644 index 0000000000000000000000000000000000000000..255f46e1c6e79f60050a4b13f96ab7904e3eda4d --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/screwdriver/00000/description.json @@ -0,0 +1,137 @@ +{ + "uuid": "8965af25-3421-49f6-bd0f-f36f58fe1e43", + "caption": { + "color": [ + "teal", + "black grip", + "silver shaft" + ], + "material": [ + "plastic handle", + "steel shaft", + "rubberized grip" + ], + "size": [ + "handheld", + "standard screwdriver length", + "fits in palm" + ], + "name": [ + "screwdriver", + "flathead screwdriver", + "precision screwdriver" + ], + "shape": [ + "ergonomic handle", + "tapered shaft", + "flat tip" + ], + "function": [ + "tightening screws", + "loosening flathead screws", + "precision assembly" + ] + }, + "description": [ + "teal steel shaft ergonomic handle precision screwdriver", + "silver shaft tapered shaft flathead screwdriver used for precision assembly", + "precision screwdriver featuring steel shaft build", + "flathead screwdriver in flat tip", + "screwdriver appropriate for tightening screws", + "silver shaft plastic handle precision screwdriver", + "teal tapered shaft object for loosening flathead screws", + "silver shaft fits in palm precision screwdriver for tightening screws", + "screwdriver suitable for loosening flathead screws", + "handheld flathead screwdriver used for tightening screws", + "teal steel shaft ergonomic handle screwdriver", + "screwdriver for precision assembly scenarios", + "precision assembly use of screwdriver", + "fits in palm tapered shaft screwdriver", + "precision screwdriver featuring flat tip shape", + "handheld plastic handle ergonomic handle for precision assembly", + "standard screwdriver length flat tip object", + "precision screwdriver in fits in palm", + "screwdriver appropriate for precision assembly", + "steel shaft object for precision assembly", + "black grip object used for loosening flathead screws", + "screwdriver in fits in palm", + "flathead screwdriver for tightening screws scenarios", + "teal plastic handle precision screwdriver", + "fits in palm steel shaft flathead screwdriver", + "teal object used for loosening flathead screws", + "black grip rubberized grip tapered shaft object", + "screwdriver typically made of rubberized grip", + "plastic handle ergonomic handle object used for precision assembly", + "plastic handle screwdriver suitable for loosening flathead screws", + "ergonomic handle object used for loosening flathead screws", + "precision screwdriver in black grip", + "screwdriver in flat tip form", + "flathead screwdriver primarily used for loosening flathead screws", + "handheld plastic handle flathead screwdriver", + "black grip precision screwdriver for tightening screws", + "silver shaft object used for precision assembly", + "handheld black grip screwdriver", + "precision screwdriver designed for tightening screws", + "black grip tapered shaft screwdriver", + "rubberized grip tapered shaft object used for precision assembly", + "screwdriver ideal for loosening flathead screws", + "black grip tapered shaft object for loosening flathead screws", + "precision screwdriver built from steel shaft", + "handheld precision screwdriver for tightening screws", + "standard screwdriver length plastic handle object", + "precision screwdriver with plastic handle body", + "standard screwdriver length silver shaft plastic handle tapered shaft object", + "precision screwdriver commonly found in handheld size", + "rubberized grip object used for precision assembly", + "screwdriver shaped like a ergonomic handle", + "standard screwdriver length black grip object for loosening flathead screws", + "precision screwdriver intended for precision assembly usage", + "screwdriver featuring ergonomic handle shape", + "silver shaft precision screwdriver suitable for precision assembly", + "silver shaft object used for loosening flathead screws", + "silver shaft ergonomic handle precision screwdriver", + "teal precision screwdriver used for precision assembly", + "ergonomic handle screwdriver used for loosening flathead screws", + "flathead screwdriver with plastic handle construction", + "flathead screwdriver in tapered shaft", + "tapered shaft screwdriver ideal for loosening flathead screws", + "black grip handheld rubberized grip object", + "precision screwdriver primarily used for loosening flathead screws", + "flathead screwdriver for tightening screws use", + "fits in palm black grip tapered shaft for tightening screws", + "tightening screws use of screwdriver", + "flathead screwdriver featuring flat tip shape", + "flat tip flathead screwdriver ideal for precision assembly", + "rubberized grip flat tip for precision assembly", + "fits in palm tapered shaft precision screwdriver for precision assembly", + "plastic handle screwdriver used for loosening flathead screws", + "precision screwdriver intended for tightening screws", + "handheld rubberized grip precision screwdriver for loosening flathead screws", + "ergonomic handle precision screwdriver for precision assembly", + "screwdriver sized handheld", + "precision screwdriver with steel shaft surface", + "loosening flathead screws with screwdriver", + "precision screwdriver commonly featuring steel shaft", + "precision screwdriver for loosening flathead screws with steel shaft", + "steel shaft flathead screwdriver used for precision assembly", + "precision screwdriver shaped like a tapered shaft", + "flathead screwdriver featuring plastic handle build", + "flathead screwdriver intended for tightening screws", + "standard screwdriver length screwdriver perfect for loosening flathead screws", + "precision screwdriver optimized for tightening screws", + "fits in palm teal plastic handle flat tip object", + "fits in palm ergonomic handle object for loosening flathead screws", + "plastic handle silver shaft precision screwdriver", + "screwdriver primarily used for loosening flathead screws", + "precision screwdriver with silver shaft exterior", + "teal screwdriver suitable for tightening screws", + "handheld silver shaft flat tip object", + "handheld teal rubberized grip precision screwdriver", + "flathead screwdriver with steel shaft surface", + "teal flat tip object for tightening screws", + "fits in palm screwdriver perfect for loosening flathead screws", + "ergonomic handle plastic handle object for tightening screws", + "screwdriver built from plastic handle", + "plastic handle object used for precision assembly" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/screwdriver/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/screwdriver/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..ce49df64fdb78528fcb8f5d0109c771eda5c21d4 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/screwdriver/00000/metadata.json @@ -0,0 +1,146 @@ +{ + "uuid": "8965af25-3421-49f6-bd0f-f36f58fe1e43", + "physics": { + "mass": 0.06, + "friction": 0.45 + }, + "geometry": { + "faces": 105620, + "vertices": 64619, + "aligned_bbox": { + "vertices": [ + [ + -0.0725, + -0.0144, + -0.0686 + ], + [ + -0.0725, + -0.0144, + 0.0686 + ], + [ + -0.0725, + 0.0145, + -0.0686 + ], + [ + -0.0725, + 0.0145, + 0.0686 + ], + [ + 0.0725, + -0.0144, + -0.0686 + ], + [ + 0.0725, + -0.0144, + 0.0686 + ], + [ + 0.0725, + 0.0145, + -0.0686 + ], + [ + 0.0725, + 0.0145, + 0.0686 + ] + ], + "extents": [ + 0.145, + 0.0289, + 0.1372 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0613, + 0.0145, + -0.0795 + ], + [ + 0.0779, + 0.0145, + 0.0527 + ], + [ + -0.0614, + -0.0144, + -0.0794 + ], + [ + 0.0777, + -0.0145, + 0.0528 + ], + [ + -0.0804, + 0.0147, + -0.0593 + ], + [ + 0.0587, + 0.0146, + 0.0729 + ], + [ + -0.0805, + -0.0143, + -0.0592 + ], + [ + 0.0586, + -0.0143, + 0.073 + ] + ], + "extents": [ + 0.1584, + 0.0291, + 0.1525 + ] + }, + "radius": 0.096 + }, + "active": { + "place": { + "up": { + "orientation": [ + 0.9354, + 0.001, + 0.352, + -0.0333 + ], + "projection_circle": { + "center": [ + 0.0062, + -0.0003, + -0.012, + 0.9354, + -0.001, + -0.352, + 0.0333 + ], + "radius": 0.0959 + }, + "contact_circle": { + "center": [ + 0.0345, + 0.0021, + 0.0128, + 0.9354, + -0.001, + -0.352, + 0.0333 + ], + "radius": 0.0346 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/screwdriver/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/screwdriver/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..f6c9f82a78dac6679bb8375a6fa26250cccd651d --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/screwdriver/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:250db29978833e1a864bb610b0779ca7ad4ebedddcaeca900d3a9b56f31e7ff6 +size 10385907 diff --git a/Assets/Object/RoboDojo/Clutter/shampoo/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/shampoo/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..6caed4fee5cc7856a70f28a4a6b9c9772cdf57c0 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/shampoo/00000/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "6e72f5f6-8a50-4eca-82ce-5ebe1e06e7fc", + "geometry": { + "faces": 980, + "vertices": 610, + "aligned_bbox": { + "vertices": [ + [ + -0.0458, + -0.0244, + 0.0 + ], + [ + -0.0458, + -0.0244, + 0.2206 + ], + [ + -0.0458, + 0.0244, + 0.0 + ], + [ + -0.0458, + 0.0244, + 0.2206 + ], + [ + 0.0458, + -0.0244, + 0.0 + ], + [ + 0.0458, + -0.0244, + 0.2206 + ], + [ + 0.0458, + 0.0244, + 0.0 + ], + [ + 0.0458, + 0.0244, + 0.2206 + ] + ], + "extents": [ + 0.0916, + 0.0487, + 0.2206 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0458, + -0.0244, + 0.2206 + ], + [ + -0.0458, + -0.0244, + 0.0 + ], + [ + 0.0458, + -0.0244, + 0.2206 + ], + [ + 0.0458, + -0.0244, + 0.0 + ], + [ + -0.0458, + 0.0244, + 0.2206 + ], + [ + -0.0458, + 0.0244, + 0.0 + ], + [ + 0.0458, + 0.0244, + 0.2206 + ], + [ + 0.0458, + 0.0244, + 0.0 + ] + ], + "extents": [ + 0.0916, + 0.0487, + 0.2206 + ] + }, + "radius": 0.1144 + }, + "active": { + "place": { + "up": { + "orientation": [ + -0.7052, + 0.709, + 0.0025, + -0.0025 + ], + "projection_circle": { + "center": [ + 0.0, + 0.0241, + 0.1096, + -0.7052, + -0.709, + -0.0025, + 0.0025 + ], + "radius": 0.1143 + }, + "contact_circle": { + "center": [ + 0.0, + 0.0242, + 0.0742, + -0.7052, + -0.709, + -0.0025, + 0.0025 + ], + "radius": 0.0778 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/shampoo/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/shampoo/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..ae7cca6bc51babc3642c76a83a83633ff73856ad --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/shampoo/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4bf7c120462ff60ad4b011e705170936d077d02b17d58c9c93691c4674abb2a +size 4051793 diff --git a/Assets/Object/RoboDojo/Clutter/stapler/00000/description.json b/Assets/Object/RoboDojo/Clutter/stapler/00000/description.json new file mode 100644 index 0000000000000000000000000000000000000000..c6337490eab7b196563ef4ed24271d4c94a69119 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/stapler/00000/description.json @@ -0,0 +1,137 @@ +{ + "uuid": "5a0d0dd9-238a-4004-a8d3-6b57ac31b7a7", + "caption": { + "color": [ + "deep blue plastic top", + "silver metal base", + "dark navy accents" + ], + "material": [ + "glossy plastic", + "stainless steel", + "metal spring mechanism" + ], + "size": [ + "compact handheld", + "fits in palm", + "standard office stapler size" + ], + "name": [ + "stapler", + "desk stapler", + "office stapler" + ], + "shape": [ + "curved ergonomic top", + "hinged lever design", + "rectangular base with open throat" + ], + "function": [ + "fastening paper sheets together", + "driving staples through documents", + "binding multiple pages" + ] + }, + "description": [ + "silver metal base object used for fastening paper sheets together", + "hinged lever design object made of stainless steel", + "desk stapler appropriate for binding multiple pages use", + "desk stapler with curved ergonomic top geometry", + "stainless steel office stapler used for binding multiple pages", + "office stapler in curved ergonomic top form", + "deep blue plastic top stapler for binding multiple pages", + "desk stapler commonly found in compact handheld size", + "dark navy accents object used for driving staples through documents", + "office stapler in hinged lever design form", + "office stapler featuring curved ergonomic top shape", + "office stapler suitable for fastening paper sheets together", + "dark navy accents desk stapler for binding multiple pages", + "silver metal base office stapler used for fastening paper sheets together", + "rectangular base with open throat office stapler ideal for fastening paper sheets together", + "silver metal base glossy plastic desk stapler", + "stapler for fastening paper sheets together scenarios", + "hinged lever design fits in palm office stapler", + "stapler optimized for fastening paper sheets together", + "stapler ideal for binding multiple pages", + "dark navy accents glossy plastic curved ergonomic top object", + "compact handheld office stapler for fastening paper sheets together", + "office stapler with metal spring mechanism construction", + "office stapler intended for binding multiple pages", + "stapler with rectangular base with open throat geometry", + "desk stapler featuring stainless steel build", + "stapler intended for binding multiple pages usage", + "silver metal base rectangular base with open throat desk stapler", + "stapler featuring hinged lever design shape", + "glossy plastic hinged lever design object used for fastening paper sheets together", + "compact handheld metal spring mechanism stapler", + "fits in palm dark navy accents curved ergonomic top object", + "standard office stapler size silver metal base rectangular base with open throat for binding multiple pages", + "office stapler for fastening paper sheets together use", + "curved ergonomic top metal spring mechanism object for fastening paper sheets together", + "office stapler commonly featuring stainless steel", + "stapler for binding multiple pages with metal spring mechanism", + "desk stapler with glossy plastic surface", + "office stapler shaped like a rectangular base with open throat", + "compact handheld stainless steel office stapler", + "compact handheld stapler used for binding multiple pages", + "office stapler for fastening paper sheets together tasks", + "stapler sized as fits in palm", + "compact handheld hinged lever design object", + "standard office stapler size stainless steel hinged lever design for binding multiple pages", + "compact handheld rectangular base with open throat object", + "curved ergonomic top glossy plastic object for driving staples through documents", + "standard office stapler size deep blue plastic top glossy plastic hinged lever design object", + "fits in palm curved ergonomic top object", + "stapler for driving staples through documents use", + "stapler typically made of metal spring mechanism", + "fits in palm object used for driving staples through documents", + "curved ergonomic top object made of metal spring mechanism", + "stainless steel deep blue plastic top office stapler", + "stainless steel curved ergonomic top object used for binding multiple pages", + "glossy plastic object used for driving staples through documents", + "stapler made from metal spring mechanism", + "office stapler for driving staples through documents", + "desk stapler for fastening paper sheets together with stainless steel", + "stapler ideal for fastening paper sheets together", + "hinged lever design-shaped desk stapler", + "standard office stapler size object used for driving staples through documents", + "metal spring mechanism office stapler for binding multiple pages", + "desk stapler for driving staples through documents tasks", + "compact handheld silver metal base metal spring mechanism hinged lever design object", + "fits in palm stainless steel office stapler for driving staples through documents", + "office stapler for fastening paper sheets together scenarios", + "compact handheld deep blue plastic top object for binding multiple pages", + "metal spring mechanism curved ergonomic top desk stapler", + "office stapler with deep blue plastic top exterior", + "stainless steel desk stapler for driving staples through documents", + "silver metal base fits in palm stapler for driving staples through documents", + "stapler appropriate for fastening paper sheets together", + "fits in palm glossy plastic hinged lever design for binding multiple pages", + "deep blue plastic top office stapler for binding multiple pages", + "desk stapler with metal spring mechanism surface", + "compact handheld stainless steel rectangular base with open throat for fastening paper sheets together", + "stainless steel hinged lever design office stapler", + "desk stapler made from stainless steel", + "office stapler with silver metal base color", + "stainless steel object used for binding multiple pages", + "fits in palm dark navy accents object for fastening paper sheets together", + "compact handheld desk stapler used for driving staples through documents", + "curved ergonomic top glossy plastic office stapler for driving staples through documents", + "driving staples through documents use of stapler", + "desk stapler with standard office stapler size dimensions", + "desk stapler appropriate for fastening paper sheets together", + "office stapler with dark navy accents color", + "office stapler for driving staples through documents tasks", + "compact handheld curved ergonomic top office stapler for fastening paper sheets together", + "office stapler commonly used for fastening paper sheets together", + "stapler in dark navy accents", + "office stapler with rectangular base with open throat geometry", + "fits in palm office stapler perfect for fastening paper sheets together", + "office stapler intended for fastening paper sheets together", + "stainless steel office stapler suitable for fastening paper sheets together", + "stainless steel object for fastening paper sheets together", + "fits in palm metal spring mechanism curved ergonomic top for binding multiple pages", + "curved ergonomic top stainless steel stapler for binding multiple pages", + "desk stapler with hinged lever design geometry" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/stapler/00000/grasps/proposal.json b/Assets/Object/RoboDojo/Clutter/stapler/00000/grasps/proposal.json new file mode 100644 index 0000000000000000000000000000000000000000..71116c74e4cb698dec4247e029b9faafdc23a559 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/stapler/00000/grasps/proposal.json @@ -0,0 +1,1205 @@ +{ + "uuid": "5a0d0dd9-238a-4004-a8d3-6b57ac31b7a7", + "grasp": [ + [ + [ + -0.004396390082720114, + -0.0034365079459307414, + 0.10995670764834288, + 0.05870679497465431, + -0.6911279003003106, + -0.7197325305363381, + 0.029678647847347722 + ], + 0.9856129288673401 + ], + [ + [ + -0.003183828812498046, + 0.004989271927574494, + 0.11018374174029234, + 0.044353546383149256, + -0.6907352993517452, + -0.7191111711816164, + 0.06161682103530609 + ], + 0.9850108027458191 + ], + [ + [ + -0.002239334891955746, + -0.004194897189786813, + 0.1195682322898567, + 0.06234493276435355, + -0.6904190662764347, + -0.7198508969178546, + 0.035345558237834196 + ], + 0.9828230738639832 + ], + [ + [ + -0.07585942806344051, + -0.002284231651624821, + 0.11098642259032133, + 0.13122023795932697, + 0.6909809007597904, + 0.6951886216598336, + 0.1484568093749382 + ], + 0.9813866019248962 + ], + [ + [ + 0.013798203639280604, + -0.005727776382168911, + 0.1066428309598625, + 0.038203674700362115, + 0.7220170268053338, + -0.6877045452792652, + -0.06553129515593521 + ], + 0.9813225269317627 + ], + [ + [ + -0.06863390715460796, + -0.006803682595541856, + 0.11102401822001341, + 0.11505039630926046, + 0.6894179060899707, + 0.69661561569941, + 0.1618426428211487 + ], + 0.9797838926315308 + ], + [ + [ + -0.01232233797799368, + -0.001279091285592101, + 0.10964554905087355, + 0.05700709978888796, + -0.6953097098637459, + -0.7158474952510692, + 0.02927390451619981 + ], + 0.9793248772621155 + ], + [ + [ + -0.05475017117004414, + -0.01976703532045164, + 0.11593038945586089, + 0.07641900242251816, + -0.701447139180184, + -0.7054981464651379, + -0.06636574672930132 + ], + 0.9790770411491394 + ], + [ + [ + -0.036966447398472026, + -0.0013338310504836658, + 0.121694531134671, + 0.039346745719467856, + 0.7185323209488518, + -0.6927975803228154, + -0.046847092246968314 + ], + 0.9783970713615417 + ], + [ + [ + -0.025732523441720202, + 0.004421155843833306, + 0.11295229553372267, + 0.06228794221603008, + 0.724658641460181, + -0.6854527021892662, + -0.03383280468732462 + ], + 0.9782162308692932 + ], + [ + [ + 0.007310949585926341, + -0.010621282793631934, + 0.11572799443394545, + 0.07877199124729695, + -0.6986993262686314, + -0.7110590092085893, + -0.0030512767812776198 + ], + 0.9781157374382019 + ], + [ + [ + -0.08998142243962307, + -0.006615635063549659, + 0.10877142458350066, + 0.1516867870429151, + -0.709049007117473, + 0.6730263894189126, + -0.14586330343189358 + ], + 0.9777994751930237 + ], + [ + [ + 0.03710578693408947, + 0.00012833024311888268, + 0.09908547609240416, + 0.05811390898116581, + -0.6890903555622522, + -0.721440125285781, + 0.036074937029105525 + ], + 0.9775905609130859 + ], + [ + [ + -0.026969914004612162, + -0.034154845923235796, + 0.10534032045990828, + 0.1589222253375677, + -0.6912081822363128, + -0.6984976576990256, + -0.09526802869957134 + ], + 0.9771892428398132 + ], + [ + [ + 0.056959002598714635, + -0.005528256353041313, + 0.10206222145945433, + 0.11191177080473137, + -0.6939748104952786, + -0.7072444671348336, + 0.07536565305599512 + ], + 0.9771326780319214 + ], + [ + [ + -0.07763004364113826, + 0.013370616771230318, + 0.10852567463309172, + 0.19867960667947052, + 0.6738594066904682, + 0.7050747977694375, + 0.09648545721946093 + ], + 0.9770887494087219 + ], + [ + [ + 0.06925006894726735, + 0.0034565766714008826, + 0.09053612857252959, + 0.21029875130058712, + -0.6648696503825257, + -0.6902299813801853, + 0.19314594483327965 + ], + 0.9767642617225647 + ], + [ + [ + -0.08676622869114894, + -0.015458336621573351, + 0.10960431008726958, + 0.17691809022932214, + -0.7073960101541017, + 0.6748109492592455, + -0.11367082707319312 + ], + 0.9766845703125 + ], + [ + [ + -0.08197470815520305, + -0.01576019875710287, + 0.10840445368677977, + 0.20282585016004126, + -0.681656531815151, + 0.6948194913093315, + -0.10692016478307143 + ], + 0.9766722917556763 + ], + [ + [ + -0.0923604971323492, + 0.0196820473670455, + 0.10426988064438704, + 0.23548456898439873, + 0.6628367905288378, + 0.7056786549114187, + 0.084923747527252 + ], + 0.9764580130577087 + ], + [ + [ + -0.046515353635359004, + 0.0014886526064442774, + 0.11331321655899886, + 0.1203583459361753, + -0.7030574106429512, + 0.6897762271528052, + -0.12422923310710214 + ], + 0.9764071702957153 + ], + [ + [ + 0.05046857459802608, + -0.008926530890217207, + 0.09643028288275603, + 0.19038647142691664, + 0.6725324393247907, + -0.6793144257001593, + -0.2235733002599312 + ], + 0.9762416481971741 + ], + [ + [ + -0.039731946453857615, + 0.014741308465549566, + 0.1095153799572647, + 0.07737306326360191, + 0.7267714976097099, + -0.6822308054862236, + 0.01943521003140834 + ], + 0.9754879474639893 + ], + [ + [ + 0.04566479413170795, + -0.004016648568263433, + 0.09637011199385527, + 0.07360157740743524, + 0.7117775519770881, + -0.6917988101612379, + -0.0967984016610617 + ], + 0.9749659299850464 + ], + [ + [ + 0.04825923158187847, + -0.004565612468918941, + 0.09425387143284682, + 0.2517773573720138, + -0.6650878718077909, + -0.667063285135619, + 0.2220199511598569 + ], + 0.9747498035430908 + ], + [ + [ + -0.10202023448090572, + -0.005800860524227998, + 0.09973895906597975, + 0.19746977114924213, + -0.6933730716100038, + 0.6689985981475969, + -0.18077706913468128 + ], + 0.9745270609855652 + ], + [ + [ + -0.07785130353312511, + -0.007331276368400238, + 0.10789302348286513, + 0.16559649053654504, + -0.6941419224585763, + 0.6863184617711628, + -0.14039858560383353 + ], + 0.97356116771698 + ], + [ + [ + 0.053985140606355474, + 0.019961097687432386, + 0.10298814236313704, + 0.05145620752873201, + -0.6582577589276998, + -0.7361028208674025, + 0.14900207592277015 + ], + 0.9729089736938477 + ], + [ + [ + -0.08522000224928875, + -0.005577162429740808, + 0.10690714030653838, + 0.14349659787442054, + -0.7110019085076338, + 0.6726291537965496, + -0.14647536980634868 + ], + 0.9727022051811218 + ], + [ + [ + -0.028285094216871455, + -0.011089971810629748, + 0.12014742552430037, + 0.04706165055671849, + -0.7217953346211948, + 0.6866325929921616, + 0.07302313473698269 + ], + 0.9726644158363342 + ], + [ + [ + 0.08665797053236943, + 0.016936582922885038, + 0.09046462535054091, + 0.15796798764148265, + -0.6403397850676892, + -0.7100383811809253, + 0.24669124789893984 + ], + 0.972309947013855 + ], + [ + [ + 0.08262310861010533, + 0.004593957625279047, + 0.08611895500809554, + 0.21541592787301878, + -0.6623549457129825, + -0.6801961224219396, + 0.22850632146685998 + ], + 0.9721344113349915 + ], + [ + [ + 0.10902360765595417, + -0.011004607714763068, + 0.0687351560512245, + 0.2817581322114275, + -0.6475760986092592, + -0.6807838874021016, + 0.19439868851517733 + ], + 0.9709619283676147 + ], + [ + [ + 0.039264719321918294, + -0.0053113145381716706, + 0.10810470937878493, + 0.07418434962411546, + -0.6778860905531209, + -0.7308016777315217, + 0.029933899349173163 + ], + 0.9708630442619324 + ], + [ + [ + -0.06333749057393093, + -0.004126260578682802, + 0.10741778074890974, + 0.14406511200807087, + -0.7090854594655378, + 0.6776000180796431, + -0.13153429277232917 + ], + 0.9702832102775574 + ], + [ + [ + 0.09446276663203221, + -0.029255206286957644, + 0.08082963138014677, + 0.31180705216054144, + -0.6592846632826833, + -0.6771508005843148, + 0.09791265623613064 + ], + 0.9702427387237549 + ], + [ + [ + 0.010906482435357379, + 0.01688772201533041, + 0.10307798891455534, + 0.1557347025700613, + 0.7250389633102975, + -0.6708615431953155, + -0.0031613223409553137 + ], + 0.9693683385848999 + ], + [ + [ + -0.03324217782955189, + -0.03729197621350565, + 0.10407391547352675, + 0.17141602743747283, + -0.683874703136585, + -0.6985033594983299, + -0.12257647701313204 + ], + 0.9691628217697144 + ], + [ + [ + 0.023912928387117192, + 0.012505839057216264, + 0.09926206230313185, + 0.1869486664764855, + -0.6767772475382399, + -0.6565661468714818, + 0.2755787511757098 + ], + 0.9688527584075928 + ], + [ + [ + 0.05291142253537159, + -0.00527571892370858, + 0.09138973414093855, + 0.22475702735396597, + -0.6682608022053254, + -0.6809141242517364, + 0.19816087980576386 + ], + 0.9673429131507874 + ], + [ + [ + 0.05264239697117786, + -0.0013828516798598388, + 0.09180682509333495, + 0.23426554839250865, + 0.6681247204218994, + -0.665171058601551, + -0.23722662918906953 + ], + 0.9661703705787659 + ], + [ + [ + -0.10924935402016658, + 0.017879267632910825, + 0.09188457190186385, + 0.16551231266116725, + -0.6960940154380635, + 0.618844456876824, + -0.3241763936835844 + ], + 0.964263916015625 + ], + [ + [ + -0.14005937488417644, + -0.00451308215042033, + 0.07334254293829802, + 0.33323826905988846, + -0.6336358416728902, + 0.6125448457653897, + -0.33503236874623354 + ], + 0.9635735154151917 + ], + [ + [ + -0.1521119555984022, + 0.00153131823981724, + 0.026313315919941703, + 0.4744313970909475, + -0.5300601167364112, + 0.5083664852890973, + -0.48529850477260256 + ], + 0.9634072184562683 + ], + [ + [ + -0.07217533947567958, + -0.03683952853088655, + 0.10667074083477858, + 0.28983607056550725, + -0.6546385275097656, + 0.6981405449678849, + -0.006574950261208842 + ], + 0.9625402092933655 + ], + [ + [ + 0.0041372825797317495, + -0.012317737154713057, + 0.10422860442788008, + 0.0836635099664265, + -0.7140098940649957, + 0.6951188295518521, + -0.00031793058145894947 + ], + 0.9623603224754333 + ], + [ + [ + -0.13303767950873394, + 0.014156624153205968, + 0.07173196583182219, + 0.25963632172362744, + -0.6528851247345904, + 0.5877190558951934, + -0.40114374690350824 + ], + 0.9621310234069824 + ], + [ + [ + 0.10672160921950322, + 0.01340973883862219, + 0.06905266999394301, + 0.2873668484386589, + 0.6653942334070861, + -0.6623111882340437, + -0.18977538962425564 + ], + 0.961535632610321 + ], + [ + [ + -0.07103216709237117, + 0.02920495666558466, + 0.10654652475506667, + 0.25547053254002033, + 0.660280110975755, + 0.7058696137188446, + 0.02265105917991625 + ], + 0.9607884883880615 + ], + [ + [ + -0.005376170069384767, + 0.027509014531919576, + 0.10174537806898955, + 0.17646198137291863, + 0.7153426683503606, + -0.6749818237438939, + 0.03931378362224066 + ], + 0.960128903388977 + ], + [ + [ + -0.0413767813299181, + -0.011432109922221087, + 0.10679974763781432, + 0.16280395612243495, + -0.6987957768081818, + 0.688021907426261, + -0.10865168699778145 + ], + 0.9593990445137024 + ], + [ + [ + 0.12544470219273549, + 0.0065059246867390655, + 0.06283767133147124, + 0.29191150519854153, + -0.6236724316696696, + -0.6509415103763224, + 0.3195238976617482 + ], + 0.958152711391449 + ], + [ + [ + 0.02961662536818962, + -0.005955906640788696, + 0.0972061192908943, + 0.07151343070628813, + 0.7137606206770093, + -0.6907327055325732, + -0.09121367828916313 + ], + 0.9573058485984802 + ], + [ + [ + 0.027700736507367894, + -0.004745425246706388, + -0.12067867458670732, + 0.7140479068940414, + -0.027206138793396836, + -0.010684166226564651, + -0.6994864267905674 + ], + 0.9567546844482422 + ], + [ + [ + 0.08524146614928227, + 0.001422541742162623, + -0.10895724982827303, + 0.7068150618039023, + -0.13448408071698273, + -0.12546345749540888, + 0.6830705829371894 + ], + 0.9560418128967285 + ], + [ + [ + 0.08306378065009098, + 0.0035231108217926997, + -0.10907266677229997, + 0.6997674939463817, + 0.14355807009700355, + -0.13200841700673338, + -0.6872338122978235 + ], + 0.9560329914093018 + ], + [ + [ + 0.10665301172394734, + -0.02567059040074625, + 0.07750101744324568, + 0.1352024663645919, + 0.6624024480094035, + -0.6616524273858753, + -0.32428283225366816 + ], + 0.955901026725769 + ], + [ + [ + -0.14949270398955364, + -0.002635728623768471, + 0.023132091231054107, + 0.4367017329746131, + -0.5617266539903922, + 0.4810738389701458, + -0.5121745054883681 + ], + 0.9558042287826538 + ], + [ + [ + 0.040425720944595143, + -0.005189619083007953, + -0.11953686565964815, + 0.7022481731265019, + -0.06340436661155961, + -0.0171138713554716, + 0.7088966815004186 + ], + 0.9541683197021484 + ], + [ + [ + -0.09303876073699016, + -0.03454338252549448, + 0.11026826857716444, + 0.26549572685407796, + -0.6745832799924011, + 0.6881513131591703, + -0.029953089560639662 + ], + 0.9533870816230774 + ], + [ + [ + 0.09074462889094334, + 0.0033126065413894433, + 0.07797844319731596, + 0.2524778976461391, + 0.6722722536722301, + -0.6492148859625608, + -0.2506490773716622 + ], + 0.953205943107605 + ], + [ + [ + -0.13773230524401683, + -0.014683528393557452, + 0.08076651006132964, + 0.34914075176587683, + -0.6265129705350502, + 0.6372928874869828, + -0.28185104003038514 + ], + 0.9512467980384827 + ], + [ + [ + 0.09868090538640004, + -0.006338103264620683, + 0.07122218965680006, + 0.26687235824394556, + -0.6558778955369892, + -0.6717139464192354, + 0.217723918615254 + ], + 0.9511224627494812 + ], + [ + [ + -0.07792478860955257, + -0.005472359769096754, + 0.10457931815773848, + 0.18150428316835607, + 0.6345195854466149, + 0.7355471030160573, + 0.15300833350142276 + ], + 0.951102077960968 + ], + [ + [ + -0.020855039969492152, + -0.0478712716699151, + 0.1031170821109474, + 0.16137449085713323, + -0.6740748030895124, + 0.690046941007097, + 0.2083666305990101 + ], + 0.9503665566444397 + ], + [ + [ + 0.09854838190932255, + 0.01311191212380848, + 0.06979243814141158, + 0.24727640295383793, + -0.6374095933864135, + -0.659677075584638, + 0.3120729830492827 + ], + 0.9499096870422363 + ], + [ + [ + -0.08484377028088588, + -0.006941462922891758, + 0.10120481609494093, + 0.1260456617643042, + 0.6918484886500534, + 0.6893527100800488, + 0.17392814898206446 + ], + 0.9493609070777893 + ], + [ + [ + -0.11002250076870937, + -0.0010923122149465302, + 0.08962568997532729, + 0.28891792896062274, + 0.641753225673267, + 0.6477288908918812, + 0.2917644796184675 + ], + 0.9492583870887756 + ], + [ + [ + 0.050804480298948095, + 0.0016961272945123097, + -0.11724511177151796, + 0.6982557530799286, + -0.09176928120499775, + -0.09144764089812263, + 0.7040274364625768 + ], + 0.9488849639892578 + ], + [ + [ + 0.09204137264151555, + 0.03492894157762251, + 0.07160004585177306, + 0.11894024226249035, + -0.647070603500795, + -0.655373548979543, + 0.37099644762937506 + ], + 0.9487952589988708 + ], + [ + [ + 0.033946032955837056, + 0.036655233651349164, + 0.08761193215042952, + 0.3659500176466856, + 0.6402070287052235, + -0.6726776641404536, + -0.06099430422066377 + ], + 0.9482437372207642 + ], + [ + [ + 0.11096937893290501, + -0.02520657196646013, + 0.0727075448551834, + 0.16302753069250348, + 0.6247018706356683, + -0.6897279895744746, + -0.3277878848556716 + ], + 0.9469202160835266 + ], + [ + [ + 0.07036688117642384, + 0.002197044379958727, + -0.11390076220839616, + 0.6985412889000664, + 0.13703669730544868, + -0.12967381340898398, + -0.6902504715024982 + ], + 0.9461134672164917 + ], + [ + [ + 0.009183914720606612, + 0.0024348217434676665, + -0.12311863542407152, + 0.7165597357464452, + -0.0313458988381798, + 0.0314682043904454, + -0.6961101434726059 + ], + 0.9458445310592651 + ], + [ + [ + -0.07955345572571773, + 0.038297468274781324, + 0.10199743866116408, + 0.3114777530469708, + 0.632542346480655, + 0.7090389249726756, + -0.01164440376961683 + ], + 0.9448863863945007 + ], + [ + [ + -0.1513429513726713, + 0.0007227329210805079, + -0.03396863506048318, + 0.5818471017599978, + 0.4000432388830693, + 0.3867757589444656, + 0.5931474264382903 + ], + 0.9442933201789856 + ], + [ + [ + -0.14875835986475963, + -0.007926259711435221, + -0.01401949596464034, + 0.5589226596273612, + -0.4565759609177872, + 0.43133553097549104, + -0.5413811154678072 + ], + 0.9441918134689331 + ], + [ + [ + 0.06876444755454045, + 0.005107277017036297, + -0.11094811946957704, + 0.6870223670259967, + -0.1227506741138401, + -0.13394836317149506, + 0.7035555239028916 + ], + 0.9441066980361938 + ], + [ + [ + -0.15315339775424022, + 0.008694353923151113, + -0.004030716646121403, + 0.4454838917280069, + -0.5245178556006604, + 0.41008434699789287, + -0.5985448602354425 + ], + 0.9436350464820862 + ], + [ + [ + -0.11354783983569164, + 0.004953472353467562, + -0.08670634419530031, + 0.6570207103293401, + 0.23761773961359628, + 0.2108165923458466, + 0.6836797206374782 + ], + 0.9422484636306763 + ], + [ + [ + -0.14899147363047618, + -0.004960195217332027, + 0.01084506402850751, + 0.4832935703436339, + -0.5239794462128802, + 0.5055706494045136, + -0.486077342890661 + ], + 0.9418379664421082 + ], + [ + [ + 0.1514104971136568, + 0.004228377658823349, + -0.032769812428051194, + 0.5766281377137994, + 0.43815451468081124, + -0.47126815553421597, + -0.5034152735475116 + ], + 0.9411482810974121 + ], + [ + [ + -0.008416515455055429, + 0.0043291216156872295, + -0.11403087914794084, + 0.7016551762652449, + 0.06741748631256955, + 0.06956084020333941, + 0.7059009744076631 + ], + 0.9400894641876221 + ], + [ + [ + -0.14757850082259197, + 0.008306893929788686, + -0.03331751392095681, + 0.5345687375702095, + -0.41125644614438406, + 0.38040222201163554, + -0.6327705348749214 + ], + 0.9395473003387451 + ], + [ + [ + 0.14319894401688557, + 0.006436394005963423, + -0.056127578177148064, + 0.59491709573027, + 0.3903340411822384, + -0.3577191220373669, + -0.6047726971606929 + ], + 0.9395000338554382 + ], + [ + [ + 0.013053895294260787, + -0.0286514969170598, + 0.09992090969473723, + 0.163164562562662, + -0.6965831997743676, + 0.696005381664424, + 0.06103834868341558 + ], + 0.9393516778945923 + ], + [ + [ + -0.14959340603690166, + -0.006114105749925754, + 0.008662563591605464, + 0.49644508751968086, + -0.5191294779351269, + 0.5123024649780753, + -0.47073670410726143 + ], + 0.9391214847564697 + ], + [ + [ + 0.142203889175844, + 0.01370812062169037, + 0.034009944490498344, + 0.424850601800457, + 0.5749883644998841, + -0.5973785602155625, + -0.3633582290719713 + ], + 0.9385948777198792 + ], + [ + [ + 0.06552488295693379, + 0.010329970568368055, + -0.11357187867968675, + 0.7004042284672971, + 0.14456123110275915, + -0.11354450723667608, + -0.6896692048247232 + ], + 0.9384781122207642 + ], + [ + [ + -0.13947049589495678, + 0.0011758938803764364, + 0.04951003178150062, + 0.3690755687692742, + 0.5978298846207105, + 0.6180918908781362, + 0.3526259605059089 + ], + 0.9384062886238098 + ], + [ + [ + 0.05263210026879291, + 0.004953581318208792, + 0.08866844683081511, + 0.15906980801643614, + 0.7027349789326407, + -0.6817940817594953, + -0.12655898087406584 + ], + 0.9383124709129333 + ], + [ + [ + -0.06913180710415859, + -0.0037917960994450074, + 0.10350473581940535, + 0.15385705486243567, + -0.704722550039675, + 0.6789542757088806, + -0.13680360240602094 + ], + 0.9379105567932129 + ], + [ + [ + -0.06444850625138301, + 0.05398787319655142, + 0.10149908422619704, + 0.13150585535801096, + 0.6991616207553117, + -0.6370449077871873, + 0.29673729717003416 + ], + 0.9374697804450989 + ], + [ + [ + -0.14439942748885173, + 0.0022843521460386295, + 0.03166031449229125, + 0.47937393536201667, + 0.5114789490765976, + 0.5576065221189666, + 0.4445951880502335 + ], + 0.9370169639587402 + ], + [ + [ + -0.06681724698882122, + -0.04347274690871515, + 0.10783944635779265, + 0.2850900642015438, + -0.6578583506334159, + 0.694879697632275, + 0.05557203985745461 + ], + 0.936803936958313 + ], + [ + [ + -0.10806547911505718, + -0.0037277211063114625, + -0.08660701305478212, + 0.6694367893083093, + 0.19964259692460656, + 0.2212327841597792, + 0.6804801788639362 + ], + 0.9367455840110779 + ], + [ + [ + -0.15653496296744365, + -0.007000807263007543, + 0.029132097802466193, + 0.5438625025982313, + -0.4646299950181715, + 0.5719895297324735, + -0.4014480338392835 + ], + 0.9361973404884338 + ], + [ + [ + 0.015185288473558234, + -0.05925912648444452, + 0.08543039470106963, + 0.24341291095812648, + -0.7060849333482931, + -0.6367652053494613, + -0.1916358393768913 + ], + 0.9356361627578735 + ], + [ + [ + 0.14422609595913868, + 0.005624402258494713, + 0.033848002395933906, + 0.41759916144111997, + -0.5448386682117982, + -0.6206060223784705, + 0.3789590096203559 + ], + 0.9355044960975647 + ], + [ + [ + 0.029098362981867597, + -0.04111808404331484, + 0.09133478610903624, + 0.31608530449254474, + -0.6667445580784878, + -0.6748410093814434, + -0.011462399993548178 + ], + 0.935247004032135 + ] + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/stapler/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/stapler/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..47432e5a47460de7dce3bfd4ad0cc5e36acb2008 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/stapler/00000/metadata.json @@ -0,0 +1,146 @@ +{ + "uuid": "5a0d0dd9-238a-4004-a8d3-6b57ac31b7a7", + "physics": { + "mass": 0.12, + "friction": 0.38 + }, + "geometry": { + "faces": 296758, + "vertices": 170346, + "aligned_bbox": { + "vertices": [ + [ + -0.0701, + -0.019, + -0.0338 + ], + [ + -0.0701, + -0.019, + 0.0337 + ], + [ + -0.0701, + 0.0191, + -0.0338 + ], + [ + -0.0701, + 0.0191, + 0.0337 + ], + [ + 0.0699, + -0.019, + -0.0338 + ], + [ + 0.0699, + -0.019, + 0.0337 + ], + [ + 0.0699, + 0.0191, + -0.0338 + ], + [ + 0.0699, + 0.0191, + 0.0337 + ] + ], + "extents": [ + 0.14, + 0.0381, + 0.0675 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0701, + -0.0189, + -0.0338 + ], + [ + 0.0699, + -0.019, + -0.0338 + ], + [ + -0.0701, + -0.0189, + 0.0337 + ], + [ + 0.0699, + -0.019, + 0.0337 + ], + [ + -0.0701, + 0.0192, + -0.0338 + ], + [ + 0.0699, + 0.0191, + -0.0338 + ], + [ + -0.0701, + 0.0192, + 0.0337 + ], + [ + 0.0699, + 0.0191, + 0.0337 + ] + ], + "extents": [ + 0.14, + 0.0382, + 0.0675 + ] + }, + "radius": 0.0742 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + 0.0004, + 0.0005, + -0.0003 + ], + "projection_circle": { + "center": [ + -0.0, + 0.0004, + -0.0338, + 1.0, + -0.0004, + -0.0005, + 0.0003 + ], + "radius": 0.07 + }, + "contact_circle": { + "center": [ + -0.0081, + 0.0001, + -0.0338, + 1.0, + -0.0004, + -0.0005, + 0.0003 + ], + "radius": 0.0594 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/stapler/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/stapler/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..3f31b68d9450b8fb3446a6f38b6e9a0cf36c3a2d --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/stapler/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc2279ba00ebbd53f44a6f20f0bad2b02871829ce2541883668bab673ad2fb7c +size 32560949 diff --git a/Assets/Object/RoboDojo/Clutter/stapler/00001/description.json b/Assets/Object/RoboDojo/Clutter/stapler/00001/description.json new file mode 100644 index 0000000000000000000000000000000000000000..987ae0831bf4c3954f942981ea5d7ad050de680a --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/stapler/00001/description.json @@ -0,0 +1,136 @@ +{ + "uuid": "8a93b9ba-76f4-46ba-8fbb-a006c034af9f", + "caption": { + "color": [ + "gray metal body", + "amber plastic accents", + "yellow-orange lever" + ], + "material": [ + "stamped steel", + "molded plastic", + "metal spring mechanism" + ], + "size": [ + "palm-sized", + "about 5 inches long", + "compact handheld" + ], + "name": [ + "stapler", + "desktop stapler", + "office stapler" + ], + "shape": [ + "rectangular body with angled top", + "hinged lever", + "U-shaped base for paper alignment" + ], + "function": [ + "fastening sheets of paper together", + "driving staples through paper stacks" + ] + }, + "description": [ + "office stapler shaped like a hinged lever", + "palm-sized rectangular body with angled top object", + "hinged lever object made of molded plastic", + "stapler intended for fastening sheets of paper together usage", + "stapler featuring U-shaped base for paper alignment shape", + "about 5 inches long molded plastic U-shaped base for paper alignment for fastening sheets of paper together", + "stamped steel object for fastening sheets of paper together", + "office stapler designed for fastening sheets of paper together", + "stapler for driving staples through paper stacks scenarios", + "compact handheld hinged lever object", + "amber plastic accents about 5 inches long U-shaped base for paper alignment desktop stapler", + "about 5 inches long desktop stapler for fastening sheets of paper together", + "fastening sheets of paper together with office stapler", + "yellow-orange lever office stapler used for fastening sheets of paper together", + "office stapler built from metal spring mechanism", + "desktop stapler shaped like a rectangular body with angled top", + "office stapler in gray metal body", + "about 5 inches long hinged lever object", + "compact handheld metal spring mechanism object", + "metal spring mechanism object for fastening sheets of paper together", + "stapler for fastening sheets of paper together with metal spring mechanism", + "metal spring mechanism object used for fastening sheets of paper together", + "about 5 inches long office stapler used for fastening sheets of paper together", + "U-shaped base for paper alignment stapler for driving staples through paper stacks", + "stamped steel object used for driving staples through paper stacks", + "palm-sized molded plastic stapler for fastening sheets of paper together", + "hinged lever stapler ideal for fastening sheets of paper together", + "yellow-orange lever metal spring mechanism hinged lever office stapler", + "office stapler for fastening sheets of paper together with molded plastic", + "about 5 inches long stapler perfect for fastening sheets of paper together", + "stapler with molded plastic construction", + "desktop stapler for fastening sheets of paper together use", + "compact handheld stamped steel stapler for driving staples through paper stacks", + "stamped steel hinged lever object used for fastening sheets of paper together", + "amber plastic accents desktop stapler designed for driving staples through paper stacks", + "fastening sheets of paper together with stapler", + "office stapler for driving staples through paper stacks", + "office stapler appropriate for driving staples through paper stacks", + "stamped steel desktop stapler", + "U-shaped base for paper alignment-shaped desktop stapler", + "stapler typically made of molded plastic", + "palm-sized yellow-orange lever rectangular body with angled top for fastening sheets of paper together", + "compact handheld metal spring mechanism desktop stapler", + "desktop stapler for fastening sheets of paper together with metal spring mechanism", + "about 5 inches long stapler for driving staples through paper stacks", + "molded plastic gray metal body stapler", + "desktop stapler optimized for fastening sheets of paper together", + "desktop stapler appropriate for fastening sheets of paper together use", + "hinged lever object made of stamped steel", + "yellow-orange lever metal spring mechanism U-shaped base for paper alignment object", + "amber plastic accents office stapler suitable for driving staples through paper stacks", + "office stapler featuring metal spring mechanism build", + "compact handheld hinged lever object for driving staples through paper stacks", + "gray metal body office stapler used for fastening sheets of paper together", + "metal spring mechanism hinged lever object used for fastening sheets of paper together", + "stapler for fastening sheets of paper together activities", + "about 5 inches long metal spring mechanism office stapler", + "desktop stapler with molded plastic construction", + "stamped steel desktop stapler for driving staples through paper stacks", + "desktop stapler appropriate for driving staples through paper stacks", + "U-shaped base for paper alignment object made of stamped steel", + "palm-sized amber plastic accents hinged lever for fastening sheets of paper together", + "office stapler with amber plastic accents exterior", + "stapler with hinged lever geometry", + "stapler commonly found in about 5 inches long size", + "amber plastic accents desktop stapler used for fastening sheets of paper together", + "amber plastic accents desktop stapler designed for fastening sheets of paper together", + "stapler colored yellow-orange lever", + "stamped steel desktop stapler for fastening sheets of paper together", + "stamped steel object for driving staples through paper stacks", + "compact handheld molded plastic office stapler", + "stapler appropriate for fastening sheets of paper together use", + "yellow-orange lever compact handheld stapler for driving staples through paper stacks", + "rectangular body with angled top metal spring mechanism desktop stapler for driving staples through paper stacks", + "stapler designed for driving staples through paper stacks", + "palm-sized office stapler perfect for driving staples through paper stacks", + "office stapler commonly featuring stamped steel", + "compact handheld amber plastic accents desktop stapler", + "metal spring mechanism yellow-orange lever desktop stapler", + "stapler for driving staples through paper stacks activities", + "U-shaped base for paper alignment office stapler used for fastening sheets of paper together", + "stapler built from stamped steel", + "stapler in rectangular body with angled top", + "U-shaped base for paper alignment about 5 inches long stapler", + "about 5 inches long rectangular body with angled top desktop stapler for fastening sheets of paper together", + "palm-sized office stapler perfect for fastening sheets of paper together", + "office stapler colored yellow-orange lever", + "desktop stapler used to fastening sheets of paper together", + "desktop stapler for fastening sheets of paper together tasks", + "office stapler with molded plastic surface", + "palm-sized yellow-orange lever U-shaped base for paper alignment for driving staples through paper stacks", + "amber plastic accents compact handheld hinged lever desktop stapler", + "metal spring mechanism stapler suitable for fastening sheets of paper together", + "compact handheld U-shaped base for paper alignment object for driving staples through paper stacks", + "hinged lever object used for driving staples through paper stacks", + "palm-sized metal spring mechanism stapler for driving staples through paper stacks", + "desktop stapler for fastening sheets of paper together", + "amber plastic accents compact handheld office stapler for fastening sheets of paper together", + "desktop stapler with U-shaped base for paper alignment geometry", + "stapler for driving staples through paper stacks" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/stapler/00001/grasps/proposal.json b/Assets/Object/RoboDojo/Clutter/stapler/00001/grasps/proposal.json new file mode 100644 index 0000000000000000000000000000000000000000..7dc3261235a4ce11bd89483819b2a6905be1ffcf --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/stapler/00001/grasps/proposal.json @@ -0,0 +1,1205 @@ +{ + "uuid": "8a93b9ba-76f4-46ba-8fbb-a006c034af9f", + "grasp": [ + [ + [ + 0.07103897039760575, + -0.01952887702495607, + 0.07794840124211476, + 0.24001628965671443, + -0.6745221219022427, + -0.6900719466849724, + 0.10589049136883062 + ], + 0.9761819839477539 + ], + [ + [ + 0.04316646759380326, + -0.002968674094833456, + 0.08749865230879948, + 0.07624202133264288, + 0.7121305927675975, + -0.6949006156441124, + -0.06457791731711915 + ], + 0.9739165306091309 + ], + [ + [ + 0.015725794853463024, + 0.1022777482518479, + -0.01240133119039967, + 0.5315268777544792, + 0.5390419829064754, + -0.45155147297282194, + 0.47224377830195413 + ], + 0.9736517667770386 + ], + [ + [ + 0.03042970751394257, + -0.0003942498354688511, + 0.09146729347071812, + 0.12684045168785515, + -0.693805218733717, + -0.7006684511785327, + 0.10774757443467527 + ], + 0.971515417098999 + ], + [ + [ + 0.011941896425380558, + 9.95030765381883e-05, + -0.11460152778067424, + 0.7170345064411788, + -0.021898559837597677, + 0.024872107090188278, + -0.6962494868497848 + ], + 0.9699729084968567 + ], + [ + [ + 0.01266452637483105, + 0.10055999454348533, + -0.013526536032937311, + 0.4652171855189757, + 0.46289146299826966, + 0.5515628410659722, + -0.5148620165989686 + ], + 0.9678098559379578 + ], + [ + [ + -0.011622299766347557, + 0.00026316189328392587, + -0.11260557684340312, + 0.6918264289573893, + 0.04542646796699624, + 0.05704337098769763, + 0.7183722447523074 + ], + 0.9653288125991821 + ], + [ + [ + 0.033729443000449985, + -0.1001455784192756, + -0.015166881002865576, + 0.4407436379816265, + -0.5051921061006206, + 0.47824940014253403, + 0.5672772626993327 + ], + 0.9639679193496704 + ], + [ + [ + 0.05203721080888733, + -0.003898722154505573, + 0.08780155566296742, + 0.16667517293810402, + -0.6879988624014611, + -0.6886362223214131, + 0.15702581114976463 + ], + 0.9630930423736572 + ], + [ + [ + 0.025827649654641002, + -0.10037770125777276, + -0.010353863446421765, + 0.5420248218125947, + -0.5204463376073395, + -0.4698359026884764, + -0.4632482344866917 + ], + 0.9613680243492126 + ], + [ + [ + 0.030590226547612995, + 0.09957990046828238, + -0.017939094894014143, + 0.47053094060111295, + 0.4385345735685512, + 0.5555406915581054, + -0.526936999787662 + ], + 0.9591428637504578 + ], + [ + [ + -0.02568618613313213, + -0.09545631710202249, + -0.012634478018067621, + 0.40139541714821947, + -0.6340669234207849, + -0.325799675132485, + -0.5750612379561623 + ], + 0.9588825106620789 + ], + [ + [ + 0.018801064835681766, + 0.1025914102443978, + 0.003973576731600024, + 0.4402579245897418, + 0.4889573069990868, + 0.5662221773481709, + -0.4964737230178756 + ], + 0.9587996602058411 + ], + [ + [ + 0.01453244653512463, + 0.09465181824057547, + -0.04705318200626209, + 0.626014474519931, + 0.4434945837547169, + -0.38442766439896603, + 0.5134528242365806 + ], + 0.9578646421432495 + ], + [ + [ + -0.016284660762355477, + 0.09697190668671576, + -0.004974134822755895, + 0.3908706423062632, + 0.6392102298907002, + -0.32125844788912983, + 0.5791575197181118 + ], + 0.957819938659668 + ], + [ + [ + -0.00024950024689808416, + 0.10298809405653922, + -0.014860767379782938, + 0.5355236501745153, + 0.532647114150625, + -0.4425865244622138, + 0.4833411220403588 + ], + 0.9574605822563171 + ], + [ + [ + 0.0009302475022219129, + -0.013623316807158314, + -0.1156646511260493, + 0.6908160888327632, + 0.03344778618405456, + 0.07827661738612302, + 0.7180021923224023 + ], + 0.9548115730285645 + ], + [ + [ + 0.034783849166526645, + 0.10090395059674231, + -0.009577356951691054, + 0.45573151297109565, + 0.44755041931875933, + 0.5656989226621527, + -0.5215286561173403 + ], + 0.9545661211013794 + ], + [ + [ + 0.0006469368467174478, + 0.09678998586028068, + -0.013068116244308495, + 0.551022407044505, + 0.529108932116598, + -0.4475051188334934, + 0.4649271055844494 + ], + 0.9544811248779297 + ], + [ + [ + 0.020473697827949375, + 0.012498002464465774, + -0.11858790132441356, + 0.7241791875673613, + 0.012375678008718211, + 0.02552502249347066, + -0.6890281707701137 + ], + 0.9538379311561584 + ], + [ + [ + 0.0008366276973925538, + -0.10021317008645089, + -0.012184872731946253, + 0.5502517686235403, + -0.5258320998522131, + -0.45641498091987576, + -0.46087846454742004 + ], + 0.9529762864112854 + ], + [ + [ + 0.0024845852980457253, + -0.01637875664741548, + -0.11696181210913494, + 0.6996003815992539, + 0.0029951307054921776, + 0.06738459158959609, + 0.711343554180776 + ], + 0.9526320099830627 + ], + [ + [ + 0.0378313601480864, + 0.10699628290026633, + -0.003890388386703871, + 0.513254874221395, + 0.5461733838021621, + -0.4722940951021284, + 0.4638990802380817 + ], + 0.9515390992164612 + ], + [ + [ + 0.006096037709905953, + -0.03771338615328821, + -0.10648403081335857, + 0.6983157474805766, + -0.12361451947551792, + 0.1182927074367014, + 0.695040576342688 + ], + 0.9504120945930481 + ], + [ + [ + 0.017005471186532825, + 0.0023418054567202703, + 0.1008619019087331, + 0.07867110252808025, + -0.687884875955795, + -0.7190993367670042, + 0.05934137611777466 + ], + 0.9501951932907104 + ], + [ + [ + 0.002989476220502705, + -0.00901892691612991, + -0.10964865002074077, + 0.6961397565349049, + 0.1112295732643085, + 0.15008054649934588, + 0.6931762048465177 + ], + 0.9496870040893555 + ], + [ + [ + 0.03157271225918755, + 0.006204561761163152, + -0.12281634423174694, + 0.692190946599987, + 0.037314398242081694, + 0.01862495125806729, + 0.7205084595752365 + ], + 0.9492530226707458 + ], + [ + [ + -0.022886457247839123, + -0.0037321069160923584, + 0.11570438978037999, + 0.06412855072232018, + 0.719853129539051, + -0.6887808847469596, + -0.057270356051665756 + ], + 0.9487431645393372 + ], + [ + [ + 0.010045358585014194, + 0.10594433542578666, + 0.001124945029236533, + 0.5271405273623092, + 0.5480244278950637, + -0.4642786713499547, + 0.4541336875546623 + ], + 0.9485123157501221 + ], + [ + [ + -0.024997743172750622, + -0.09247858080775292, + -0.010622707635544085, + 0.5884486990851426, + -0.33501701247932825, + 0.6252886093864878, + 0.3879508794498878 + ], + 0.9472854733467102 + ], + [ + [ + -0.00732888546790257, + -0.030503060703583083, + -0.11423788729348018, + 0.6898981274443121, + -0.025735870637117502, + 0.1390681928111378, + 0.709956531387398 + ], + 0.9459474682807922 + ], + [ + [ + 0.09450456653703675, + 0.003713425213985123, + 0.07795319196543858, + 0.22125702029387348, + -0.6504909553639896, + -0.6963091942317502, + 0.20750988889364033 + ], + 0.9458188414573669 + ], + [ + [ + 0.021632197918190807, + -0.007063635659821354, + -0.12159811469950511, + 0.712671595503003, + -0.029500005736675355, + 0.020230027218395286, + -0.7005852500755947 + ], + 0.9455762505531311 + ], + [ + [ + 0.037805480556382984, + 0.09892561283200232, + -0.001959088698409341, + 0.44732180702527485, + 0.48239750267096054, + 0.5611742654603367, + -0.5022741225282413 + ], + 0.9445399045944214 + ], + [ + [ + 0.05714745228160843, + 0.0952589586028382, + -0.018488109551749968, + 0.36700722540475894, + 0.5413051854556026, + 0.4174808468168313, + -0.630875689213555 + ], + 0.9444161057472229 + ], + [ + [ + 0.016690969141020626, + 0.09503883864968268, + -0.005593664976682357, + 0.4551554418839412, + 0.47789495468655147, + 0.5364244094487607, + -0.5260216620597691 + ], + 0.9428650140762329 + ], + [ + [ + 0.049660997139110416, + -0.005612727289505326, + 0.0767632001336591, + 0.2546854695185008, + -0.6471896293498487, + -0.681520930214957, + 0.22761835812843723 + ], + 0.9422789216041565 + ], + [ + [ + -0.026536019845113903, + -0.006371777073897444, + -0.1060060760680659, + 0.685750969251884, + -0.18930459821226234, + 0.1778169149250266, + -0.6799194967290915 + ], + 0.9421820640563965 + ], + [ + [ + 0.020833531068458408, + -0.10337965193898233, + -0.0059216682891434355, + 0.5667783132669686, + -0.4928493974367011, + -0.49084509832166734, + -0.4415120660979986 + ], + 0.9413511753082275 + ], + [ + [ + -0.009396665590063483, + 0.09210954603045432, + -0.010689847145609402, + 0.5572846789939738, + 0.32876920411493776, + 0.6629365694851542, + -0.37664267127274537 + ], + 0.9401586651802063 + ], + [ + [ + 0.08957722191680893, + 0.011532220954589523, + 0.07817431029639409, + 0.20922512283074934, + -0.6521398399172016, + -0.6954925483797472, + 0.21732140326592267 + ], + 0.9394785761833191 + ], + [ + [ + 0.09867023085226044, + 0.006113309378318466, + 0.07944838193020985, + 0.21360036707309488, + -0.6462101902715093, + -0.7046826852935074, + 0.20052328100006261 + ], + 0.9388221502304077 + ], + [ + [ + 0.03763222475518212, + -0.09833957258374246, + -0.009081357365853929, + 0.4179552779876334, + -0.5198067627175105, + 0.47401408261835953, + 0.574826029781966 + ], + 0.9384000897407532 + ], + [ + [ + -0.011709297402010113, + 0.09660204496472327, + -0.029092279702804827, + 0.563257751500053, + 0.5157912241910696, + -0.3881404413276418, + 0.5157975535310012 + ], + 0.9379415512084961 + ], + [ + [ + -0.03396968017350212, + 0.09088681634753196, + -0.007254513245921425, + 0.5726000332238069, + 0.3266456255226749, + 0.6649889694308588, + -0.3510292121950534 + ], + 0.9372509717941284 + ], + [ + [ + 0.024306557746424526, + 0.05029728260128943, + -0.09563848140873744, + 0.6941925650275118, + 0.1325656242215691, + -0.23682321652157434, + 0.6666616848534527 + ], + 0.9370386600494385 + ], + [ + [ + 0.02009642836619839, + -0.09584219757229837, + -0.01299891990833714, + 0.5408981037288726, + -0.5197387834150671, + -0.4685624927205424, + -0.4666369346850362 + ], + 0.9363473057746887 + ], + [ + [ + 0.09345875834096894, + -0.004745859221972548, + 0.06836567309460805, + 0.2617918698688376, + -0.6590943271412449, + -0.6612158899768305, + 0.24464920119010264 + ], + 0.9361515641212463 + ], + [ + [ + 0.055905984388484806, + 0.09934137013047187, + -0.00736917686640083, + 0.36786019215593185, + 0.5554879287414252, + 0.4428540847427165, + -0.59999358302923 + ], + 0.9360163807868958 + ], + [ + [ + -0.027167748985991627, + 0.009214996325366176, + -0.11286874625124767, + 0.714779474750882, + -0.03133831964171266, + 0.058230770868321624, + -0.6962164817935351 + ], + 0.9358051419258118 + ], + [ + [ + -0.011081831390217692, + 0.10079096999257056, + 0.003335269659377791, + 0.5277638553849234, + 0.5480718179231684, + -0.46847077780748214, + 0.44901862510155155 + ], + 0.9352387189865112 + ], + [ + [ + 0.10248257373441681, + -0.029982613434501013, + 0.06262099978289769, + 0.36431973414956287, + -0.5988634708204165, + -0.710059504303773, + 0.06670213620264862 + ], + 0.9307149052619934 + ], + [ + [ + 0.07520266775955185, + 0.0019502326264530195, + -0.1132113984529002, + 0.6796155965472871, + -0.13520696373944657, + -0.14076344862128076, + 0.7071261340229752 + ], + 0.9303986430168152 + ], + [ + [ + 0.017613589437498897, + -0.10861779752881082, + 0.001456058144189574, + 0.44731696180138486, + -0.46721933670518456, + 0.5474208184555385, + 0.5309840624868268 + ], + 0.9295387864112854 + ], + [ + [ + 0.011198381567194313, + -0.0022981015848443135, + -0.12521970781721903, + 0.7538790098897055, + -0.024486694213340907, + 0.03275217654478768, + -0.6557393805360472 + ], + 0.9291829466819763 + ], + [ + [ + 0.06567125921119675, + -0.003642885980613552, + -0.12014181676544979, + 0.706510299183607, + 0.11534235669780364, + -0.10984422870881672, + -0.6895459254598287 + ], + 0.9277088642120361 + ], + [ + [ + 0.011694654496207088, + 0.08855871852724997, + 0.053483943014957167, + 0.3408906608332078, + 0.6542765687231968, + -0.6007461603924169, + 0.30792820551269284 + ], + 0.9263465404510498 + ], + [ + [ + 0.021263375552191585, + -0.0979998931637481, + -0.04599359023608997, + 0.6658850492190452, + -0.46155747777800504, + -0.35923973449802005, + -0.46315074121882566 + ], + 0.9257956147193909 + ], + [ + [ + -0.010890063224539906, + -0.011827543412752472, + 0.10894584146104024, + 0.08490575253987274, + -0.7060976892772071, + -0.7012996207430849, + 0.04894801659549498 + ], + 0.925607442855835 + ], + [ + [ + 0.023767487751140445, + 0.00206733840755371, + 0.08853180941901372, + 0.08647744604626834, + 0.6883941873982633, + 0.7127145904774554, + 0.10331024442015371 + ], + 0.9252946972846985 + ], + [ + [ + -0.0016373792665012174, + 0.06599376347153632, + -0.08899210903086498, + 0.6731176275773461, + 0.21734160699706545, + 0.2996630849141956, + -0.640216620256212 + ], + 0.9228934049606323 + ], + [ + [ + -0.016647901712165028, + 0.01684454638748614, + 0.11334683981499837, + 0.08946737187062773, + 0.722856762124951, + -0.6841224920129608, + -0.03808026710477661 + ], + 0.9221014976501465 + ], + [ + [ + 0.08360889707674012, + -0.00029283387115972497, + -0.11379039797224834, + 0.6888125704394022, + -0.14601317488594165, + -0.14501788205786248, + 0.6951166876488025 + ], + 0.9184980988502502 + ], + [ + [ + -0.014109614631340653, + 0.01612709086626021, + -0.11719624462761714, + 0.6855260262599847, + 0.06741177291647382, + 0.016206509186933227, + 0.7247393112371003 + ], + 0.9170893430709839 + ], + [ + [ + 0.03808412109483704, + -0.0006199536495357977, + -0.11216781798043086, + 0.7128088525295794, + 0.037553874747080815, + -0.00991881044878884, + -0.7002819885205003 + ], + 0.9169899821281433 + ], + [ + [ + 0.07049773042072281, + -0.09196963909775765, + -0.029441419497512125, + 0.3485092897092724, + -0.5554598514204604, + 0.36658375447064717, + 0.6600166508539786 + ], + 0.9158754944801331 + ], + [ + [ + 0.08675544117559418, + 0.0075665525743290555, + -0.12034890565314128, + 0.7132521670462729, + 0.14860396311741095, + -0.12777815936791204, + -0.6729494411455758 + ], + 0.9153305292129517 + ], + [ + [ + 0.025417158054008335, + 0.004186017869554437, + -0.1108663878146632, + 0.7058295236430203, + 0.12069256133982255, + -0.0878165192503032, + -0.6924783376668625 + ], + 0.9137676358222961 + ], + [ + [ + 0.09019726668466553, + 0.09302842613547294, + -0.035366940752051615, + 0.3838000222200793, + 0.5305447653169623, + 0.3714534338735678, + -0.6582113197159186 + ], + 0.9135789275169373 + ], + [ + [ + -0.0494169540239431, + -0.004811318626113259, + 0.10866658624968693, + 0.04475869252376578, + -0.6950513166902508, + -0.7172640496405471, + 0.02079927171690849 + ], + 0.9129182696342468 + ], + [ + [ + 0.14833279107679354, + 0.0030112790060713665, + 0.015842700868465162, + 0.409204794909322, + -0.5461678110646792, + -0.6033538916648656, + 0.4125727080078108 + ], + 0.9117922186851501 + ], + [ + [ + -0.03958878512512222, + 0.007004721055321373, + -0.11199427905716731, + 0.7252650210999909, + -0.04616090703744067, + 0.0752254776039446, + -0.6827890943399498 + ], + 0.9101728200912476 + ], + [ + [ + 0.09401049618591294, + 0.001011088280986972, + -0.11281921479143932, + 0.7086849478073294, + 0.15462530130709443, + -0.13192922368368143, + -0.6756118270761952 + ], + 0.909074604511261 + ], + [ + [ + -0.04991293172369972, + -0.008202777279026829, + 0.10841480132899449, + 0.04775228688684938, + -0.7195094103280175, + -0.6924448798776124, + -0.023366982641823877 + ], + 0.9090600609779358 + ], + [ + [ + -0.10414521987567917, + -0.01533399525792154, + 0.1003755727108495, + 0.2130455350949988, + -0.6878318823236951, + 0.675914640491317, + -0.15696592115685926 + ], + 0.9078497290611267 + ], + [ + [ + 0.045896367775096744, + 0.00883173752813784, + -0.1283686733547671, + 0.6875535479835173, + 0.03457123490207013, + 0.026255792847447945, + 0.7248348651345177 + ], + 0.9075251221656799 + ], + [ + [ + -0.01383080924879089, + 0.0943489893922135, + -0.005547840588174604, + 0.550020720001912, + 0.5262656315433974, + -0.45753049887026676, + 0.459551450033979 + ], + 0.90731281042099 + ], + [ + [ + -0.07996990378032699, + 0.0022340446827485935, + 0.10989939656815693, + 0.13245413298522568, + -0.7121250588868896, + 0.6739239868446307, + -0.14546567676230052 + ], + 0.9059811234474182 + ], + [ + [ + -0.04509323681722656, + 0.0965208261856362, + -0.0003457958553059323, + 0.4215419625333367, + 0.6204206921555423, + -0.36359440716118085, + 0.5524306704464282 + ], + 0.9056053757667542 + ], + [ + [ + 0.1517658398019217, + 0.009690146858386673, + 0.026167499392844892, + 0.38068732341694267, + -0.5633635763145125, + -0.604353117421208, + 0.41527816236233117 + ], + 0.9054930210113525 + ], + [ + [ + 0.11152286236156449, + 0.04387882720916716, + 0.04900584605298207, + 0.42740879268027676, + 0.6436393383424063, + -0.6232729754524212, + -0.12075149749971816 + ], + 0.9037384390830994 + ], + [ + [ + 0.07937127505411133, + 0.002555354696281232, + -0.10702965918221309, + 0.6879058605216704, + -0.1488097985879872, + -0.14914166154657094, + 0.6945487280927604 + ], + 0.9026131629943848 + ], + [ + [ + 0.07013844107259735, + 0.09839698668806998, + -0.009987804314501428, + 0.6363008140239107, + 0.39845625268953727, + -0.5709522940475267, + 0.33221584352192873 + ], + 0.9017972350120544 + ], + [ + [ + 0.0969904005991362, + 0.09335026141493766, + -0.018437461436174654, + 0.6538236035569698, + 0.3807887726202206, + -0.5595756430304437, + 0.3382154724509663 + ], + 0.9009071588516235 + ], + [ + [ + 0.09081573192943558, + -0.03786257657916101, + -0.10878830167689159, + 0.6729713432372859, + 0.008320975879808089, + -0.24204341680079056, + -0.6988957840230612 + ], + 0.9000714421272278 + ], + [ + [ + 0.15825914000143038, + 0.0013090121443867459, + -0.033166819692037844, + 0.5183878520221294, + 0.48083400848297575, + -0.4505862896758531, + -0.5450180609101176 + ], + 0.8987492918968201 + ], + [ + [ + -0.009164883149967343, + 0.10335667427866904, + -0.01532735347040727, + 0.4627521727495756, + 0.4548514960667935, + 0.540472675685616, + -0.535592970434244 + ], + 0.8972152471542358 + ], + [ + [ + -0.02116074818204418, + -0.10798923674733193, + -0.00223420371525719, + 0.5511272553675038, + -0.5263388312348055, + -0.4658586599293151, + -0.44966864699945863 + ], + 0.8963862061500549 + ], + [ + [ + 0.044412361131801456, + 0.09247714277594535, + -0.024977765486024164, + 0.3623327068692641, + 0.5291886225904533, + 0.41241343447842793, + -0.6469849846134906 + ], + 0.8948193788528442 + ], + [ + [ + -0.04882851834426895, + -0.09629970792443307, + -0.00034563753046824765, + 0.5213536795521173, + -0.3836453195142228, + 0.6099692527175041, + 0.4571040585813568 + ], + 0.8946141600608826 + ], + [ + [ + 0.1199665159450911, + 0.008688732946805633, + -0.08370226386227443, + 0.642523164583074, + -0.2972246035289183, + -0.3243179029411982, + 0.627406898163427 + ], + 0.8936908841133118 + ], + [ + [ + -0.05167986671458259, + -0.09621226791054757, + -0.0011604674834830983, + 0.3849776859159039, + -0.645892715404229, + -0.3374282863918092, + -0.5663540704164447 + ], + 0.89289790391922 + ], + [ + [ + 0.0906298995481871, + -0.002155856264241062, + 0.076111907630779, + 0.24605837079609877, + 0.6774971851457199, + -0.6494850513810627, + -0.2421198263532631 + ], + 0.8924328088760376 + ], + [ + [ + -0.026753269462094456, + -0.00875601641596111, + -0.10754776510634258, + 0.7133595683824635, + -0.05258604230893087, + 0.04357063190375532, + -0.6974628552023227 + ], + 0.8913402557373047 + ], + [ + [ + 0.055518364207639545, + -0.09735969457537683, + 0.00788448520711825, + 0.5660112766501124, + -0.4995506722808634, + -0.5481201497353133, + -0.360062025188419 + ], + 0.8913259506225586 + ], + [ + [ + -0.028624287201271206, + 0.10301452126591651, + 0.001427628591276862, + 0.4661948909769372, + 0.4628923950514405, + 0.5534759957117901, + -0.5119153019801083 + ], + 0.8911118507385254 + ], + [ + [ + 0.02888183821906075, + -0.09441033754260095, + -0.012480569512031817, + 0.3923319490730477, + -0.5081554256817734, + 0.4673796976604182, + 0.6077910194314954 + ], + 0.8901194930076599 + ], + [ + [ + -0.009825104242370278, + -0.08973164114863427, + 0.04158668082914517, + 0.35031952451481796, + -0.5498843584340526, + 0.6337978586381867, + 0.41617748314743125 + ], + 0.8900527954101562 + ], + [ + [ + -0.07133713956008926, + -0.007057196495540463, + 0.10656345871052907, + 0.10250966747438003, + 0.6840254472556908, + 0.7100840118601932, + 0.13183949211627624 + ], + 0.8891724944114685 + ], + [ + [ + 0.027547793136730045, + -0.10125828537852319, + -0.00039836202972366643, + 0.5407284381944438, + -0.5286174936557603, + -0.4694493032898023, + -0.45584389122770896 + ], + 0.8889110088348389 + ] + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/stapler/00001/metadata.json b/Assets/Object/RoboDojo/Clutter/stapler/00001/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..6aa0d4180eff7dc23c61ac73723c023bca68ee01 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/stapler/00001/metadata.json @@ -0,0 +1,146 @@ +{ + "uuid": "8a93b9ba-76f4-46ba-8fbb-a006c034af9f", + "physics": { + "mass": 0.06, + "friction": 0.45 + }, + "geometry": { + "faces": 365709, + "vertices": 222621, + "aligned_bbox": { + "vertices": [ + [ + -0.0701, + -0.0183, + -0.0323 + ], + [ + -0.0701, + -0.0183, + 0.0322 + ], + [ + -0.0701, + 0.0185, + -0.0323 + ], + [ + -0.0701, + 0.0185, + 0.0322 + ], + [ + 0.0699, + -0.0183, + -0.0323 + ], + [ + 0.0699, + -0.0183, + 0.0322 + ], + [ + 0.0699, + 0.0185, + -0.0323 + ], + [ + 0.0699, + 0.0185, + 0.0322 + ] + ], + "extents": [ + 0.14, + 0.0368, + 0.0645 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0715, + -0.0184, + -0.0317 + ], + [ + 0.0626, + -0.0184, + -0.0573 + ], + [ + -0.0592, + -0.0182, + 0.0325 + ], + [ + 0.0749, + -0.0182, + 0.0069 + ], + [ + -0.0715, + 0.0184, + -0.0318 + ], + [ + 0.0626, + 0.0185, + -0.0574 + ], + [ + -0.0592, + 0.0186, + 0.0324 + ], + [ + 0.0749, + 0.0186, + 0.0068 + ] + ], + "extents": [ + 0.1465, + 0.037, + 0.09 + ] + }, + "radius": 0.0723 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + -0.0001, + 0.0041, + 0.0 + ], + "projection_circle": { + "center": [ + -0.0001, + -0.0001, + -0.0318, + 1.0, + 0.0001, + -0.0041, + -0.0 + ], + "radius": 0.0713 + }, + "contact_circle": { + "center": [ + -0.0062, + 0.0003, + -0.0318, + 1.0, + 0.0001, + -0.0041, + -0.0 + ], + "radius": 0.0648 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/stapler/00001/object.usdz b/Assets/Object/RoboDojo/Clutter/stapler/00001/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..bf78cc16ea57688a6a142c242062a5e8100ced27 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/stapler/00001/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:51cb1395c28920de80e67ce09d8e83f0bdd770ac2424693ce912f94b57c30972 +size 35120965 diff --git a/Assets/Object/RoboDojo/Clutter/stapler/00002/description.json b/Assets/Object/RoboDojo/Clutter/stapler/00002/description.json new file mode 100644 index 0000000000000000000000000000000000000000..0aeefa919821729e3d2dbd3fe3585d1e1e1c0564 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/stapler/00002/description.json @@ -0,0 +1,136 @@ +{ + "uuid": "e25344da-2146-46f2-8c2d-63cc4cd6ba5c", + "caption": { + "color": [ + "glossy red", + "silver metal", + "dark gray accents" + ], + "material": [ + "painted metal", + "shiny steel", + "polished chrome parts" + ], + "size": [ + "compact handheld", + "desk-sized", + "standard office stapler" + ], + "name": [ + "stapler", + "red stapler", + "SOI stapler" + ], + "shape": [ + "rectangular body", + "hinged top arm", + "flat base with slot" + ], + "function": [ + "fastening paper sheets together", + "driving staples into documents" + ] + }, + "description": [ + "standard office stapler shiny steel stapler", + "dark gray accents hinged top arm stapler", + "compact handheld glossy red object for driving staples into documents", + "red stapler built from shiny steel", + "painted metal hinged top arm for driving staples into documents", + "stapler commonly featuring shiny steel", + "SOI stapler built from painted metal", + "shiny steel object for driving staples into documents", + "desk-sized SOI stapler perfect for fastening paper sheets together", + "desk-sized silver metal polished chrome parts stapler", + "silver metal stapler designed for driving staples into documents", + "painted metal dark gray accents SOI stapler", + "red stapler with shiny steel body", + "painted metal dark gray accents red stapler", + "glossy red red stapler typically used for fastening paper sheets together", + "silver metal desk-sized hinged top arm SOI stapler", + "desk-sized silver metal object for driving staples into documents", + "red stapler designed for driving staples into documents", + "silver metal SOI stapler suitable for driving staples into documents", + "compact handheld hinged top arm object for fastening paper sheets together", + "stapler for driving staples into documents scenarios", + "red stapler made of shiny steel", + "stapler intended for driving staples into documents usage", + "flat base with slot shiny steel stapler for fastening paper sheets together", + "compact handheld rectangular body red stapler", + "compact handheld glossy red painted metal red stapler", + "standard office stapler hinged top arm object for fastening paper sheets together", + "red stapler intended for driving staples into documents usage", + "standard office stapler dark gray accents red stapler", + "compact handheld rectangular body object", + "SOI stapler ideal for driving staples into documents", + "polished chrome parts hinged top arm object used for driving staples into documents", + "SOI stapler sized desk-sized", + "desk-sized polished chrome parts stapler for driving staples into documents", + "SOI stapler made of painted metal", + "flat base with slot SOI stapler ideal for driving staples into documents", + "flat base with slot object used for driving staples into documents", + "red stapler used to driving staples into documents", + "red stapler featuring polished chrome parts build", + "red stapler in hinged top arm form", + "red stapler appropriate for driving staples into documents use", + "dark gray accents standard office stapler polished chrome parts object", + "SOI stapler commonly found in standard office stapler size", + "glossy red flat base with slot object for fastening paper sheets together", + "flat base with slot-shaped red stapler", + "red stapler for driving staples into documents", + "shiny steel object used for driving staples into documents", + "painted metal red stapler suitable for fastening paper sheets together", + "glossy red shiny steel hinged top arm object", + "SOI stapler with shiny steel surface", + "silver metal red stapler designed for driving staples into documents", + "SOI stapler for driving staples into documents", + "stapler for fastening paper sheets together", + "polished chrome parts red stapler", + "red stapler featuring shiny steel build", + "standard office stapler shiny steel rectangular body for driving staples into documents", + "dark gray accents shiny steel SOI stapler", + "compact handheld SOI stapler perfect for fastening paper sheets together", + "silver metal flat base with slot red stapler used for driving staples into documents", + "red stapler made of painted metal", + "red stapler with flat base with slot profile", + "standard office stapler stapler used for fastening paper sheets together", + "SOI stapler with silver metal color", + "shiny steel SOI stapler used for fastening paper sheets together", + "stapler optimized for fastening paper sheets together", + "painted metal glossy red SOI stapler", + "dark gray accents hinged top arm SOI stapler", + "red stapler commonly featuring shiny steel", + "stapler appropriate for fastening paper sheets together", + "fastening paper sheets together with stapler", + "stapler with compact handheld dimensions", + "stapler typically made of painted metal", + "flat base with slot SOI stapler for driving staples into documents", + "silver metal hinged top arm stapler", + "red stapler with polished chrome parts surface", + "compact handheld glossy red painted metal hinged top arm object", + "rectangular body-shaped stapler", + "compact handheld polished chrome parts stapler for driving staples into documents", + "SOI stapler with polished chrome parts body", + "stapler sized as standard office stapler", + "compact handheld object used for driving staples into documents", + "red stapler in desk-sized", + "compact handheld object used for fastening paper sheets together", + "stapler built from painted metal", + "hinged top arm stapler ideal for driving staples into documents", + "standard office stapler object used for driving staples into documents", + "hinged top arm object made of polished chrome parts", + "red stapler with painted metal construction", + "red stapler designed for fastening paper sheets together", + "painted metal stapler used for fastening paper sheets together", + "stapler typically made of shiny steel", + "compact handheld flat base with slot object for driving staples into documents", + "desk-sized dark gray accents stapler", + "shiny steel SOI stapler for driving staples into documents", + "red stapler sized standard office stapler", + "red stapler intended for fastening paper sheets together usage", + "glossy red shiny steel stapler", + "compact handheld flat base with slot object", + "driving staples into documents with stapler", + "silver metal red stapler typically used for driving staples into documents" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/stapler/00002/grasps/proposal.json b/Assets/Object/RoboDojo/Clutter/stapler/00002/grasps/proposal.json new file mode 100644 index 0000000000000000000000000000000000000000..220808ff7b26fd47036ef0d10525d62b8b5e0503 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/stapler/00002/grasps/proposal.json @@ -0,0 +1,1205 @@ +{ + "uuid": "e25344da-2146-46f2-8c2d-63cc4cd6ba5c", + "grasp": [ + [ + [ + -0.018161626586166987, + 0.003461793031343752, + 0.11893273708992687, + 0.06104755699274431, + 0.7128317518449628, + -0.6983278559654702, + -0.021961214208887827 + ], + 0.9692531824111938 + ], + [ + [ + -0.006776104734686981, + 0.00595312958004468, + 0.11810516385012355, + 0.07070805689108384, + 0.7092451169519834, + -0.7008188190819016, + -0.028717896704032755 + ], + 0.9691177606582642 + ], + [ + [ + -0.019249187835899958, + -0.009612592669403619, + 0.11670155642204967, + 0.024116400540083117, + -0.7125785626683538, + 0.7004962276270298, + 0.0309067360100271 + ], + 0.9661246538162231 + ], + [ + [ + 0.04948261933639847, + -0.012832294019138879, + 0.10020872024470058, + 0.09208330815628962, + -0.7015826317729338, + -0.7063429573290606, + 0.01954742400406419 + ], + 0.9658416509628296 + ], + [ + [ + -0.023106206261960634, + 0.0020965268730982482, + 0.112181751109893, + 0.06455620694680393, + 0.7134052611242153, + -0.6967790917326762, + -0.03720654336428583 + ], + 0.9616044163703918 + ], + [ + [ + 0.015500878861697544, + 0.003623075283864075, + 0.10614575264626232, + 0.0678087231384227, + 0.708959740966013, + -0.7012028804002308, + -0.033054247445072175 + ], + 0.9602027535438538 + ], + [ + [ + 0.057586887797864306, + 0.0034993197431653082, + 0.10265727160149303, + 0.10395221380783488, + -0.6995954712425073, + -0.7022491291403561, + 0.0812789916462793 + ], + 0.9572469592094421 + ], + [ + [ + 0.011021968855114807, + -0.002553039962625569, + 0.10831175563507763, + 0.054183954225895926, + 0.7052473684683411, + -0.706089510652147, + -0.03358349773232673 + ], + 0.9549677968025208 + ], + [ + [ + -0.0012343493825177055, + 0.020355149371349746, + 0.11295026359730449, + 0.009149500566910473, + 0.705891800124312, + 0.7051239608023181, + -0.06658267837121769 + ], + 0.9544171690940857 + ], + [ + [ + -0.008087254182843338, + -0.006896012263572282, + 0.10945728240185466, + 0.05362317022059745, + -0.7058724280049217, + -0.7051403028853308, + 0.0405687594672729 + ], + 0.953483521938324 + ], + [ + [ + 0.05728588434174858, + 0.0030158289836584866, + 0.09491165546351162, + 0.2187987927189643, + -0.6747440724354994, + -0.667192559776893, + 0.22737988740484238 + ], + 0.9528555870056152 + ], + [ + [ + -0.03388319356128372, + 0.012880140183293753, + 0.12084914562874523, + 0.06265261057909584, + 0.7134116214489555, + -0.6978132145455205, + -0.01323730995495258 + ], + 0.9517659544944763 + ], + [ + [ + 0.04553201603010498, + 0.0018371793802692828, + 0.0986871701257774, + 0.1172818004311153, + 0.6971820427170204, + -0.7040562958607071, + -0.06698440758459674 + ], + 0.9501328468322754 + ], + [ + [ + 0.034243827632220614, + 0.0033995865041255295, + 0.09774866519146648, + 0.04777181477338203, + 0.7048543073928969, + 0.7072942106731872, + 0.025162643166608538 + ], + 0.9493677616119385 + ], + [ + [ + 0.027928989327104917, + 0.003030815128037268, + 0.11037745145731655, + 0.05660053547438294, + -0.7003470951801645, + -0.7087499041242898, + 0.063118135749786 + ], + 0.9491612911224365 + ], + [ + [ + 0.09465300845220886, + -0.0069076235277713005, + 0.08178779301815715, + 0.23895850249673709, + -0.6658043047658417, + -0.6716130760790269, + 0.22031644940734435 + ], + 0.9491322040557861 + ], + [ + [ + 0.050975011608155596, + 0.0038419845176725924, + 0.0919851419108459, + 0.1698581434411995, + 0.7006873900554683, + -0.6816139904521977, + -0.12485095331552776 + ], + 0.9483281970024109 + ], + [ + [ + -0.08874355448171295, + -0.00321004030873484, + 0.10935080615454403, + 0.14537912840432002, + 0.6821121643678805, + 0.7032005833512422, + 0.13819133048146715 + ], + 0.9476922750473022 + ], + [ + [ + 0.03682571457937561, + -0.0022115828806669176, + 0.09851481584482875, + 0.09652768838142367, + 0.7028272211635171, + -0.7005562171308528, + -0.07705380721688468 + ], + 0.9465193152427673 + ], + [ + [ + 0.05784120964125, + -0.006369555169916219, + 0.09346417901688304, + 0.11457861193143029, + 0.7039795574046769, + -0.6942648034171182, + -0.0963374650921055 + ], + 0.9460698366165161 + ], + [ + [ + -0.07678318215295471, + 0.0043835353234648045, + 0.11045889375382152, + 0.1307152101687411, + 0.6836513799499997, + 0.7076635076399987, + 0.12143592745829149 + ], + 0.9459441304206848 + ], + [ + [ + -0.0272364523796717, + -0.008989410275793142, + 0.11416914878063884, + 0.04912622554619523, + 0.7054176549345752, + -0.7066054648410593, + -0.02610101773760561 + ], + 0.9457504749298096 + ], + [ + [ + -0.04744973225280441, + -0.0003004773507960798, + 0.11092032311135021, + 0.04096703672340796, + 0.7090984149381836, + -0.7036019801186467, + -0.02110434569889419 + ], + 0.9442733526229858 + ], + [ + [ + 0.05356949748709999, + -0.03189747853783376, + 0.09692054805927959, + 0.1756309402112107, + -0.6985215313698845, + -0.6931880498491839, + -0.026679029208033493 + ], + 0.9438424110412598 + ], + [ + [ + 0.11030278908327423, + -0.008023486273562974, + 0.07794776377850261, + 0.2450681830444275, + -0.662868806616475, + -0.6738296634097711, + 0.21563885453050258 + ], + 0.9404064416885376 + ], + [ + [ + 0.05861817853763901, + 0.002146762645603651, + 0.08859804836683956, + 0.21284588922014389, + 0.6704672143036133, + -0.6884373691520932, + -0.1767040767525849 + ], + 0.9402251839637756 + ], + [ + [ + 0.1140955220372995, + -0.0006370019737765851, + 0.0784893613832542, + 0.2351903845640593, + -0.661553887259705, + -0.6769256218682832, + 0.22091545830570852 + ], + 0.940081000328064 + ], + [ + [ + -0.09243230713292755, + 0.0033411539288102925, + 0.11222055373364177, + 0.1373297532331181, + 0.6857890185485033, + 0.7027565971203051, + 0.1302579215214987 + ], + 0.9399434328079224 + ], + [ + [ + 0.09483198629930817, + 0.004121058353954488, + 0.08142565009766307, + 0.2451560067526079, + 0.6713805206691941, + -0.6640821694879111, + -0.2194119435839956 + ], + 0.9398662447929382 + ], + [ + [ + 0.10146954464033447, + 0.005650618778341943, + 0.07737116334610668, + 0.25495117403947015, + 0.6697025520674715, + -0.6638665616508843, + -0.21396162957886608 + ], + 0.9377617239952087 + ], + [ + [ + -0.033208811709133756, + -0.001836875952979988, + 0.117045654036338, + 0.09938099852343996, + -0.7161545098722891, + 0.685144179188314, + -0.08845105339359123 + ], + 0.9374279975891113 + ], + [ + [ + -0.03815987152740158, + 0.021939111141288214, + 0.1175545286911079, + 0.10058608756066795, + 0.7524516633677705, + -0.6508092807313368, + 0.012091873232602995 + ], + 0.9363518953323364 + ], + [ + [ + 0.06911639677599274, + 0.0038239590020715535, + 0.08602082548313823, + 0.2377475104524191, + -0.666446857168142, + -0.6612851462205649, + 0.24905152726379642 + ], + 0.9360827207565308 + ], + [ + [ + 0.015710744953306547, + -0.017080758499181337, + 0.10801324067288127, + 0.06330694911980606, + -0.7106274937176424, + -0.7004888442571452, + 0.017781294582042046 + ], + 0.9357730150222778 + ], + [ + [ + 0.011346368065627445, + -0.0054832978977025215, + -0.11463692220277104, + 0.6987533231513461, + 0.03373290852144037, + 0.06858804239350313, + 0.7112675760276588 + ], + 0.9356731176376343 + ], + [ + [ + -0.08315868122264541, + -0.0005217665212363662, + 0.11023735819035259, + 0.11823974780055979, + -0.7030653263026243, + 0.6835526440757018, + -0.1564426149364711 + ], + 0.9343637824058533 + ], + [ + [ + -0.025890480780450472, + -0.013538250500536031, + 0.11487496463232723, + 0.10974271442176971, + -0.7376689290651077, + 0.6655068170337795, + -0.03002938901886165 + ], + 0.9340797662734985 + ], + [ + [ + 0.06699959742143952, + -0.006341540055549211, + 0.08924812642508236, + 0.20708320575877556, + -0.6715043600509368, + -0.6810585073973409, + 0.20580998476010975 + ], + 0.9320709705352783 + ], + [ + [ + 0.15298355924204193, + 0.0008769305667705176, + 0.010654366627568876, + 0.4510187827738441, + -0.5395675194461044, + -0.5488047445113023, + 0.4519538714801127 + ], + 0.9319005608558655 + ], + [ + [ + 0.09490109788492523, + -0.005050804732567138, + 0.09060898987227169, + 0.22096531863730884, + -0.6715317389407102, + -0.6748771105058692, + 0.21156638974569583 + ], + 0.9306037425994873 + ], + [ + [ + 0.021344881451280943, + -0.008663533056354589, + 0.10622924385243145, + 0.06056886587371496, + 0.7078823693389678, + -0.7022651982204671, + -0.0453602803583578 + ], + 0.9291467070579529 + ], + [ + [ + 0.008536593003722061, + 0.0009156865079752443, + 0.10648429957800594, + 0.08101023398804043, + 0.711803163030943, + -0.6974202065358416, + -0.01945904940771775 + ], + 0.9271031022071838 + ], + [ + [ + 0.10764984594896637, + 0.01548035649003976, + 0.07309350935393062, + 0.27166298786562043, + 0.6759970067592224, + -0.6536639268694748, + -0.20481879451377089 + ], + 0.9258023500442505 + ], + [ + [ + 0.02613624366238915, + -0.012910623835599488, + -0.11163956107920918, + 0.6965413652833664, + 0.014478702056707479, + 0.06212810525692447, + 0.714675165493472 + ], + 0.9249716997146606 + ], + [ + [ + 0.11649190442875229, + 0.025289383915984565, + 0.06473211018019405, + 0.30719363356546686, + 0.676638172521977, + -0.6409650909512389, + -0.1922410132225554 + ], + 0.9248226881027222 + ], + [ + [ + 0.15492071019724213, + 0.008313515422666007, + 0.01988838804536549, + 0.41763241395174056, + -0.5539469895288239, + -0.5890199879736627, + 0.41446514132831536 + ], + 0.9241719245910645 + ], + [ + [ + 0.028595464250596395, + 0.10279427023025745, + -0.008360029145841922, + 0.4702186582568892, + 0.44541628356327845, + 0.5434500135921014, + -0.5340045229120375 + ], + 0.9228944778442383 + ], + [ + [ + 0.055451897850783693, + 0.01724457108768218, + 0.09601770905428615, + 0.21229572744256528, + -0.6629266171857437, + -0.6744557733806525, + 0.2461061439497273 + ], + 0.9212938547134399 + ], + [ + [ + 0.025213047808559767, + -0.10513031183389432, + -0.0005857611016831053, + 0.520938677082093, + -0.529867990774843, + -0.4852421615271414, + -0.4608718387454991 + ], + 0.9193670153617859 + ], + [ + [ + 0.0772050972493013, + 0.0029427350627123654, + -0.11158571573323521, + 0.7025144492660212, + 0.12339407929458428, + -0.11936138643264005, + -0.6906520174417644 + ], + 0.9189832806587219 + ], + [ + [ + -0.027868134954420695, + 0.00046168698728832363, + 0.11387505201273647, + 0.09744885710122587, + 0.697531981509778, + 0.7010844170053094, + 0.11150558395449561 + ], + 0.9187154769897461 + ], + [ + [ + 0.08866108017280899, + -0.006418035166537828, + 0.07752942857914653, + 0.2472309903146754, + 0.6627777859840194, + -0.6684748598923236, + -0.22966019578082011 + ], + 0.9185940027236938 + ], + [ + [ + 0.1081271599443277, + -0.00742403723878271, + 0.08678490487509456, + 0.22941269818649204, + -0.6690336507740441, + -0.6780415687983548, + 0.2000585389935005 + ], + 0.9182859063148499 + ], + [ + [ + 0.08334005432442032, + -0.0015470438275621, + -0.11026933225220951, + 0.6976031803255722, + 0.11964191772318797, + -0.12826711190960938, + -0.6946820584451084 + ], + 0.9179859757423401 + ], + [ + [ + 0.05484001146868073, + -0.0067435733845592205, + -0.11247539701289448, + 0.7051140013508733, + 0.03501819351131063, + -0.03750157053461223, + -0.7072351825451008 + ], + 0.9178624153137207 + ], + [ + [ + 0.1238853837759813, + -0.007557131150937146, + 0.07139397976570812, + 0.24571948397494017, + 0.6614860634990168, + -0.6631110355730684, + -0.249683554710511 + ], + 0.9176221489906311 + ], + [ + [ + -0.008447662049380909, + 0.03160750047656291, + 0.1109540146368095, + 0.13159223978473725, + 0.725602695164548, + -0.6754123160057214, + 0.0015538938727924782 + ], + 0.9164263010025024 + ], + [ + [ + -0.132520677575318, + 0.0033577689563720763, + 0.07433954445296016, + 0.31803737064240206, + -0.6368563124030465, + 0.6060951842464631, + -0.3548448898610582 + ], + 0.9164004921913147 + ], + [ + [ + 0.01874667586997353, + -0.007705317611074514, + -0.10958645673817906, + 0.7051707320237138, + -0.04642883775710286, + 0.033722562984290994, + -0.7067116742119337 + ], + 0.9160576462745667 + ], + [ + [ + -0.1369359959451834, + 0.0018499722599848447, + 0.06585766939097133, + 0.32828974832115543, + -0.6254336183322907, + 0.6012537257407354, + -0.3735673801202337 + ], + 0.9157503247261047 + ], + [ + [ + 0.01288531529024445, + -0.024319392429864473, + 0.09673972246819225, + 0.26123486511786415, + -0.6756286169707959, + -0.6832546767993753, + 0.09189866053845176 + ], + 0.9143335223197937 + ], + [ + [ + -0.006403620408324371, + 0.0002183118294091238, + -0.10569128575152668, + 0.7017926610626051, + 0.02123623761147687, + 0.041157734771485543, + 0.7108741969991995 + ], + 0.9137960076332092 + ], + [ + [ + 0.09207096504286133, + 0.0017533194867759285, + -0.11012730928487095, + 0.6995796882383156, + 0.1295671564336392, + -0.12023797151828708, + -0.6923463309524001 + ], + 0.9137502908706665 + ], + [ + [ + 0.05412685679510437, + 0.10100646616312259, + -0.012345570087199534, + 0.5892069722392268, + 0.4657217851588728, + -0.4834037813924915, + 0.44973230574260104 + ], + 0.9128474593162537 + ], + [ + [ + 0.0017007325124574501, + 0.010179197614812785, + 0.10682864306145397, + 0.051978590341793175, + -0.6963340711429402, + -0.7140023574714176, + 0.051163669110379915 + ], + 0.9110651016235352 + ], + [ + [ + 0.10548239009693466, + -0.04175930170921094, + 0.07652298925095287, + 0.33882650233443024, + -0.6909424310673999, + -0.6318973483815162, + 0.09220032198911396 + ], + 0.9092957377433777 + ], + [ + [ + 0.10982771026209198, + 0.004245954066315227, + 0.08439943758421627, + 0.24826570515154953, + 0.6652523000242311, + -0.6697995377546915, + -0.21719138146269856 + ], + 0.9087314605712891 + ], + [ + [ + -0.14269408775254883, + -0.0024621934035927713, + 0.052842101134593165, + 0.37961429476421205, + -0.6026368654411715, + 0.5728473728276384, + -0.4056694258461957 + ], + 0.9078887701034546 + ], + [ + [ + 0.077640352717193, + -0.004598176373368568, + -0.11260539474314961, + 0.7003109903581837, + 0.11491547391279576, + -0.11873954130632347, + -0.6944493300229335 + ], + 0.9076457619667053 + ], + [ + [ + 0.06099583016947113, + -0.007288933998173541, + -0.11813760729855809, + 0.6968203295761188, + -0.04003800270887388, + -0.023689643823178397, + 0.7157354171787534 + ], + 0.9072922468185425 + ], + [ + [ + 0.09808350907877289, + -0.038114470230615205, + 0.08010818628245082, + 0.12244815094449384, + 0.6547470812700282, + -0.6743658814079534, + -0.3186587012644214 + ], + 0.9067813754081726 + ], + [ + [ + 0.16012635635450684, + -0.0014406720047951402, + -0.029647661320631825, + 0.5561326370214703, + 0.44608089030553827, + -0.4724753396685174, + -0.5181654009569563 + ], + 0.906700074672699 + ], + [ + [ + -0.14572882843896545, + -0.0002292536419951083, + 0.02651755330734936, + 0.467802200896587, + -0.5275307132940974, + 0.5128705993940684, + -0.48973073790083765 + ], + 0.90590900182724 + ], + [ + [ + 0.08862481074646317, + 0.006328883314305478, + -0.10595256271189961, + 0.6874813759062088, + -0.13863598755829787, + -0.13804815409806004, + 0.6993512192639402 + ], + 0.905660092830658 + ], + [ + [ + 0.08033758955314957, + 0.0908816337713837, + -0.0169274638814381, + 0.355891272383646, + 0.5544835204311347, + 0.38436415910741006, + -0.6466479884798981 + ], + 0.9028729796409607 + ], + [ + [ + 0.14727183984831177, + -0.00034647356831884996, + -0.03596311988658222, + 0.5649537986759954, + 0.440636451733632, + -0.43985288240914033, + -0.5414759132237816 + ], + 0.9028140902519226 + ], + [ + [ + 0.03345103370264374, + 0.022613189382278853, + 0.10281374124460903, + 0.0813679933770395, + -0.6912196469591958, + -0.7049213121469539, + 0.13667696584434355 + ], + 0.9025245904922485 + ], + [ + [ + -0.06584388954326309, + 0.004688833573633366, + 0.10541768191033092, + 0.1289551972534508, + -0.706382522978493, + 0.6823894090787084, + -0.1368904040065373 + ], + 0.9024738073348999 + ], + [ + [ + 0.015467700494976868, + -0.10627431123164899, + -0.003251017950241889, + 0.4670274570933564, + -0.4619859375606201, + 0.539332095791149, + 0.5268540958051617 + ], + 0.9024009108543396 + ], + [ + [ + 0.04580815317347847, + -0.01767008266059167, + 0.11068932531052318, + 0.0822046576894718, + -0.6998703403370551, + -0.709485097959997, + 0.007402482242144154 + ], + 0.9006746411323547 + ], + [ + [ + 0.007817713024618258, + -0.10258644519952542, + -0.010956786520545806, + 0.4735883913441497, + -0.4591095150864296, + 0.5224971579912251, + 0.5403047368219693 + ], + 0.8979478478431702 + ], + [ + [ + -0.0145227406708876, + -0.0033348258922011316, + 0.10713196364813533, + 0.09130839825445822, + 0.7049372952354918, + 0.6976534625667233, + 0.08947531705970924 + ], + 0.8978873491287231 + ], + [ + [ + 0.05289880367234551, + 0.10549802632423633, + -0.009228558227186526, + 0.5518866505381496, + 0.5113037108395119, + -0.4580214982141325, + 0.47350390432731243 + ], + 0.8976600170135498 + ], + [ + [ + 0.14905448066309296, + 0.0009572818770869909, + -0.02273491205996784, + 0.5520348475678699, + 0.4593217577498748, + -0.467462187998517, + -0.515519303925589 + ], + 0.8976252675056458 + ], + [ + [ + -0.1285458524315039, + 0.00724357665868991, + 0.07186333654099193, + 0.31664544092116126, + -0.6402432789325884, + 0.6012461867284381, + -0.3582279043709501 + ], + 0.8973986506462097 + ], + [ + [ + 0.07782022463396393, + 0.09288447649570697, + -0.0437432061356953, + 0.6892542190096647, + 0.3495408256204603, + -0.4756513550108491, + 0.42012572080067667 + ], + 0.8973351120948792 + ], + [ + [ + 0.14043937431886994, + 0.01413480677994483, + 0.03339501103037087, + 0.42045487191553005, + 0.5864340757846702, + -0.586200611051812, + -0.3683498595677176 + ], + 0.8960315585136414 + ], + [ + [ + -0.03055538428708709, + -0.10398021041063077, + 0.00908987974398819, + 0.4611177365147043, + -0.46798947893366377, + 0.5383962840127271, + 0.5277174642175869 + ], + 0.8940725326538086 + ], + [ + [ + 0.1554369013221582, + -0.0033820411527664125, + -0.020490838162367665, + 0.5336514370551296, + 0.4675467402429458, + -0.46983656014060293, + -0.5252330874692072 + ], + 0.893439769744873 + ], + [ + [ + 0.08774442034080826, + 0.02050174140723937, + 0.09226724324398723, + 0.18400351505095086, + -0.6578633120478493, + -0.6947539112064648, + 0.22511235411155975 + ], + 0.8934295773506165 + ], + [ + [ + -0.04254863602801956, + -0.0020980858581275403, + 0.10638347087078777, + 0.14057218624356208, + -0.6928194190795209, + 0.692548665701221, + -0.14358641522260748 + ], + 0.8919566869735718 + ], + [ + [ + -0.05169091937824882, + 0.0128835395106911, + 0.10938360361033168, + 0.13344517576476886, + 0.6890822738155105, + 0.7034392370395717, + 0.11194304253298124 + ], + 0.8918004035949707 + ], + [ + [ + 0.14531466173246704, + 0.0027377470059185565, + 0.03437692490988461, + 0.4203064698279412, + 0.5743480293188428, + -0.5891553248184147, + -0.38257393517651356 + ], + 0.8917487263679504 + ], + [ + [ + -0.05757019487902321, + -0.015857132883942193, + 0.10445754048996654, + 0.1698762189780352, + -0.703437046494077, + 0.6794156251682252, + -0.12129633185998051 + ], + 0.8909357190132141 + ], + [ + [ + -0.056543042936770094, + 0.0002824482170730172, + 0.10352967498474804, + 0.1406081730666497, + -0.7072060936124657, + 0.6744040003750555, + -0.1589595140354252 + ], + 0.8900207281112671 + ], + [ + [ + 0.04847636254742943, + 0.004365063005858594, + 0.08628075388842311, + 0.22839692859170282, + -0.6688200365455982, + -0.6663539274511198, + 0.23767003407137685 + ], + 0.8900075554847717 + ], + [ + [ + 0.05989521922782265, + -0.006427957477247781, + -0.11523559125489506, + 0.686691802188485, + -0.006241076874657516, + 0.011984709265085991, + 0.7268230764845093 + ], + 0.8897491097450256 + ], + [ + [ + -0.12817920936032928, + 0.00021067850586076214, + 0.07027274934225765, + 0.32510225042955426, + 0.6185929032093269, + 0.6297859161504427, + 0.33914752937806236 + ], + 0.8897054195404053 + ], + [ + [ + -0.09494436723872818, + -0.003714398281848496, + 0.11594104585819927, + 0.12664178661864556, + -0.7105626169153275, + 0.6693204207906553, + -0.1762747844619263 + ], + 0.8892971873283386 + ], + [ + [ + 0.04271197872474991, + 0.09233596475216144, + -0.013534950040047492, + 0.361156917356985, + 0.5512879988414445, + 0.38475363101532123, + -0.6462289584962293 + ], + 0.8890054821968079 + ] + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/stapler/00002/metadata.json b/Assets/Object/RoboDojo/Clutter/stapler/00002/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..fa397ed9ec93927463c26fe0d21ee95d9eee2b61 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/stapler/00002/metadata.json @@ -0,0 +1,146 @@ +{ + "uuid": "e25344da-2146-46f2-8c2d-63cc4cd6ba5c", + "physics": { + "mass": 0.12, + "friction": 0.3 + }, + "geometry": { + "faces": 516702, + "vertices": 304338, + "aligned_bbox": { + "vertices": [ + [ + -0.0701, + -0.0138, + -0.0327 + ], + [ + -0.0701, + -0.0138, + 0.0326 + ], + [ + -0.0701, + 0.0139, + -0.0327 + ], + [ + -0.0701, + 0.0139, + 0.0326 + ], + [ + 0.0699, + -0.0138, + -0.0327 + ], + [ + 0.0699, + -0.0138, + 0.0326 + ], + [ + 0.0699, + 0.0139, + -0.0327 + ], + [ + 0.0699, + 0.0139, + 0.0326 + ] + ], + "extents": [ + 0.14, + 0.0277, + 0.0653 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0704, + -0.0138, + -0.0325 + ], + [ + 0.0667, + -0.0138, + -0.0455 + ], + [ + -0.0641, + -0.0138, + 0.0335 + ], + [ + 0.073, + -0.0138, + 0.0204 + ], + [ + -0.0704, + 0.0139, + -0.0325 + ], + [ + 0.0667, + 0.0139, + -0.0455 + ], + [ + -0.0641, + 0.0139, + 0.0335 + ], + [ + 0.073, + 0.0139, + 0.0204 + ] + ], + "extents": [ + 0.1434, + 0.0277, + 0.079 + ] + }, + "radius": 0.0724 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + -0.001, + 0.0005, + 0.0 + ], + "projection_circle": { + "center": [ + 0.0004, + 0.0002, + -0.0327, + 1.0, + 0.001, + -0.0005, + -0.0 + ], + "radius": 0.0706 + }, + "contact_circle": { + "center": [ + -0.0038, + 0.0005, + -0.0327, + 1.0, + 0.001, + -0.0005, + -0.0 + ], + "radius": 0.0659 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/stapler/00002/object.usdz b/Assets/Object/RoboDojo/Clutter/stapler/00002/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..ae24319eaf6d7194a4e3f1db87c99c06e56355cd --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/stapler/00002/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8114298a1e5830f8a957fb00887a2eb78c40cd91f2d85f7bd2ee9cb805aff70 +size 29147182 diff --git a/Assets/Object/RoboDojo/Clutter/stapler/00003/description.json b/Assets/Object/RoboDojo/Clutter/stapler/00003/description.json new file mode 100644 index 0000000000000000000000000000000000000000..686d0dcafc176411f01f0a0a3e25cfa284cb2385 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/stapler/00003/description.json @@ -0,0 +1,137 @@ +{ + "uuid": "412264b3-9a9f-45ed-b042-2c557fd42441", + "caption": { + "color": [ + "vibrant blue plastic top", + "metallic silver base", + "dark gray metal mechanism" + ], + "material": [ + "glossy plastic", + "stamped steel", + "chrome-finished metal" + ], + "size": [ + "desk-sized", + "fits in one hand", + "standard office stapler" + ], + "name": [ + "stapler", + "desktop stapler", + "blue stapler" + ], + "shape": [ + "rectangular body with curved top lever", + "hinged upper arm", + "flat base with front slot" + ], + "function": [ + "fastening paper sheets together", + "driving staples through documents", + "holding stacks of paper securely" + ] + }, + "description": [ + "chrome-finished metal stapler", + "standard office stapler blue stapler used for holding stacks of paper securely", + "stamped steel dark gray metal mechanism desktop stapler", + "stapler sized fits in one hand", + "metallic silver base stamped steel hinged upper arm object", + "glossy plastic stapler suitable for driving staples through documents", + "stapler commonly used for holding stacks of paper securely", + "stapler appropriate for driving staples through documents use", + "stapler in hinged upper arm form", + "dark gray metal mechanism object used for holding stacks of paper securely", + "blue stapler in hinged upper arm", + "dark gray metal mechanism fits in one hand hinged upper arm blue stapler", + "dark gray metal mechanism blue stapler for holding stacks of paper securely", + "stapler colored metallic silver base", + "desk-sized metallic silver base stamped steel stapler", + "desk-sized hinged upper arm blue stapler", + "blue stapler appropriate for holding stacks of paper securely use", + "fits in one hand metallic silver base hinged upper arm object", + "blue stapler optimized for holding stacks of paper securely", + "stapler made from glossy plastic", + "blue stapler with rectangular body with curved top lever geometry", + "stapler sized as standard office stapler", + "desk-sized object used for fastening paper sheets together", + "standard office stapler metallic silver base flat base with front slot for fastening paper sheets together", + "blue stapler ideal for holding stacks of paper securely", + "fits in one hand vibrant blue plastic top object for driving staples through documents", + "desk-sized blue stapler perfect for holding stacks of paper securely", + "vibrant blue plastic top fits in one hand chrome-finished metal object", + "dark gray metal mechanism desktop stapler used for driving staples through documents", + "desktop stapler with glossy plastic body", + "desk-sized stapler used for holding stacks of paper securely", + "standard office stapler metallic silver base hinged upper arm for fastening paper sheets together", + "blue stapler with glossy plastic surface", + "metallic silver base rectangular body with curved top lever blue stapler", + "desktop stapler primarily used for fastening paper sheets together", + "fits in one hand flat base with front slot object for driving staples through documents", + "vibrant blue plastic top flat base with front slot object for holding stacks of paper securely", + "rectangular body with curved top lever glossy plastic desktop stapler for fastening paper sheets together", + "desktop stapler with metallic silver base exterior", + "stapler optimized for fastening paper sheets together", + "metallic silver base stamped steel hinged upper arm stapler", + "blue stapler optimized for driving staples through documents", + "blue stapler made of chrome-finished metal", + "stamped steel stapler used for fastening paper sheets together", + "desk-sized glossy plastic desktop stapler", + "holding stacks of paper securely use of blue stapler", + "desktop stapler designed for driving staples through documents", + "chrome-finished metal rectangular body with curved top lever for driving staples through documents", + "fits in one hand glossy plastic blue stapler for holding stacks of paper securely", + "dark gray metal mechanism desktop stapler typically used for holding stacks of paper securely", + "glossy plastic object for driving staples through documents", + "rectangular body with curved top lever fits in one hand stapler", + "dark gray metal mechanism stapler used for driving staples through documents", + "fits in one hand stapler used for fastening paper sheets together", + "stapler suitable for driving staples through documents", + "vibrant blue plastic top desk-sized desktop stapler for driving staples through documents", + "fits in one hand rectangular body with curved top lever desktop stapler for holding stacks of paper securely", + "standard office stapler vibrant blue plastic top stamped steel stapler", + "blue stapler in dark gray metal mechanism", + "fits in one hand stamped steel desktop stapler for driving staples through documents", + "hinged upper arm chrome-finished metal blue stapler for driving staples through documents", + "metallic silver base hinged upper arm desktop stapler used for holding stacks of paper securely", + "blue stapler ideal for driving staples through documents", + "fits in one hand vibrant blue plastic top glossy plastic flat base with front slot object", + "stamped steel flat base with front slot desktop stapler", + "metallic silver base hinged upper arm object for holding stacks of paper securely", + "chrome-finished metal blue stapler", + "desktop stapler for driving staples through documents activities", + "fits in one hand flat base with front slot object", + "dark gray metal mechanism stapler for fastening paper sheets together", + "standard office stapler hinged upper arm desktop stapler for fastening paper sheets together", + "desktop stapler with vibrant blue plastic top exterior", + "stapler with metallic silver base exterior", + "stapler with chrome-finished metal surface", + "dark gray metal mechanism object used for driving staples through documents", + "desk-sized dark gray metal mechanism hinged upper arm object", + "chrome-finished metal blue stapler used for holding stacks of paper securely", + "vibrant blue plastic top blue stapler suitable for driving staples through documents", + "standard office stapler hinged upper arm object", + "dark gray metal mechanism hinged upper arm desktop stapler used for fastening paper sheets together", + "stapler with chrome-finished metal construction", + "stamped steel stapler", + "vibrant blue plastic top rectangular body with curved top lever blue stapler used for holding stacks of paper securely", + "blue stapler with dark gray metal mechanism exterior", + "chrome-finished metal rectangular body with curved top lever stapler", + "stamped steel stapler for fastening paper sheets together", + "fits in one hand stapler perfect for fastening paper sheets together", + "rectangular body with curved top lever desktop stapler ideal for driving staples through documents", + "dark gray metal mechanism desktop stapler for fastening paper sheets together", + "standard office stapler stamped steel rectangular body with curved top lever for holding stacks of paper securely", + "blue stapler commonly featuring glossy plastic", + "vibrant blue plastic top flat base with front slot object for driving staples through documents", + "dark gray metal mechanism hinged upper arm stapler", + "desktop stapler appropriate for driving staples through documents use", + "hinged upper arm fits in one hand stapler", + "hinged upper arm standard office stapler blue stapler", + "stapler appropriate for driving staples through documents", + "dark gray metal mechanism glossy plastic hinged upper arm object", + "metallic silver base desktop stapler suitable for fastening paper sheets together", + "desktop stapler featuring stamped steel build" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/stapler/00003/metadata.json b/Assets/Object/RoboDojo/Clutter/stapler/00003/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a872451a7223706fddbe32300007c4d46f62d267 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/stapler/00003/metadata.json @@ -0,0 +1,146 @@ +{ + "uuid": "412264b3-9a9f-45ed-b042-2c557fd42441", + "physics": { + "mass": 0.12, + "friction": 0.3 + }, + "geometry": { + "faces": 336511, + "vertices": 245235, + "aligned_bbox": { + "vertices": [ + [ + -0.0758, + -0.0208, + -0.0343 + ], + [ + -0.0758, + -0.0208, + 0.0343 + ], + [ + -0.0758, + 0.0209, + -0.0343 + ], + [ + -0.0758, + 0.0209, + 0.0343 + ], + [ + 0.0756, + -0.0208, + -0.0343 + ], + [ + 0.0756, + -0.0208, + 0.0343 + ], + [ + 0.0756, + 0.0209, + -0.0343 + ], + [ + 0.0756, + 0.0209, + 0.0343 + ] + ], + "extents": [ + 0.1513, + 0.0417, + 0.0686 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + 0.0756, + 0.021, + -0.0339 + ], + [ + -0.0758, + 0.021, + -0.0337 + ], + [ + 0.0757, + 0.02, + 0.0344 + ], + [ + -0.0757, + 0.02, + 0.0346 + ], + [ + 0.0756, + -0.0207, + -0.0345 + ], + [ + -0.0758, + -0.0207, + -0.0343 + ], + [ + 0.0757, + -0.0217, + 0.0338 + ], + [ + -0.0757, + -0.0217, + 0.034 + ] + ], + "extents": [ + 0.1514, + 0.0427, + 0.0691 + ] + }, + "radius": 0.0779 + }, + "active": { + "place": { + "up": { + "orientation": [ + 0.9998, + -0.0176, + -0.0028, + 0.0003 + ], + "projection_circle": { + "center": [ + -0.0001, + 0.0004, + -0.0347, + 0.9998, + 0.0176, + 0.0028, + -0.0003 + ], + "radius": 0.0757 + }, + "contact_circle": { + "center": [ + -0.002, + 0.0026, + -0.0346, + 0.9998, + 0.0176, + 0.0028, + -0.0003 + ], + "radius": 0.0693 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/stapler/00003/object.usdz b/Assets/Object/RoboDojo/Clutter/stapler/00003/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..f0fd1c3cb056a2538f0500a55d32df59a580b528 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/stapler/00003/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd9ff93ae2ab53d332554b93d60b86f000cef5977526f113c8f4d51b9715d33d +size 17122830 diff --git a/Assets/Object/RoboDojo/Clutter/stapler/00004/description.json b/Assets/Object/RoboDojo/Clutter/stapler/00004/description.json new file mode 100644 index 0000000000000000000000000000000000000000..e5469bee6021c74981b6ae4b74d1f56d3ccac358 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/stapler/00004/description.json @@ -0,0 +1,136 @@ +{ + "uuid": "bd4a2cf5-9f43-417e-90cc-7bf448b26dae", + "caption": { + "color": [ + "glossy red top", + "silver metal base", + "dark gray underside" + ], + "material": [ + "painted plastic top", + "shiny metal frame", + "chrome-finished steel" + ], + "size": [ + "desk-sized", + "fits in one hand", + "compact office tool" + ], + "name": [ + "stapler", + "desktop stapler", + "red stapler" + ], + "shape": [ + "rectangular with rounded edges", + "hinged top lever", + "boxy base with slot" + ], + "function": [ + "fastening paper sheets together", + "driving staples into documents" + ] + }, + "description": [ + "compact office tool boxy base with slot object for fastening paper sheets together", + "desktop stapler typically made of painted plastic top", + "compact office tool dark gray underside desktop stapler", + "dark gray underside painted plastic top stapler", + "stapler for driving staples into documents scenarios", + "desktop stapler sized compact office tool", + "dark gray underside red stapler for fastening paper sheets together", + "red stapler made of shiny metal frame", + "painted plastic top desktop stapler suitable for fastening paper sheets together", + "boxy base with slot object made of painted plastic top", + "desktop stapler featuring rectangular with rounded edges shape", + "stapler featuring boxy base with slot shape", + "compact office tool rectangular with rounded edges object for driving staples into documents", + "rectangular with rounded edges desktop stapler ideal for fastening paper sheets together", + "silver metal base painted plastic top rectangular with rounded edges red stapler", + "fastening paper sheets together with red stapler", + "desktop stapler for driving staples into documents scenarios", + "desktop stapler designed for driving staples into documents", + "fits in one hand silver metal base object for driving staples into documents", + "glossy red top rectangular with rounded edges object for fastening paper sheets together", + "stapler commonly featuring chrome-finished steel", + "painted plastic top object for driving staples into documents", + "glossy red top object used for driving staples into documents", + "dark gray underside object used for driving staples into documents", + "dark gray underside red stapler for driving staples into documents", + "glossy red top painted plastic top rectangular with rounded edges object", + "stapler suitable for fastening paper sheets together", + "hinged top lever chrome-finished steel object for fastening paper sheets together", + "desk-sized desktop stapler perfect for fastening paper sheets together", + "stapler ideal for fastening paper sheets together", + "fits in one hand object used for fastening paper sheets together", + "desktop stapler appropriate for driving staples into documents use", + "desktop stapler for fastening paper sheets together with painted plastic top", + "glossy red top stapler used for driving staples into documents", + "fits in one hand shiny metal frame stapler for driving staples into documents", + "glossy red top shiny metal frame rectangular with rounded edges desktop stapler", + "desktop stapler for fastening paper sheets together tasks", + "silver metal base red stapler suitable for driving staples into documents", + "stapler made from painted plastic top", + "desktop stapler in silver metal base", + "red stapler in boxy base with slot", + "red stapler for fastening paper sheets together", + "desktop stapler for driving staples into documents", + "painted plastic top red stapler used for driving staples into documents", + "red stapler suitable for fastening paper sheets together", + "painted plastic top red stapler suitable for driving staples into documents", + "hinged top lever red stapler used for driving staples into documents", + "red stapler sized as fits in one hand", + "painted plastic top stapler used for driving staples into documents", + "stapler with rectangular with rounded edges profile", + "red stapler intended for fastening paper sheets together", + "red stapler featuring rectangular with rounded edges shape", + "red stapler in silver metal base", + "compact office tool rectangular with rounded edges desktop stapler", + "stapler made of chrome-finished steel", + "stapler for driving staples into documents", + "boxy base with slot red stapler ideal for fastening paper sheets together", + "stapler built from chrome-finished steel", + "rectangular with rounded edges shiny metal frame desktop stapler for driving staples into documents", + "desktop stapler in boxy base with slot form", + "silver metal base chrome-finished steel red stapler", + "silver metal base stapler for driving staples into documents", + "driving staples into documents use of stapler", + "desktop stapler with dark gray underside color", + "desktop stapler commonly featuring shiny metal frame", + "desktop stapler suitable for fastening paper sheets together", + "fits in one hand silver metal base painted plastic top red stapler", + "desktop stapler with hinged top lever profile", + "desktop stapler featuring painted plastic top build", + "red stapler sized as compact office tool", + "rectangular with rounded edges desktop stapler for driving staples into documents", + "shiny metal frame red stapler", + "stapler for fastening paper sheets together", + "stapler made from chrome-finished steel", + "rectangular with rounded edges desktop stapler used for driving staples into documents", + "red stapler commonly found in desk-sized size", + "hinged top lever red stapler for driving staples into documents", + "desktop stapler with painted plastic top body", + "red stapler used to driving staples into documents", + "compact office tool silver metal base hinged top lever for fastening paper sheets together", + "dark gray underside painted plastic top hinged top lever stapler", + "fits in one hand glossy red top desktop stapler", + "red stapler with shiny metal frame surface", + "shiny metal frame desktop stapler used for driving staples into documents", + "desk-sized shiny metal frame stapler for driving staples into documents", + "desk-sized dark gray underside rectangular with rounded edges object", + "red stapler used to fastening paper sheets together", + "stapler for driving staples into documents use", + "compact office tool desktop stapler perfect for fastening paper sheets together", + "compact office tool dark gray underside stapler", + "glossy red top desktop stapler designed for driving staples into documents", + "shiny metal frame rectangular with rounded edges desktop stapler", + "silver metal base rectangular with rounded edges object for fastening paper sheets together", + "rectangular with rounded edges compact office tool desktop stapler", + "glossy red top object used for fastening paper sheets together", + "dark gray underside red stapler designed for fastening paper sheets together", + "glossy red top compact office tool boxy base with slot stapler", + "stapler featuring chrome-finished steel build", + "hinged top lever object made of painted plastic top", + "hinged top lever-shaped stapler" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/stapler/00004/metadata.json b/Assets/Object/RoboDojo/Clutter/stapler/00004/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..caf03533c6c5574850bde3aded4bdc5a2fe6980d --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/stapler/00004/metadata.json @@ -0,0 +1,146 @@ +{ + "uuid": "bd4a2cf5-9f43-417e-90cc-7bf448b26dae", + "physics": { + "mass": 0.12, + "friction": 0.3 + }, + "geometry": { + "faces": 363527, + "vertices": 276372, + "aligned_bbox": { + "vertices": [ + [ + -0.0559, + -0.028, + -0.0343 + ], + [ + -0.0559, + -0.028, + 0.0343 + ], + [ + -0.0559, + 0.0281, + -0.0343 + ], + [ + -0.0559, + 0.0281, + 0.0343 + ], + [ + 0.0558, + -0.028, + -0.0343 + ], + [ + 0.0558, + -0.028, + 0.0343 + ], + [ + 0.0558, + 0.0281, + -0.0343 + ], + [ + 0.0558, + 0.0281, + 0.0343 + ] + ], + "extents": [ + 0.1117, + 0.0561, + 0.0686 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0581, + -0.028, + -0.0338 + ], + [ + 0.0521, + -0.028, + -0.0411 + ], + [ + -0.0536, + -0.028, + 0.0346 + ], + [ + 0.0566, + -0.028, + 0.0274 + ], + [ + -0.0581, + 0.0281, + -0.0338 + ], + [ + 0.0521, + 0.0281, + -0.0411 + ], + [ + -0.0536, + 0.0281, + 0.0346 + ], + [ + 0.0566, + 0.0281, + 0.0274 + ] + ], + "extents": [ + 0.1147, + 0.0561, + 0.0757 + ] + }, + "radius": 0.0629 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + 0.0, + 0.0, + -0.0005 + ], + "projection_circle": { + "center": [ + 0.001, + 0.0001, + -0.0343, + 1.0, + -0.0, + -0.0, + 0.0005 + ], + "radius": 0.0582 + }, + "contact_circle": { + "center": [ + -0.0037, + -0.0, + -0.0343, + 1.0, + -0.0, + -0.0, + 0.0005 + ], + "radius": 0.0525 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/stapler/00004/object.usdz b/Assets/Object/RoboDojo/Clutter/stapler/00004/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..c2d99e1f729ecac8cb6825948e5be77652aa66f4 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/stapler/00004/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a851489439def8591dd0588dc78ae2904705b5ee0e291e664b9d222f4936104 +size 30969110 diff --git a/Assets/Object/RoboDojo/Clutter/toy/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/toy/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a3ee9e8e16738e052278ebfee285443c7bd19e66 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/toy/00000/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "ac830149-f3ff-4160-8df0-8de42c080d57", + "geometry": { + "faces": 10176, + "vertices": 6786, + "aligned_bbox": { + "vertices": [ + [ + -0.0313, + -0.0634, + -0.0525 + ], + [ + -0.0313, + -0.0634, + 0.0023 + ], + [ + -0.0313, + 0.0634, + -0.0525 + ], + [ + -0.0313, + 0.0634, + 0.0023 + ], + [ + 0.0882, + -0.0634, + -0.0525 + ], + [ + 0.0882, + -0.0634, + 0.0023 + ], + [ + 0.0882, + 0.0634, + -0.0525 + ], + [ + 0.0882, + 0.0634, + 0.0023 + ] + ], + "extents": [ + 0.1195, + 0.1267, + 0.0549 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0054, + -0.0698, + 0.0023 + ], + [ + 0.1007, + -0.0099, + 0.0023 + ], + [ + -0.0619, + 0.0303, + 0.0023 + ], + [ + 0.0441, + 0.0902, + 0.0023 + ], + [ + -0.0054, + -0.0698, + -0.0525 + ], + [ + 0.1007, + -0.0099, + -0.0525 + ], + [ + -0.0619, + 0.0303, + -0.0525 + ], + [ + 0.0441, + 0.0902, + -0.0525 + ] + ], + "extents": [ + 0.1626, + 0.16, + 0.0549 + ] + }, + "radius": 0.0693 + }, + "active": { + "place": { + "up": { + "orientation": [ + 0.9967, + 0.0188, + 0.0786, + 0.0003 + ], + "projection_circle": { + "center": [ + 0.0253, + -0.0009, + -0.0487, + 0.9967, + -0.0188, + -0.0786, + -0.0003 + ], + "radius": 0.0677 + }, + "contact_circle": { + "center": [ + 0.0362, + -0.0046, + -0.0468, + 0.9967, + -0.0188, + -0.0786, + -0.0003 + ], + "radius": 0.0404 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/toy/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/toy/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..8fd6e4ea0e2c8a325a4717654f5e7183befc3af1 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/toy/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9592217f5d0d13a30e710a40433d3d2212fb2f46576ab202c783f0ab9071a2ac +size 4512688 diff --git a/Assets/Object/RoboDojo/Clutter/toy/00001/metadata.json b/Assets/Object/RoboDojo/Clutter/toy/00001/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..7ed450932e5d8f792b77b36c0b1f653591e59a38 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/toy/00001/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "e9473b50-0748-4c0e-a2e9-a7ee997f3b8e", + "geometry": { + "faces": 15296, + "vertices": 10425, + "aligned_bbox": { + "vertices": [ + [ + -0.0942, + -0.0734, + -0.0491 + ], + [ + -0.0942, + -0.0734, + 0.0761 + ], + [ + -0.0942, + 0.1686, + -0.0491 + ], + [ + -0.0942, + 0.1686, + 0.0761 + ], + [ + 0.0843, + -0.0734, + -0.0491 + ], + [ + 0.0843, + -0.0734, + 0.0761 + ], + [ + 0.0843, + 0.1686, + -0.0491 + ], + [ + 0.0843, + 0.1686, + 0.0761 + ] + ], + "extents": [ + 0.1786, + 0.242, + 0.1252 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + 0.0018, + -0.0782, + 0.0669 + ], + [ + 0.1301, + 0.0618, + 0.0807 + ], + [ + -0.1156, + 0.0284, + 0.0774 + ], + [ + 0.0127, + 0.1684, + 0.0912 + ], + [ + 0.0018, + -0.0658, + -0.0586 + ], + [ + 0.1301, + 0.0741, + -0.0448 + ], + [ + -0.1156, + 0.0408, + -0.0481 + ], + [ + 0.0127, + 0.1808, + -0.0343 + ] + ], + "extents": [ + 0.2458, + 0.259, + 0.1498 + ] + }, + "radius": 0.1229 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + -0.0093, + -0.0004, + -0.0003 + ], + "projection_circle": { + "center": [ + 0.0072, + 0.0497, + -0.0488, + 1.0, + 0.0093, + 0.0004, + 0.0003 + ], + "radius": 0.1212 + }, + "contact_circle": { + "center": [ + -0.0002, + 0.0071, + -0.0496, + 1.0, + 0.0093, + 0.0004, + 0.0003 + ], + "radius": 0.0398 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/toy/00001/object.usdz b/Assets/Object/RoboDojo/Clutter/toy/00001/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..b7bda58a8b42639bff3e651e762feb112e8194ca --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/toy/00001/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3f7afd88861e980dc42f06ef304d0c688b013fbb318a0e5c6cc93e993407b86 +size 12119557 diff --git a/Assets/Object/RoboDojo/Clutter/toy/00002/description.json b/Assets/Object/RoboDojo/Clutter/toy/00002/description.json new file mode 100644 index 0000000000000000000000000000000000000000..140cf8ffde41c1ac871c025a299e352cd370f974 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/toy/00002/description.json @@ -0,0 +1,137 @@ +{ + "uuid": "4e19b849-5318-4372-9a11-be42b7c85fce", + "caption": { + "color": [ + "matte gray", + "glossy charcoal", + "white and gray marbled" + ], + "material": [ + "ceramic", + "glazed porcelain", + "smooth stone-like finish" + ], + "size": [ + "small figurine", + "hand-sized", + "desk ornament scale" + ], + "name": [ + "bunny", + "rabbit figurine", + "sitting rabbit" + ], + "shape": [ + "crouching rabbit", + "upright seated pose", + "one paw covering face" + ], + "function": [ + "decorative display", + "collectible art piece", + "stress-relief fidget sculpture" + ] + }, + "description": [ + "sitting rabbit optimized for decorative display", + "bunny with hand-sized dimensions", + "desk ornament scale glossy charcoal smooth stone-like finish crouching rabbit object", + "matte gray small figurine one paw covering face sitting rabbit", + "ceramic sitting rabbit suitable for decorative display", + "bunny colored glossy charcoal", + "white and gray marbled small figurine crouching rabbit sitting rabbit", + "bunny sized small figurine", + "rabbit figurine colored glossy charcoal", + "matte gray smooth stone-like finish crouching rabbit object", + "bunny shaped like a one paw covering face", + "upright seated pose ceramic sitting rabbit for decorative display", + "desk ornament scale bunny perfect for decorative display", + "bunny for stress-relief fidget sculpture tasks", + "matte gray bunny for decorative display", + "one paw covering face ceramic bunny for decorative display", + "smooth stone-like finish bunny used for collectible art piece", + "small figurine upright seated pose object", + "sitting rabbit intended for stress-relief fidget sculpture", + "glossy charcoal smooth stone-like finish one paw covering face bunny", + "bunny commonly featuring ceramic", + "desk ornament scale upright seated pose object", + "rabbit figurine in one paw covering face form", + "small figurine one paw covering face object", + "rabbit figurine commonly found in desk ornament scale size", + "white and gray marbled sitting rabbit designed for collectible art piece", + "white and gray marbled sitting rabbit typically used for stress-relief fidget sculpture", + "matte gray object used for stress-relief fidget sculpture", + "sitting rabbit intended for stress-relief fidget sculpture usage", + "matte gray upright seated pose bunny used for stress-relief fidget sculpture", + "rabbit figurine sized hand-sized", + "glossy charcoal ceramic crouching rabbit bunny", + "bunny in crouching rabbit", + "small figurine crouching rabbit object for collectible art piece", + "upright seated pose sitting rabbit for collectible art piece", + "desk ornament scale glazed porcelain object", + "bunny appropriate for collectible art piece use", + "hand-sized matte gray rabbit figurine", + "matte gray bunny used for stress-relief fidget sculpture", + "desk ornament scale glazed porcelain sitting rabbit", + "white and gray marbled object used for collectible art piece", + "sitting rabbit for decorative display", + "glazed porcelain sitting rabbit suitable for decorative display", + "bunny in upright seated pose form", + "rabbit figurine for collectible art piece scenarios", + "white and gray marbled upright seated pose object for decorative display", + "bunny for decorative display use", + "matte gray desk ornament scale crouching rabbit bunny", + "decorative display with sitting rabbit", + "sitting rabbit for decorative display scenarios", + "rabbit figurine for collectible art piece activities", + "hand-sized ceramic object", + "crouching rabbit-shaped rabbit figurine", + "sitting rabbit appropriate for decorative display", + "sitting rabbit for collectible art piece scenarios", + "ceramic white and gray marbled rabbit figurine", + "small figurine glazed porcelain sitting rabbit for stress-relief fidget sculpture", + "bunny with ceramic surface", + "rabbit figurine with glazed porcelain body", + "white and gray marbled bunny suitable for collectible art piece", + "sitting rabbit for stress-relief fidget sculpture tasks", + "rabbit figurine with smooth stone-like finish surface", + "upright seated pose rabbit figurine for decorative display", + "sitting rabbit in one paw covering face", + "matte gray object used for decorative display", + "rabbit figurine sized as small figurine", + "sitting rabbit colored white and gray marbled", + "rabbit figurine in hand-sized", + "bunny optimized for stress-relief fidget sculpture", + "bunny shaped like a upright seated pose", + "stress-relief fidget sculpture use of bunny", + "glossy charcoal rabbit figurine designed for decorative display", + "glazed porcelain object for collectible art piece", + "ceramic one paw covering face for collectible art piece", + "glossy charcoal small figurine rabbit figurine for decorative display", + "bunny in hand-sized", + "sitting rabbit with ceramic body", + "sitting rabbit for collectible art piece", + "small figurine crouching rabbit object for decorative display", + "rabbit figurine suitable for stress-relief fidget sculpture", + "bunny made from smooth stone-like finish", + "glazed porcelain rabbit figurine used for collectible art piece", + "glossy charcoal object used for decorative display", + "small figurine crouching rabbit rabbit figurine", + "ceramic bunny suitable for stress-relief fidget sculpture", + "rabbit figurine ideal for collectible art piece", + "one paw covering face bunny ideal for collectible art piece", + "one paw covering face rabbit figurine for decorative display", + "small figurine sitting rabbit perfect for stress-relief fidget sculpture", + "sitting rabbit with ceramic construction", + "bunny sized as small figurine", + "matte gray small figurine upright seated pose rabbit figurine", + "rabbit figurine made of glazed porcelain", + "bunny for decorative display", + "small figurine one paw covering face sitting rabbit for decorative display", + "crouching rabbit smooth stone-like finish sitting rabbit for decorative display", + "bunny for collectible art piece tasks", + "white and gray marbled sitting rabbit used for stress-relief fidget sculpture", + "hand-sized rabbit figurine for stress-relief fidget sculpture", + "bunny colored matte gray" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/toy/00002/grasps/proposal.json b/Assets/Object/RoboDojo/Clutter/toy/00002/grasps/proposal.json new file mode 100644 index 0000000000000000000000000000000000000000..2882c415bc5d55e63b7e9e50279ecb54382ef860 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/toy/00002/grasps/proposal.json @@ -0,0 +1,1205 @@ +{ + "uuid": "4e19b849-5318-4372-9a11-be42b7c85fce", + "grasp": [ + [ + [ + 0.0867674347049971, + -0.10848994151431793, + -0.1042520974142037, + 0.4832487917460937, + -0.5363159062785878, + 0.17671263835482254, + 0.6690354978580695 + ], + 0.9186834692955017 + ], + [ + [ + 0.13642849736283022, + -0.036907389468734196, + -0.07836879532165152, + 0.12185665632503166, + -0.6743487990855809, + -0.06314472188421072, + 0.725546274595414 + ], + 0.9179525971412659 + ], + [ + [ + 0.12114247642824845, + -0.04635404393750899, + -0.09811871986217123, + 0.20524589693581968, + -0.586314630233681, + -0.00848610674339878, + 0.7836052974280437 + ], + 0.9158982634544373 + ], + [ + [ + 0.06994926892588334, + -0.1141156439550566, + -0.10359009097642523, + 0.727945463228322, + -0.33284165344602723, + -0.46124355069649003, + -0.3828396834675233 + ], + 0.9153216481208801 + ], + [ + [ + 0.08954021297762589, + -0.09821739391166442, + -0.1050184343320809, + 0.4042338107321356, + -0.5059461174718074, + 0.2103093544622019, + 0.7323820914672013 + ], + 0.9112988710403442 + ], + [ + [ + 0.09881334714958863, + -0.10298214451152557, + -0.10182120393342596, + 0.4121711211637024, + -0.5570363013085277, + 0.16521199277746534, + 0.7018051890273186 + ], + 0.9061108231544495 + ], + [ + [ + 0.01703200452397065, + -0.12488525704223388, + -0.09100115041560751, + 0.5126099117600331, + -0.3626270914461639, + 0.5066661180167729, + 0.5907809372080994 + ], + 0.9028893113136292 + ], + [ + [ + 0.019830656800367403, + -0.11432761297303909, + -0.11657215397185904, + 0.6322164554617314, + -0.3330593740306466, + 0.3569141325079562, + 0.601652814195871 + ], + 0.9021064043045044 + ], + [ + [ + 0.13494379036495882, + -0.020956007472460205, + -0.10328181575364691, + 0.08677256889777125, + -0.5707612187036882, + -0.07042869203738655, + 0.8134752312447288 + ], + 0.9001807570457458 + ], + [ + [ + -0.13069579787184996, + -0.032225558242981366, + -0.07673923413581472, + 0.7343513411976096, + 0.11193963864024258, + 0.6535871147394989, + 0.1449879595996191 + ], + 0.897052526473999 + ], + [ + [ + 0.1274134885556479, + -0.05575535789806121, + -0.0919268776041947, + 0.7743881386048905, + -0.10107782448254862, + -0.6154287309506804, + -0.106554029986495 + ], + 0.8917554616928101 + ], + [ + [ + -0.12397788501908584, + -0.02752810314971679, + -0.10603135566539389, + 0.824462754087103, + 0.0721128550493056, + 0.5490764066194646, + 0.11651610598369384 + ], + 0.8886861205101013 + ], + [ + [ + 0.12084584646294312, + -0.07339130685407394, + -0.07173703725761992, + 0.2864177104470635, + -0.7012867820312921, + 0.03328147000106996, + 0.6519617229907173 + ], + 0.8840488791465759 + ], + [ + [ + 0.01808210425446229, + -0.13501227245408767, + -0.08921284715957266, + 0.6091902882530987, + -0.5208694962778362, + -0.36502140551814, + -0.4736470564238119 + ], + 0.8832142949104309 + ], + [ + [ + 0.09511048309872346, + -0.10882611916143173, + -0.0869544420701943, + 0.4126675844361364, + -0.6120459210223222, + 0.20494702058885084, + 0.6427300942598961 + ], + 0.880331814289093 + ], + [ + [ + -0.002240891238726212, + 0.10104113473814255, + 0.0370588253872909, + 0.529725241236944, + 0.8479048459778671, + 0.019624764589689425, + 0.007963013155229692 + ], + 0.877902090549469 + ], + [ + [ + -0.006673898916743233, + 0.1023767779700113, + 0.04120297987633127, + 0.5191199290787727, + 0.8517135279643346, + 0.0693392429034273, + 0.017048017755042614 + ], + 0.8774608373641968 + ], + [ + [ + 0.12881398909161287, + -0.06630996213037246, + -0.07866057495898825, + 0.22356357049681777, + -0.684093655397918, + 0.02787681858618274, + 0.6937276724886663 + ], + 0.8757583498954773 + ], + [ + [ + 0.0009425404227287486, + 0.11205849453132874, + 0.012584247409037536, + 0.5881420715660594, + 0.8079407811739947, + -0.03517396375211623, + 0.009131814929370843 + ], + 0.8749469518661499 + ], + [ + [ + -0.027055299278400374, + 0.08880041941326386, + 0.054478193415931644, + 0.10759306761172988, + -0.08851658362936078, + 0.8925277024097705, + -0.42893221685438787 + ], + 0.8748266100883484 + ], + [ + [ + 0.07554461025068955, + -0.11273575917560333, + -0.09935882429904562, + 0.2738268526626106, + -0.4045989148331548, + 0.40081429716628747, + 0.7750267557083543 + ], + 0.8746725916862488 + ], + [ + [ + 0.1232330422885199, + 0.007650700689072675, + -0.08765838037557226, + 0.7830905252218564, + 0.21940516226436946, + -0.580308681529359, + 0.04327167920429914 + ], + 0.8741533160209656 + ], + [ + [ + -0.12392357028653427, + -0.06819874391633743, + -0.08222190033025366, + 0.7342011977071097, + -0.08175841540537682, + 0.6386078141005302, + 0.21550921689243344 + ], + 0.8740009069442749 + ], + [ + [ + -0.06534762717416091, + -0.11177593813020462, + -0.0948408071262322, + 0.4106972773788163, + -0.493847105771671, + -0.3607569468316185, + -0.6762375379903871 + ], + 0.868452787399292 + ], + [ + [ + 0.0029545005913306937, + 0.1040523241392923, + 0.03600667302184481, + 0.02082776872917864, + -0.008562815002359524, + -0.8178965573884984, + 0.574924433000583 + ], + 0.8641590476036072 + ], + [ + [ + 0.03470339961717324, + -0.13811178848821395, + -0.08976388464994055, + 0.47601487352712807, + -0.377021595723045, + 0.5002549227179641, + 0.6172597255903264 + ], + 0.8621733784675598 + ], + [ + [ + 0.09993139617512421, + -0.10574240580875152, + -0.0781174425346337, + 0.5583859555344168, + -0.6829365333304562, + -0.0009059332189313984, + 0.47095859201154605 + ], + 0.8604907989501953 + ], + [ + [ + 0.12696097009251314, + 0.009240609884972637, + -0.09498000632352453, + 0.06674754808739855, + 0.5764194807010439, + 0.16183308815047037, + -0.798182559739526 + ], + 0.8572649955749512 + ], + [ + [ + 0.025676760453679132, + -0.13343684718686813, + -0.10926344733066183, + 0.6255614618931146, + -0.43084564018293076, + 0.3399457322297006, + 0.5545104064562928 + ], + 0.8505173325538635 + ], + [ + [ + -0.008535963852010204, + 0.1124587099186731, + 0.007476554034880584, + 0.5873387144400165, + 0.806924965896686, + -0.02337988112948064, + 0.05795442253143325 + ], + 0.8496931791305542 + ], + [ + [ + -0.016888071220419836, + 0.11107678368013627, + 0.0044689688520945965, + 0.06724887456319309, + -0.03808620703761743, + 0.7799959419987867, + -0.6209938487367627 + ], + 0.8468335866928101 + ], + [ + [ + -0.07396889514853759, + -0.11102457687932724, + -0.08958174775666815, + 0.694864666379536, + -0.33416144902316286, + 0.5156980872830993, + 0.3735702131816041 + ], + 0.8396405577659607 + ], + [ + [ + 0.009671240676142738, + 0.11524685873907334, + 0.018823829262188858, + 0.590333920922318, + 0.8041946283049317, + 0.02938804229436165, + -0.06255561193114506 + ], + 0.8358998894691467 + ], + [ + [ + -0.006405935991607143, + 0.11707602842968232, + -0.015018283141174132, + 0.6798276101266562, + 0.7327584583512471, + 0.01056142961972395, + 0.02806988472670441 + ], + 0.8339575529098511 + ], + [ + [ + -0.13815201110770506, + -0.03921676397997611, + -0.06432793031758886, + 0.6979314490957201, + 0.056370870707415185, + 0.7032131043924104, + 0.12330996354563502 + ], + 0.832644522190094 + ], + [ + [ + 0.06806214116881089, + -0.01485292677510255, + 0.14785852540903469, + 0.10284192170701897, + -0.9608086116447073, + -0.06868497395792533, + 0.2480982170056384 + ], + 0.8287086486816406 + ], + [ + [ + 0.023865032572247553, + 0.06871957733553177, + 0.1467460345166244, + 0.16064184678230453, + 0.6731890555247446, + 0.6932748892521625, + -0.20094929837268521 + ], + 0.8286610841751099 + ], + [ + [ + 0.13872482590744692, + -0.05148502782661193, + -0.08693563680476767, + 0.7426637212734339, + -0.0034023751551401464, + -0.6588655262993002, + -0.11972985927472267 + ], + 0.8285089731216431 + ], + [ + [ + 0.0025347738796328173, + 0.11994661047380692, + -0.00912820761637088, + 0.6826660529539741, + 0.7304733681306905, + 0.01332431146491675, + -0.014077688731907671 + ], + 0.828296959400177 + ], + [ + [ + 0.09076972268889145, + -0.10563233838159317, + -0.12357123683518988, + 0.7892590138979029, + -0.22339408764027083, + -0.4464959944929733, + -0.35750051397167465 + ], + 0.818665087223053 + ], + [ + [ + -0.010988612096808388, + 0.09814471408050782, + 0.1276657681601562, + 0.22542582626522642, + 0.6831103969070846, + -0.5707441888359291, + 0.3959727937625296 + ], + 0.8179007768630981 + ], + [ + [ + -0.015824349965951872, + 0.10663070186298615, + 0.011243485628298706, + 0.6480997006324303, + 0.7555589181793195, + 0.06221090355767933, + 0.07230008767897449 + ], + 0.8164058327674866 + ], + [ + [ + 0.12083730809757905, + -0.0013411435354380398, + -0.12016431729621511, + 0.849237548693881, + 0.21462042909938997, + -0.4477388972482228, + -0.17962053666701638 + ], + 0.8093690872192383 + ], + [ + [ + 0.1304829638488074, + 0.00986401952129132, + -0.07761908809966665, + 0.7445486559343022, + 0.1515759537502967, + -0.6467583785862018, + 0.06614853679152333 + ], + 0.8069820404052734 + ], + [ + [ + -0.049480710547469095, + 0.08803783013742691, + 0.044130383773378315, + 0.543068755770796, + 0.7987794478111322, + 0.19850283209279007, + 0.16620573368943642 + ], + 0.8067855834960938 + ], + [ + [ + 0.06960823350022034, + 0.0373898412219835, + 0.14810040105753322, + 0.28861929114044765, + 0.19672442812915666, + -0.935104696147409, + 0.05981313736884286 + ], + 0.802101731300354 + ], + [ + [ + -0.028545976053975058, + -0.11874724522907013, + -0.09117419014997107, + 0.6337380053981426, + -0.46109122198328045, + 0.39504916422195, + 0.47927777266579713 + ], + 0.7989380359649658 + ], + [ + [ + 0.08418757431576447, + 0.0590808208219362, + 0.13547941554956813, + 0.3283300331905511, + 0.026440848102322074, + -0.9215994257111996, + 0.20531626673380954 + ], + 0.7959374189376831 + ], + [ + [ + -0.12100908197095199, + -0.05969773948866599, + -0.074915272401043, + 0.1798301218450402, + -0.6612403950363539, + -0.0945784694245363, + -0.7221337690280639 + ], + 0.7955195903778076 + ], + [ + [ + 0.04924531616637902, + -0.02901602879840606, + 0.14663624276094814, + 0.1956108441161293, + -0.9629946659785883, + 0.03977085166656141, + 0.18109652210541957 + ], + 0.7951406240463257 + ], + [ + [ + 0.005819784574158953, + 0.10964675649326569, + 0.026431067629388755, + 0.6350392887498209, + 0.7696510344337065, + 0.038224908004814484, + -0.053863191023836895 + ], + 0.7922029495239258 + ], + [ + [ + -0.08806154168774886, + -0.005113944585655862, + 0.1373444895880737, + 0.3406731127561415, + 0.23551405427317182, + 0.9007942270131186, + 0.13055543291909943 + ], + 0.7884168028831482 + ], + [ + [ + 0.11530578844616608, + 0.0019564575634551705, + 0.1002064671056785, + 0.5287691062129, + 0.20347370292894004, + -0.790977217729125, + -0.2309907477902287 + ], + 0.786394476890564 + ], + [ + [ + -0.10879444367816253, + -0.09846916393119567, + -0.07442889104909521, + 0.21199553239503213, + -0.6182021709217629, + -0.27771766432325873, + -0.7041000419223113 + ], + 0.7845102548599243 + ], + [ + [ + -0.06502423472335143, + 0.07770514889877564, + 0.03775842000418085, + 0.2744355776356418, + -0.16208790528753683, + 0.7843610957070342, + -0.5321562704963174 + ], + 0.7830248475074768 + ], + [ + [ + 0.04502487890789704, + 0.09716124489229447, + 0.025412580712369865, + 0.7350532466060969, + 0.6371689018100962, + -0.03309097096408897, + -0.22938505369924664 + ], + 0.7802101969718933 + ], + [ + [ + 0.007330287344702051, + 0.11590461834591156, + 0.01776932437591929, + 0.6440656882475077, + 0.7642861053584994, + -0.01751184498414249, + -0.027193265038480133 + ], + 0.7801540493965149 + ], + [ + [ + 0.04374074153969483, + -0.057416826195304325, + 0.1352903496163406, + 0.3034256901047007, + -0.938376068508461, + -0.038929054601410606, + 0.1608344905265368 + ], + 0.779750645160675 + ], + [ + [ + -0.056667309623263315, + 0.09089193894785172, + 0.030230211808017677, + 0.5740511269949647, + 0.7705297260057152, + 0.13189276983598952, + 0.24362582416968764 + ], + 0.7783456444740295 + ], + [ + [ + 0.11779120527575211, + -0.005703687842224771, + 0.10671004165583033, + 0.5132228706425704, + 0.11952211744649627, + -0.822454513410972, + -0.21420859427302816 + ], + 0.7779010534286499 + ], + [ + [ + 0.09168115966389374, + -0.04658808530050986, + -0.1461590130192719, + 0.9410354984983822, + -0.11408041837942298, + -0.3145327695085519, + -0.05006980740483152 + ], + 0.7774350643157959 + ], + [ + [ + -0.056638513129256204, + 0.0972200374237848, + -0.0006133785781941951, + 0.23401230326775901, + -0.14345676049303213, + 0.6968744563890736, + -0.6625891576388768 + ], + 0.7766706347465515 + ], + [ + [ + -0.007250794578395321, + 0.11576005473058945, + -0.00937173199686479, + 0.7162060470997234, + 0.6943272431578938, + 0.06976489989401391, + -0.009562230353138005 + ], + 0.7752836346626282 + ], + [ + [ + -0.11505509949853225, + -0.04998450697142356, + -0.08945740501708609, + 0.7505156426398137, + 0.044759330278177696, + 0.5898664805909132, + 0.2945851448754438 + ], + 0.7745053768157959 + ], + [ + [ + 0.07190299742291169, + 0.0732082690231157, + 0.14022744704656978, + 0.40588524785488755, + 0.508960363364657, + -0.7556999506298608, + 0.07165262532188474 + ], + 0.7738864421844482 + ], + [ + [ + 0.11180049144098954, + 0.008363920555229252, + 0.11597270776205439, + 0.4637529272581852, + 0.27044596008805977, + -0.819198219417618, + -0.2017584754961132 + ], + 0.7728965282440186 + ], + [ + [ + -0.09489543027808471, + -0.0968799997933554, + -0.07898366938657385, + 0.6848936540675791, + -0.24510843790862527, + 0.6020615246784963, + 0.32918757082514166 + ], + 0.772638738155365 + ], + [ + [ + -0.08271186090638442, + 0.0059768518551839055, + -0.13400246690339665, + 0.9360923683862573, + 0.11048844987131633, + 0.32059976901046316, + -0.09348351942711122 + ], + 0.7720619440078735 + ], + [ + [ + -0.07042267210414214, + 0.04959360166710145, + 0.14443921555452724, + 0.33503887645936753, + 0.3781942992550258, + 0.8623846538189551, + -0.031792013610414706 + ], + 0.7717292308807373 + ], + [ + [ + 0.06598540358612733, + 0.03741932316940553, + 0.15333559621744533, + 0.26215577509406995, + 0.5582825622601959, + -0.7849868728028756, + -0.058228341794866585 + ], + 0.7705203890800476 + ], + [ + [ + 0.12456378303835587, + -0.045039407617633274, + -0.08144787441320044, + 0.7534350355727857, + -0.07456015099577948, + -0.6372094190899951, + -0.14401592716749162 + ], + 0.77010178565979 + ], + [ + [ + 0.09168965332577424, + -0.02035261847752803, + -0.14636955152577977, + 0.9423600635625773, + -0.006772086587880793, + -0.31921436484790344, + 0.10006916967943201 + ], + 0.7684429883956909 + ], + [ + [ + 0.04640230872104363, + -0.014740163169090683, + 0.150923068417839, + 0.11024913158113293, + -0.98023425798712, + -0.004380561915902775, + 0.16421552646247367 + ], + 0.7641717791557312 + ], + [ + [ + 0.08595576845476822, + 0.06311083986681229, + 0.12875154127054592, + 0.1709066448117393, + 0.8433943928255683, + 0.3037480890983528, + -0.40891798111440847 + ], + 0.7632989287376404 + ], + [ + [ + 0.07117798142502503, + 0.027663724788243835, + 0.15029592324667354, + 0.106987309220253, + 0.9524059911381744, + 0.11324207382842799, + -0.2620167483672725 + ], + 0.7594506740570068 + ], + [ + [ + -0.008135533329151108, + -0.12369145051318878, + -0.08420704047507864, + 0.5780845435730432, + -0.4026475491135102, + 0.48676203508034144, + 0.5164842039010237 + ], + 0.7560314536094666 + ], + [ + [ + -0.03770370073249145, + -0.09849156037647003, + -0.13119340430326085, + 0.727780366295562, + -0.3383861305195386, + -0.19426877492986894, + -0.5639948653968038 + ], + 0.7551778554916382 + ], + [ + [ + 0.039678625393607184, + 0.10368323727768189, + -0.008235182364799792, + 0.15029220511680605, + -0.12287844323971199, + -0.6894222170980076, + 0.697861123605392 + ], + 0.7519540190696716 + ], + [ + [ + 0.11207061224053101, + 0.057523418509180614, + 0.10163962353639978, + 0.4824590054836421, + 0.7194420273675272, + -0.3854323231000579, + -0.31792829631023717 + ], + 0.7449572682380676 + ], + [ + [ + 0.0330986525900145, + -0.00839259912002557, + -0.16142128895349125, + 0.9905040454667503, + 0.09251629293565054, + -0.048836461948709164, + 0.08920466041513407 + ], + 0.7442435026168823 + ], + [ + [ + -0.008385413695178463, + 0.11778673931282288, + -0.02599136459953409, + 0.05597485783608692, + -0.01618687515457573, + 0.7028178182213112, + -0.708979488246025 + ], + 0.743299663066864 + ], + [ + [ + -0.008094354901514484, + 0.1165202225677324, + -0.01694759981087666, + 0.0801863211254194, + 0.0160041959025056, + 0.7178185022667448, + -0.6914120460488173 + ], + 0.74214106798172 + ], + [ + [ + -0.007829882573388054, + 0.11077761306684739, + -0.005783115265288168, + 0.05522594260877191, + -0.016083388144111855, + 0.7332479410342081, + -0.6775240784340231 + ], + 0.7419137954711914 + ], + [ + [ + -0.012251801226339771, + 0.11963623418730027, + -0.03592653128630739, + 0.04910741229790339, + -0.05039315413806898, + 0.7023838986401973, + -0.7083119729359499 + ], + 0.7414030432701111 + ], + [ + [ + 0.06833587549994187, + -0.007911381020431454, + 0.1548402409689941, + 0.3007101456557398, + -0.2830796662400419, + -0.9089258099870853, + -0.05738625968340193 + ], + 0.7413152456283569 + ], + [ + [ + -0.05454436726500793, + -0.13243119762021774, + -0.06433580185598951, + 0.528622170225784, + -0.3555674602367081, + 0.6065610010002034, + 0.47561973721895784 + ], + 0.7398413419723511 + ], + [ + [ + 0.090064555037715, + 0.06222805037420518, + 0.13642426837854763, + 0.34124249283894165, + 6.49024278539479e-05, + -0.9171318731163374, + 0.20596767751969788 + ], + 0.7371528744697571 + ], + [ + [ + -0.11310387439658447, + -0.025543208874051506, + -0.10123780112094503, + 0.8150314922574502, + 0.11529218419149041, + 0.5229096664363426, + 0.22135234274879892 + ], + 0.7335771918296814 + ], + [ + [ + -0.04687844998767181, + -0.11641575739461654, + -0.04996766637391668, + 0.12463954502366396, + -0.27644556205070187, + -0.7192826726090888, + -0.6250402162445966 + ], + 0.7335374355316162 + ], + [ + [ + 0.06050176881621079, + -0.11054442421275848, + -0.11617625992126089, + 0.2825680755638284, + 0.0008527295148980752, + -0.49770212403006286, + -0.8200287502645826 + ], + 0.7331318855285645 + ], + [ + [ + 0.07081826739380555, + -0.10977631405669921, + -0.11321549604959112, + 0.86024199426715, + -0.4678097625174354, + -0.20279642039327295, + 0.0033688675148261216 + ], + 0.7328726053237915 + ], + [ + [ + 0.007907265428401993, + 0.1149148981205774, + -0.031712291048236904, + 0.7291682115166445, + 0.683595368118551, + 0.002203316066936467, + -0.031721245227608275 + ], + 0.7316174507141113 + ], + [ + [ + -0.05903832651307388, + -0.11714588449079269, + -0.11604922752208334, + 0.8251752990208868, + -0.42206398732144423, + 0.2898894383023909, + 0.23856200462948493 + ], + 0.7285909056663513 + ], + [ + [ + 0.08694504909584717, + -0.11629177973348373, + -0.06379998217649084, + 0.57153729968068, + -0.3134345750913888, + -0.6547485463133326, + -0.3826332752278283 + ], + 0.7282648682594299 + ], + [ + [ + -0.04722860492398544, + -0.09970041707832092, + -0.02333518511927944, + 0.16709466135306167, + 0.144641876997882, + 0.7018792970074306, + 0.6771436730843684 + ], + 0.7246376276016235 + ], + [ + [ + 0.0018551675406699047, + 0.11522652610462433, + 0.12083352614813227, + 0.295018335568548, + 0.5982932880777431, + -0.6182184033378454, + 0.4157106312014295 + ], + 0.7199690341949463 + ], + [ + [ + -0.011748627197049095, + 0.10949252202432877, + -0.00625185573785823, + 0.07187037206411916, + -0.01769623155109955, + 0.7220626332515351, + -0.6878568504202847 + ], + 0.7191711664199829 + ], + [ + [ + 0.00515404213587241, + 0.1192999745837999, + -0.0673124950689755, + 0.8027432053839131, + 0.5962083170867509, + -0.007930339469197412, + 0.008723448999556249 + ], + 0.7186023592948914 + ], + [ + [ + -0.05129557884862228, + 0.1000884364477945, + -0.004303314940401131, + 0.24109209864271255, + -0.0947531180138164, + 0.7527261018278283, + -0.6052271162347191 + ], + 0.7177808880805969 + ], + [ + [ + 0.04502780326078133, + -0.107052046514337, + -0.10821370522803885, + 0.4426318355056516, + -0.1795363310928655, + -0.4843437108436899, + -0.7329767621014837 + ], + 0.7171544432640076 + ] + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/toy/00002/metadata.json b/Assets/Object/RoboDojo/Clutter/toy/00002/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..54bc75e86fbcb946fbef43ec496d5e1cfffe3218 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/toy/00002/metadata.json @@ -0,0 +1,146 @@ +{ + "uuid": "4e19b849-5318-4372-9a11-be42b7c85fce", + "physics": { + "mass": 0.25, + "friction": 0.45 + }, + "geometry": { + "faces": 235666, + "vertices": 133661, + "aligned_bbox": { + "vertices": [ + [ + -0.0423, + -0.0501, + -0.0751 + ], + [ + -0.0423, + -0.0501, + 0.0749 + ], + [ + -0.0423, + 0.0502, + -0.0751 + ], + [ + -0.0423, + 0.0502, + 0.0749 + ], + [ + 0.0422, + -0.0501, + -0.0751 + ], + [ + 0.0422, + -0.0501, + 0.0749 + ], + [ + 0.0422, + 0.0502, + -0.0751 + ], + [ + 0.0422, + 0.0502, + 0.0749 + ] + ], + "extents": [ + 0.0845, + 0.1003, + 0.15 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0419, + 0.0429, + 0.0765 + ], + [ + -0.0424, + 0.0514, + -0.0734 + ], + [ + -0.0419, + -0.0532, + 0.071 + ], + [ + -0.0424, + -0.0446, + -0.0789 + ], + [ + 0.0425, + 0.0429, + 0.0762 + ], + [ + 0.0421, + 0.0515, + -0.0737 + ], + [ + 0.0425, + -0.0532, + 0.0708 + ], + [ + 0.0421, + -0.0446, + -0.0792 + ] + ], + "extents": [ + 0.0849, + 0.1046, + 0.1557 + ] + }, + "radius": 0.0878 + }, + "active": { + "place": { + "up": { + "orientation": [ + 1.0, + 0.0033, + -0.0023, + 0.0022 + ], + "projection_circle": { + "center": [ + -0.0001, + -0.0045, + -0.0754, + 1.0, + -0.0033, + 0.0023, + -0.0022 + ], + "radius": 0.0547 + }, + "contact_circle": { + "center": [ + -0.0007, + -0.0142, + -0.0753, + 1.0, + -0.0033, + 0.0023, + -0.0022 + ], + "radius": 0.0454 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/toy/00002/object.usdz b/Assets/Object/RoboDojo/Clutter/toy/00002/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..cfbbbf3a50577bdd605b5fb1960d726c7b1dcb6a --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/toy/00002/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:499a5295eb746c6a556e633bdbb41f954b408fdec6cb18ce67b2766167671b48 +size 25213437 diff --git a/Assets/Object/RoboDojo/Clutter/trophy/00000/description.json b/Assets/Object/RoboDojo/Clutter/trophy/00000/description.json new file mode 100644 index 0000000000000000000000000000000000000000..040f604995d4602398eed05a64da7dedfde9799f --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/trophy/00000/description.json @@ -0,0 +1,137 @@ +{ + "uuid": "8baff7fd-3079-4748-9785-b37eae0559c6", + "caption": { + "color": [ + "gold", + "silver", + "black base" + ], + "material": [ + "shiny metal", + "polished gold-plated surface", + "dark lacquered base" + ], + "size": [ + "medium trophy", + "handheld height", + "about 12 inches tall" + ], + "name": [ + "trophy cup", + "championship cup", + "winner's cup" + ], + "shape": [ + "two-handled urn", + "fluted lid with finial", + "tapered stem on circular pedestal" + ], + "function": [ + "awarding achievement", + "displaying victory", + "celebrating competition success" + ] + }, + "description": [ + "medium trophy silver two-handled urn for displaying victory", + "celebrating competition success use of championship cup", + "shiny metal winner's cup suitable for displaying victory", + "about 12 inches tall object used for displaying victory", + "shiny metal winner's cup suitable for celebrating competition success", + "silver two-handled urn winner's cup used for awarding achievement", + "two-handled urn object made of dark lacquered base", + "about 12 inches tall shiny metal object", + "championship cup commonly found in about 12 inches tall size", + "trophy cup made of polished gold-plated surface", + "winner's cup built from polished gold-plated surface", + "polished gold-plated surface object for displaying victory", + "winner's cup in fluted lid with finial", + "trophy cup for celebrating competition success with dark lacquered base", + "championship cup optimized for awarding achievement", + "shiny metal winner's cup for celebrating competition success", + "dark lacquered base two-handled urn object used for awarding achievement", + "trophy cup optimized for awarding achievement", + "championship cup in fluted lid with finial", + "fluted lid with finial-shaped winner's cup", + "about 12 inches tall trophy cup used for awarding achievement", + "black base winner's cup typically used for awarding achievement", + "medium trophy two-handled urn trophy cup for displaying victory", + "awarding achievement use of winner's cup", + "two-handled urn winner's cup used for displaying victory", + "two-handled urn object used for awarding achievement", + "winner's cup appropriate for awarding achievement use", + "handheld height dark lacquered base tapered stem on circular pedestal for displaying victory", + "tapered stem on circular pedestal object made of dark lacquered base", + "championship cup featuring tapered stem on circular pedestal shape", + "medium trophy fluted lid with finial winner's cup for displaying victory", + "winner's cup for awarding achievement use", + "medium trophy black base polished gold-plated surface two-handled urn object", + "trophy cup ideal for displaying victory", + "trophy cup featuring shiny metal build", + "polished gold-plated surface championship cup suitable for awarding achievement", + "gold shiny metal fluted lid with finial winner's cup", + "championship cup with medium trophy dimensions", + "trophy cup with fluted lid with finial profile", + "trophy cup designed for displaying victory", + "medium trophy dark lacquered base winner's cup", + "polished gold-plated surface championship cup suitable for celebrating competition success", + "championship cup primarily used for awarding achievement", + "shiny metal fluted lid with finial object used for celebrating competition success", + "displaying victory with championship cup", + "about 12 inches tall object used for celebrating competition success", + "tapered stem on circular pedestal object made of polished gold-plated surface", + "trophy cup with polished gold-plated surface construction", + "medium trophy tapered stem on circular pedestal object", + "silver winner's cup used for celebrating competition success", + "trophy cup ideal for celebrating competition success", + "tapered stem on circular pedestal trophy cup ideal for displaying victory", + "winner's cup intended for displaying victory usage", + "polished gold-plated surface fluted lid with finial object used for awarding achievement", + "gold object used for celebrating competition success", + "displaying victory use of championship cup", + "trophy cup in tapered stem on circular pedestal", + "polished gold-plated surface two-handled urn trophy cup", + "about 12 inches tall polished gold-plated surface object", + "celebrating competition success use of winner's cup", + "winner's cup typically made of shiny metal", + "winner's cup in fluted lid with finial form", + "winner's cup with polished gold-plated surface body", + "displaying victory with trophy cup", + "polished gold-plated surface object used for awarding achievement", + "trophy cup with dark lacquered base body", + "medium trophy winner's cup used for displaying victory", + "championship cup for displaying victory tasks", + "winner's cup in medium trophy", + "handheld height black base shiny metal winner's cup", + "winner's cup in gold", + "fluted lid with finial about 12 inches tall trophy cup", + "black base about 12 inches tall dark lacquered base object", + "handheld height object used for awarding achievement", + "championship cup commonly found in handheld height size", + "handheld height object used for celebrating competition success", + "fluted lid with finial polished gold-plated surface object for celebrating competition success", + "black base trophy cup typically used for awarding achievement", + "about 12 inches tall black base tapered stem on circular pedestal object", + "winner's cup with dark lacquered base surface", + "winner's cup sized about 12 inches tall", + "about 12 inches tall tapered stem on circular pedestal trophy cup for celebrating competition success", + "fluted lid with finial object made of shiny metal", + "celebrating competition success use of trophy cup", + "trophy cup designed for awarding achievement", + "medium trophy shiny metal tapered stem on circular pedestal for awarding achievement", + "winner's cup with medium trophy dimensions", + "about 12 inches tall shiny metal championship cup for displaying victory", + "championship cup sized as medium trophy", + "handheld height two-handled urn championship cup for displaying victory", + "trophy cup sized handheld height", + "winner's cup in two-handled urn form", + "black base polished gold-plated surface fluted lid with finial winner's cup", + "winner's cup typically made of polished gold-plated surface", + "winner's cup with two-handled urn geometry", + "black base trophy cup designed for celebrating competition success", + "polished gold-plated surface winner's cup suitable for celebrating competition success", + "championship cup used to displaying victory", + "two-handled urn shiny metal winner's cup for awarding achievement", + "handheld height tapered stem on circular pedestal trophy cup for celebrating competition success" + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/trophy/00000/grasps/proposal.json b/Assets/Object/RoboDojo/Clutter/trophy/00000/grasps/proposal.json new file mode 100644 index 0000000000000000000000000000000000000000..d198c12611af260344587e3dd3c7047c2a4ff6ed --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/trophy/00000/grasps/proposal.json @@ -0,0 +1,1205 @@ +{ + "uuid": "8baff7fd-3079-4748-9785-b37eae0559c6", + "grasp": [ + [ + [ + 0.172692291210261, + 0.0011065497456415945, + 0.10479289063571894, + 0.4513426503506083, + 0.5267221666873965, + -0.5969880674582996, + -0.4030618046987677 + ], + 0.9483356475830078 + ], + [ + [ + 0.17319478816803993, + 0.0024898977645039016, + 0.10702273764966928, + 0.39512634800472385, + -0.5869709441688915, + -0.5457722754803545, + 0.4488573304858966 + ], + 0.9458527565002441 + ], + [ + [ + 0.17695444054421486, + 0.005511995630554801, + 0.06782058396696054, + 0.5299769208252008, + 0.47842877228156977, + -0.5059948678168641, + -0.48394169792319264 + ], + 0.9425625801086426 + ], + [ + [ + 0.17049350566681923, + -0.004903170520223731, + 0.08805645772575342, + 0.4608870172820963, + -0.5657736091261527, + -0.5091697223868807, + 0.4563217881294372 + ], + 0.9401116967201233 + ], + [ + [ + 0.1720962149601847, + 0.0039470435513480956, + 0.08721907952188455, + 0.46699008775257855, + -0.5169684096474869, + -0.5405413940360305, + 0.4716767141814103 + ], + 0.9398403763771057 + ], + [ + [ + 0.17016559071358742, + 0.01306139001830662, + 0.05898211666702235, + 0.5526957163972643, + 0.4973541525359509, + -0.42229368661322164, + -0.5184923666535256 + ], + 0.9397938251495361 + ], + [ + [ + 0.17356888181981148, + -0.006262785063840503, + 0.11371990063547098, + 0.390949789308826, + 0.5426173800901566, + -0.6225624052920358, + -0.4063750639255234 + ], + 0.9396952986717224 + ], + [ + [ + 0.17873708135899605, + -0.004974208546586389, + 0.06888846823333704, + 0.5026342358038064, + 0.4666819652995431, + -0.4836511821449945, + -0.5437355076430351 + ], + 0.9387010335922241 + ], + [ + [ + 0.1573036534291178, + -0.023677075521804446, + 0.025201804501404402, + 0.6248046038443418, + -0.44370439686698065, + -0.2805770672451342, + 0.5779464720473199 + ], + 0.9373527765274048 + ], + [ + [ + -0.16836159699145256, + 0.01129203638269747, + 0.06067351022123301, + 0.5224031640265312, + -0.4129090430960813, + 0.5338741916304804, + -0.5211328082700692 + ], + 0.932074785232544 + ], + [ + [ + -0.1699707137841314, + 0.0001592035915068741, + 0.10820995041488611, + 0.4116681633432787, + -0.5529163197410647, + 0.5990768951967368, + -0.40733246899186315 + ], + 0.9317812919616699 + ], + [ + [ + -0.16796178393546043, + -0.00016528415285801338, + 0.04937676110624278, + 0.5459902301543758, + 0.4644208955504441, + 0.43702369043509826, + 0.5433398516127658 + ], + 0.931216835975647 + ], + [ + [ + 0.16293800599392952, + 0.0067514164766594225, + 0.12213898965476953, + 0.3512798413280705, + -0.5995143425769991, + -0.6082113896538586, + 0.38374982946747493 + ], + 0.9284381866455078 + ], + [ + [ + -0.17034890525523125, + -0.016123561428643816, + 0.10880681642650568, + 0.4629690970890945, + -0.5746463895860509, + 0.576668138697221, + -0.3505638314026523 + ], + 0.9282533526420593 + ], + [ + [ + 0.1749949229460627, + -0.014658360982097739, + 0.08508617201208078, + 0.4069781590832648, + 0.5222369714747976, + -0.5005019434002717, + -0.5577948801365784 + ], + 0.9278024435043335 + ], + [ + [ + 0.1458552551966578, + -0.012746827916957491, + 0.005153036241819498, + 0.6003204017273587, + 0.26477856461882693, + -0.3265874363162783, + -0.6803296064619394 + ], + 0.927577793598175 + ], + [ + [ + 0.13440575427826942, + 0.021149677915714628, + -0.0031023203316802406, + 0.6346330590811292, + -0.17256935820552324, + -0.2952442628647205, + 0.6930306791010985 + ], + 0.927162766456604 + ], + [ + [ + -0.16070445649805962, + -0.0057964695224240964, + 0.0357520631825825, + 0.5774077151276067, + 0.4028191404995928, + 0.4117923119264195, + 0.5785880766111416 + ], + 0.9263566732406616 + ], + [ + [ + -0.16048995428267418, + 0.0009833830754773848, + 0.028620907602300284, + 0.5997435794776212, + 0.4011747992032457, + 0.3871748808094291, + 0.573987831778523 + ], + 0.925807535648346 + ], + [ + [ + -0.033294301708373414, + -0.09098088579044497, + -0.030337751346240404, + 0.14131888534269824, + 0.10700619224442677, + 0.7073975583236773, + 0.6842275512901733 + ], + 0.9254562258720398 + ], + [ + [ + 0.17405835516270698, + -0.024067852886177653, + 0.061299038616408945, + 0.5247124422837296, + 0.3367200520107136, + -0.5811783293777046, + -0.5229992437358643 + ], + 0.9253794550895691 + ], + [ + [ + -0.1609537380236715, + -0.0035829234474972433, + 0.03236157962440455, + 0.5903898007163281, + 0.39192744027772114, + 0.4204982549976325, + 0.5665809583029012 + ], + 0.9248942732810974 + ], + [ + [ + -0.17021185927573143, + 0.007903800571553356, + 0.03980849081038439, + 0.5664387507359419, + 0.47079087584583074, + 0.39900126895428645, + 0.5461694611179668 + ], + 0.9242748022079468 + ], + [ + [ + 0.12750381953534187, + 0.006158408003143912, + -0.01503498709441221, + 0.6759245081360753, + -0.1967714839326211, + -0.23638437990769778, + 0.6697234260107765 + ], + 0.9239576458930969 + ], + [ + [ + 0.15394426114377083, + 0.013789113370917684, + 0.02134310038148367, + 0.59069384524667, + -0.3021957111199396, + -0.39180060447969767, + 0.6373780822226015 + ], + 0.9228951334953308 + ], + [ + [ + -0.1655928718346685, + 0.008785610778473264, + 0.10557447144149744, + 0.4500779543053842, + 0.5740815418631402, + 0.5689445240940119, + 0.3796871697118012 + ], + 0.9218183755874634 + ], + [ + [ + 0.1708367688160807, + 0.0020474453850015456, + 0.12354515263198816, + 0.3997719514776948, + 0.569760690066119, + -0.6229668076792925, + -0.3570259085794286 + ], + 0.9216518402099609 + ], + [ + [ + -0.17040238552275597, + -0.01474737772510206, + 0.04948675402759516, + 0.5747366970397347, + -0.4641937038897656, + 0.44700285144735896, + -0.5043712770795807 + ], + 0.9204373359680176 + ], + [ + [ + 0.17541896529015602, + 0.022308777777694112, + 0.06620523103832208, + 0.5400089430958428, + 0.5502550250684476, + -0.3872637231101327, + -0.5056051399326472 + ], + 0.9197969436645508 + ], + [ + [ + -0.027321454365882267, + -0.09700355516538775, + -0.04577902561665571, + 0.7161469132482702, + -0.6880684971760761, + 0.08364230376011772, + -0.08184929358602114 + ], + 0.9191983938217163 + ], + [ + [ + -0.16561875515166222, + -0.006962253952182884, + 0.10345225551485025, + 0.45383153673012644, + -0.5380781876709787, + 0.6071120553374443, + -0.3686783862471887 + ], + 0.919075071811676 + ], + [ + [ + -0.09512423001709877, + 0.021432941539429075, + 0.17422578999160732, + 0.1758709265330782, + 0.7326196152036464, + 0.6567069850020792, + 0.03276968826120025 + ], + 0.9177691340446472 + ], + [ + [ + -0.16197935514632164, + 0.00558376148550952, + 0.018406427962174055, + 0.6239707927227864, + 0.38532724937209817, + 0.3495195329121804, + 0.5831118733425702 + ], + 0.9170821309089661 + ], + [ + [ + -0.16010374598685204, + 0.0013977384879085624, + 0.0396803445494076, + 0.5572087164938146, + -0.4051189866120028, + 0.4451086045861238, + -0.5720798747318185 + ], + 0.9149394631385803 + ], + [ + [ + -0.1706074702042669, + -0.02590343938932573, + 0.06718405851482355, + 0.5560667646681371, + -0.5371637387536398, + 0.43936718369536776, + -0.4573853396112773 + ], + 0.9143393039703369 + ], + [ + [ + 0.15529077477273048, + -0.0024030243584588712, + 0.1303914464390179, + 0.3382147019825751, + 0.6127371258553955, + -0.6252674773059627, + -0.34526020880597386 + ], + 0.9142156839370728 + ], + [ + [ + 0.03533320478614868, + 0.09011876745357358, + -0.03225873267890012, + 0.12427678006642591, + -0.12263981511797467, + -0.7048468072504407, + 0.6875359888711355 + ], + 0.9126065969467163 + ], + [ + [ + -0.1639003830451101, + -0.0060949057878628915, + 0.024410256681432364, + 0.5962075162896873, + -0.3966937151402603, + 0.3912305043159783, + -0.5780219601196529 + ], + 0.9120539426803589 + ], + [ + [ + 0.16493295855340065, + 0.0019212841216772253, + 0.10436770835279428, + 0.4258801223184001, + 0.5711149148697497, + -0.5655292003466643, + -0.4154883860983913 + ], + 0.9120259881019592 + ], + [ + [ + -0.16422253124895989, + 0.013759813962720281, + 0.09623814144491159, + 0.4691136822814751, + 0.5895427485989205, + 0.5219074398375936, + 0.3999804056612188 + ], + 0.9117860198020935 + ], + [ + [ + 0.13860664493855537, + 0.007999864632479793, + 0.15582263239978755, + 0.23040115754247775, + -0.6531255245165407, + -0.668926604256073, + 0.26996213428278776 + ], + 0.9108422994613647 + ], + [ + [ + 0.17544048256691994, + -0.0044576439613178915, + 0.11653552719711267, + 0.4347939101716704, + 0.5083736228140652, + -0.6450396678401705, + -0.36937019670944515 + ], + 0.9106305241584778 + ], + [ + [ + 0.1416416091423899, + -0.00847550691828882, + 0.009080804449905989, + 0.6486592041590284, + 0.2572916373371162, + -0.3417097036670552, + -0.6295051458375339 + ], + 0.9101106524467468 + ], + [ + [ + 0.1639032585125834, + 0.028349622844003088, + 0.03842299946903193, + 0.5320467625529867, + -0.31509736370633146, + -0.48141131077145316, + 0.621194851639578 + ], + 0.9099528789520264 + ], + [ + [ + -0.15973601513091026, + 0.01754162436559046, + 0.1154259420311352, + 0.43005848652125445, + 0.627747388308809, + 0.5557487976938503, + 0.33485248767831827 + ], + 0.9091964364051819 + ], + [ + [ + -0.15110316150370537, + -0.006610028220124597, + 0.008704483074535963, + 0.6334519316663075, + -0.3467927517005853, + 0.3281156098147907, + -0.608944647921326 + ], + 0.9084492921829224 + ], + [ + [ + 0.1756384444933802, + 0.005009594599001055, + 0.031843350765695215, + 0.5819826668336905, + -0.38238168565023806, + -0.404992131920375, + 0.5925046793629718 + ], + 0.9081327319145203 + ], + [ + [ + 0.14913012809571327, + -0.02789534652397787, + 0.024721215975870726, + 0.6534040933132432, + 0.17609321881319218, + -0.469578872538972, + -0.5670537466541739 + ], + 0.90811687707901 + ], + [ + [ + 0.13904269761857094, + -0.01793651679322874, + 0.007409701620628473, + 0.6085274390883355, + 0.23688658801355106, + -0.3451727253071927, + -0.6741178606148158 + ], + 0.9080475568771362 + ], + [ + [ + -0.1660682933825582, + 0.0020370962957217747, + 0.09440144666789972, + 0.4378601893324658, + 0.5774111040554363, + 0.5313142506335138, + 0.4388394223232084 + ], + 0.9077927470207214 + ], + [ + [ + 0.10364731378373207, + -0.004792854429937953, + 0.1743871546661755, + 0.11738905973620209, + 0.7018398545435711, + -0.6893694906902289, + -0.13568468054280777 + ], + 0.9071738123893738 + ], + [ + [ + -0.16112308972063957, + 0.02240399433507765, + 0.10344368734716379, + 0.3710037055631136, + -0.4871227663649758, + 0.6517554447822212, + -0.4475293299260964 + ], + 0.9071170687675476 + ], + [ + [ + -0.14986621611300407, + -0.007101180271960849, + 0.1445460147535702, + 0.34732607152787265, + -0.5495862640396366, + 0.7307162264200965, + -0.20826265834840452 + ], + 0.9068331122398376 + ], + [ + [ + -0.14771763258162438, + 0.012709642520390398, + 0.1535782642042538, + 0.29635570598790373, + 0.6804177686560123, + 0.6282603200057357, + 0.23343934101148103 + ], + 0.906558632850647 + ], + [ + [ + -0.10652165882769524, + 0.026847922934435255, + -0.03114124244690931, + 0.6400128603966637, + 0.4979705899427493, + 0.35787377546432364, + 0.46296348766815465 + ], + 0.9058302640914917 + ], + [ + [ + 0.17962069041546883, + 0.011199316701136476, + 0.0814305669939419, + 0.5419522945364742, + -0.4187810583891892, + -0.5826802931953425, + 0.4374857843437554 + ], + 0.9049628973007202 + ], + [ + [ + -0.16244778804961144, + -0.014134646633423918, + 0.017735208881487486, + 0.6087987933660981, + -0.4073733240029028, + 0.33298627006777115, + -0.5937433351484139 + ], + 0.90485018491745 + ], + [ + [ + 0.16105962521847786, + 0.016648655517242796, + 0.1335737682258984, + 0.31653213806384206, + -0.5559101307203055, + -0.6740256851634682, + 0.36940588500345206 + ], + 0.9041358828544617 + ], + [ + [ + -0.15467662387076317, + -0.02416248457298433, + 0.01112367448716366, + 0.588266784402206, + 0.29221100566217695, + 0.40745464125479325, + 0.6344569598159633 + ], + 0.9040989279747009 + ], + [ + [ + -0.1467599349516958, + -0.007058088907755966, + 0.1390201724445721, + 0.2686855831585636, + 0.629616853696588, + 0.6519964996671839, + 0.32602337242242496 + ], + 0.9038248658180237 + ], + [ + [ + -0.1691375451582998, + -0.01593174995646631, + 0.03726321229099238, + 0.525661284427824, + 0.41030691919442097, + 0.45735723911488124, + 0.5883475180062261 + ], + 0.9034912586212158 + ], + [ + [ + 0.16642596549805702, + 0.009745832292579061, + 0.07059985914586984, + 0.4825443988363931, + -0.47664000662477496, + -0.5376585981072979, + 0.5008876511930134 + ], + 0.9034472703933716 + ], + [ + [ + 0.1451506537896067, + 0.01866711838378752, + 0.14623331793903316, + 0.23465193259837547, + -0.614759259245485, + -0.6588091072714435, + 0.3646643441248318 + ], + 0.9017463326454163 + ], + [ + [ + 0.10656402237233223, + 0.0021777759466617757, + 0.17997757860778774, + 0.12573404224744603, + -0.7314223422520583, + -0.6548181192204169, + 0.14291794364342877 + ], + 0.9010685086250305 + ], + [ + [ + -0.16291856043520866, + 0.024886801598809606, + 0.08860501417278253, + 0.49949169718921277, + 0.626984114534184, + 0.4597054285948272, + 0.3821908992653682 + ], + 0.9001859426498413 + ], + [ + [ + -0.16613949113074242, + 0.02390145858957613, + 0.11753973135112726, + 0.33640197905634145, + -0.5094049525825605, + 0.6724218224145765, + -0.4185560840699801 + ], + 0.898704469203949 + ], + [ + [ + -0.14363492303076683, + -0.004410393310494775, + 0.0038787983669241644, + 0.6384589006849037, + 0.3125686329928528, + 0.3326602534302425, + 0.6196839820367559 + ], + 0.8986234664916992 + ], + [ + [ + -0.1621725188988775, + 0.0005834622643719817, + 0.09935347506164514, + 0.4410282368102099, + -0.5263018596936986, + 0.6080972252780211, + -0.39839454241769334 + ], + 0.8977070450782776 + ], + [ + [ + -0.1119126977819532, + -0.01422193391040718, + 0.16051849493144954, + 0.21091497856352967, + -0.7116798508669593, + 0.6601002527468577, + -0.11530098876879961 + ], + 0.8972517251968384 + ], + [ + [ + -0.14954847865286766, + 0.036710476262710935, + 0.02186466337501013, + 0.6575331932857159, + 0.47266797485498835, + 0.22222044018518539, + 0.5430038316972324 + ], + 0.8969133496284485 + ], + [ + [ + -0.15855600707713066, + 0.009682741707406885, + 0.11070226648210489, + 0.3744564373625228, + -0.5522100022870413, + 0.6206737025272135, + -0.41183812946723847 + ], + 0.896487295627594 + ], + [ + [ + 0.10039751953896583, + 0.005413300117693787, + 0.1778760976469418, + 0.10002317981962605, + -0.6471279196771056, + -0.7458030380092218, + 0.12246896573976293 + ], + 0.896446168422699 + ], + [ + [ + 0.16552627808865608, + -0.03456539870963251, + 0.09185419746993982, + 0.5745660189307848, + -0.558441701777118, + -0.5215951853459445, + 0.2931812037464806 + ], + 0.8946318626403809 + ], + [ + [ + 0.1332388592463404, + -0.03842437477574503, + -0.0037425147327379104, + 0.7206288915072486, + -0.35765149944723457, + -0.12701723089120198, + 0.5802120549634504 + ], + 0.8914605379104614 + ], + [ + [ + 0.099282987187472, + 0.008123304454825765, + 0.17288495370506252, + 0.08105349227116738, + -0.6919659093533881, + -0.7066684546814165, + 0.12342287811247091 + ], + 0.8913078308105469 + ], + [ + [ + 0.18456857628640236, + 0.011532027034304983, + 0.0867156735932728, + 0.48612341871857, + 0.548105657577544, + -0.4981006058879037, + -0.46385342115690115 + ], + 0.8903883695602417 + ], + [ + [ + 0.1373359633189112, + -0.03841117234692728, + 0.00887076140700781, + 0.6347468113506616, + -0.4080751201111275, + -0.12617580673622786, + 0.6439338845106055 + ], + 0.8898822665214539 + ], + [ + [ + -0.009176564631196846, + 0.09570273919238889, + -0.03907708308340108, + 0.7199267649503013, + 0.6902468202898906, + 0.07126648890525733, + -0.013633332204817876 + ], + 0.8893811106681824 + ], + [ + [ + 0.12116160220917763, + 0.012754834948323614, + -0.009404942827830675, + 0.7025768266223417, + 0.22899069175252018, + -0.15792785823713207, + -0.6549869138972282 + ], + 0.8881300687789917 + ], + [ + [ + -0.14722644560519157, + -0.00887348433748638, + 0.0034293500086566187, + 0.6362575245808604, + 0.30865074229343137, + 0.37299477609869536, + 0.6006546251374693 + ], + 0.887393057346344 + ], + [ + [ + 0.12676630146321358, + 0.001930018239404952, + 0.15761400529502834, + 0.23430110702358112, + 0.6519384246452976, + -0.6891808992726048, + -0.2123887233266768 + ], + 0.8870360851287842 + ], + [ + [ + -0.1586954223412603, + -0.02292008721993124, + 0.03485120975731814, + 0.5606572201622072, + -0.499784770175878, + 0.33812510214892577, + -0.5670538601200146 + ], + 0.8858159780502319 + ], + [ + [ + -0.00968708493295609, + -0.09556454257831729, + 0.005681451906849978, + 0.5511618942776801, + -0.8341393485626357, + 0.017209540637869725, + -0.011659553455220054 + ], + 0.8857927322387695 + ], + [ + [ + -0.13949457578841148, + 0.013102448305331117, + 0.14261893698333705, + 0.3099166837117405, + 0.7139975846231643, + 0.5760211942153639, + 0.2497172043014068 + ], + 0.8845263123512268 + ], + [ + [ + -0.09547811769429146, + -0.03328799294099962, + -0.0525367506468395, + 0.45998655267477967, + 0.3347193475626977, + 0.48335642929967026, + 0.6653885270879317 + ], + 0.8835507035255432 + ], + [ + [ + -0.17226015799227654, + -0.015918290482617968, + 0.03202055164932215, + 0.5528647087956875, + 0.3803479158687983, + 0.43234177884826364, + 0.6022928381815945 + ], + 0.8825877904891968 + ], + [ + [ + -0.16349964611712395, + -0.0010787369755730575, + 0.07657794424652063, + 0.5504637067098881, + -0.3984369840024617, + 0.6546621505434468, + -0.33114218399361683 + ], + 0.8825151324272156 + ], + [ + [ + -0.07345345639172493, + 0.06376588506831968, + -0.0416628033542732, + 0.6831978517205525, + 0.6148911479123769, + 0.282034661025218, + 0.2749654916599764 + ], + 0.8821039199829102 + ], + [ + [ + 0.1718005014162928, + -0.0017845698238984293, + 0.12769026824592555, + 0.37604325931358384, + 0.5855430222341454, + -0.6085539910742799, + -0.38130417803282096 + ], + 0.8818586468696594 + ], + [ + [ + 0.13556431956109108, + -0.00693585002586996, + 0.15787718960403407, + 0.2633483982543511, + 0.651135921888822, + -0.6454110055005405, + -0.3001903834929483 + ], + 0.8817965984344482 + ], + [ + [ + -0.16198156051817833, + 0.023835455758713132, + 0.07917731770633661, + 0.456183744510189, + 0.6558938323615553, + 0.3300881666510186, + 0.5027339993989907 + ], + 0.8811824917793274 + ], + [ + [ + 0.13708760566529335, + -0.022163773195602053, + 0.1451803869879147, + 0.3248002176495571, + -0.7379214492350008, + -0.5413695145638671, + 0.23852840936584316 + ], + 0.8792644739151001 + ], + [ + [ + -0.15465582184973656, + -0.009745497496582621, + 0.12157293924449884, + 0.34641423953957295, + 0.5656588292171215, + 0.6505814190552649, + 0.3698257437672127 + ], + 0.8782752752304077 + ], + [ + [ + -0.17552303545657097, + 0.013351991532586462, + 0.034445093510141016, + 0.6222355120460756, + -0.31094952156859795, + 0.4867621332855412, + -0.5283899962947133 + ], + 0.8779395818710327 + ], + [ + [ + -0.01428846944603621, + 0.09284433884754026, + -0.03237957923353708, + 0.7141444882577372, + 0.6948566686341168, + 0.055391645175926874, + 0.06405954722363262 + ], + 0.8774862289428711 + ], + [ + [ + 0.080926432977286, + -0.006968481706239337, + 0.18277047344802821, + 0.042980967185946344, + 0.7264646500055557, + -0.6810281484518635, + -0.0812552137914398 + ], + 0.8766998648643494 + ], + [ + [ + -0.15596631937209068, + 0.025360356776259786, + 0.05440486737846339, + 0.5755041512074536, + 0.5535137614522896, + 0.3500651954884646, + 0.48976713521177545 + ], + 0.8760209083557129 + ], + [ + [ + 0.16043709940728249, + -0.040649110691405886, + 0.039137610731114984, + 0.5440211958498367, + -0.5559020487066729, + -0.14320721921318136, + 0.6119685801371387 + ], + 0.875338077545166 + ], + [ + [ + -0.14126641326132713, + 0.011730431338988191, + 0.14290225276111568, + 0.3028339380475746, + -0.5176364898740027, + 0.751138538968929, + -0.2759256522926821 + ], + 0.8749971985816956 + ], + [ + [ + 0.08942477382239403, + -0.014687447117425555, + -0.06264425671340025, + 0.5296972566158714, + 0.3741830294909272, + -0.4512369185024222, + -0.6130196735464941 + ], + 0.8749050498008728 + ] + ] +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/trophy/00000/metadata.json b/Assets/Object/RoboDojo/Clutter/trophy/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..fb2c943cda34e522f95a8dfc290fdf961d3af079 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/trophy/00000/metadata.json @@ -0,0 +1,146 @@ +{ + "uuid": "8baff7fd-3079-4748-9785-b37eae0559c6", + "physics": { + "mass": 0.85, + "friction": 0.25 + }, + "geometry": { + "faces": 226554, + "vertices": 131925, + "aligned_bbox": { + "vertices": [ + [ + -0.0833, + -0.0462, + -0.1251 + ], + [ + -0.0833, + -0.0462, + 0.1249 + ], + [ + -0.0833, + 0.0465, + -0.1251 + ], + [ + -0.0833, + 0.0465, + 0.1249 + ], + [ + 0.083, + -0.0462, + -0.1251 + ], + [ + 0.083, + -0.0462, + 0.1249 + ], + [ + 0.083, + 0.0465, + -0.1251 + ], + [ + 0.083, + 0.0465, + 0.1249 + ] + ], + "extents": [ + 0.1663, + 0.0927, + 0.25 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.049, + 0.0754, + -0.1254 + ], + [ + -0.0495, + 0.0757, + 0.1247 + ], + [ + 0.0899, + 0.0094, + -0.1251 + ], + [ + 0.0895, + 0.0097, + 0.125 + ], + [ + -0.0894, + -0.0097, + -0.1254 + ], + [ + -0.0899, + -0.0094, + 0.1247 + ], + [ + 0.0495, + -0.0757, + -0.125 + ], + [ + 0.0491, + -0.0754, + 0.125 + ] + ], + "extents": [ + 0.1798, + 0.1513, + 0.2504 + ] + }, + "radius": 0.1282 + }, + "active": { + "place": { + "up": { + "orientation": [ + 0.9997, + 0.0001, + -0.0001, + -0.0252 + ], + "projection_circle": { + "center": [ + -0.0002, + 0.0001, + -0.1252, + 0.9997, + -0.0001, + 0.0001, + 0.0252 + ], + "radius": 0.0833 + }, + "contact_circle": { + "center": [ + -0.0001, + 0.0002, + -0.1252, + 0.9997, + -0.0001, + 0.0001, + 0.0252 + ], + "radius": 0.0425 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/trophy/00000/object.usdz b/Assets/Object/RoboDojo/Clutter/trophy/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..7dcff4c291716d689f0f8c0972017ddec85d5b70 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/trophy/00000/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b746d889849076eba4991e03dc49f5c1cc7d2cc4537dc6f53d2745012b38a47 +size 27191263 diff --git a/Assets/Object/RoboDojo/Clutter/trophy/00001/metadata.json b/Assets/Object/RoboDojo/Clutter/trophy/00001/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..c5fd240bfe1e209f020c83305b06725a9bca1a6f --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/trophy/00001/metadata.json @@ -0,0 +1,142 @@ +{ + "uuid": "16775c04-933d-4f93-a8c2-209e11de5aeb", + "geometry": { + "faces": 9416, + "vertices": 5922, + "aligned_bbox": { + "vertices": [ + [ + -0.1207, + -0.0546, + 0.0 + ], + [ + -0.1207, + -0.0546, + 0.2189 + ], + [ + -0.1207, + 0.0548, + 0.0 + ], + [ + -0.1207, + 0.0548, + 0.2189 + ], + [ + 0.1208, + -0.0546, + 0.0 + ], + [ + 0.1208, + -0.0546, + 0.2189 + ], + [ + 0.1208, + 0.0548, + 0.0 + ], + [ + 0.1208, + 0.0548, + 0.2189 + ] + ], + "extents": [ + 0.2415, + 0.1094, + 0.2189 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + 0.1213, + -0.0001, + 0.2189 + ], + [ + 0.1213, + 0.0037, + -0.0007 + ], + [ + -0.0723, + 0.0965, + 0.2206 + ], + [ + -0.0723, + 0.1003, + 0.001 + ], + [ + 0.0727, + -0.0977, + 0.2172 + ], + [ + 0.0727, + -0.0938, + -0.0024 + ], + [ + -0.121, + -0.0011, + 0.2189 + ], + [ + -0.121, + 0.0028, + -0.0007 + ] + ], + "extents": [ + 0.2423, + 0.198, + 0.223 + ] + }, + "radius": 0.1332 + }, + "active": { + "place": { + "up": { + "orientation": [ + 0.9999, + 0.0078, + 0.0078, + -0.0004 + ], + "projection_circle": { + "center": [ + 0.0025, + -0.0025, + -0.0009, + 0.9999, + -0.0078, + -0.0078, + 0.0004 + ], + "radius": 0.1208 + }, + "contact_circle": { + "center": [ + 0.0051, + -0.0055, + -0.0008, + 0.9999, + -0.0078, + -0.0078, + 0.0004 + ], + "radius": 0.045 + } + } + } + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Clutter/trophy/00001/object.usdz b/Assets/Object/RoboDojo/Clutter/trophy/00001/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..a6672ebc5ac4f233cf3a2fa97a0cf22fed97c972 --- /dev/null +++ b/Assets/Object/RoboDojo/Clutter/trophy/00001/object.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56fa2cd714b0a595a4298fdf7f216385c04e5385e10f46ef057fe08fb12fc6f2 +size 9443153 diff --git a/Assets/Object/RoboDojo/Fluid/wuliangye/00000/metadata.json b/Assets/Object/RoboDojo/Fluid/wuliangye/00000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..22c99de6bec0f3d365e5d468c8f5cc13f2464e7d --- /dev/null +++ b/Assets/Object/RoboDojo/Fluid/wuliangye/00000/metadata.json @@ -0,0 +1,143 @@ +{ + "uuid": "12d695f8-d81d-4bba-84c2-3116ac7f6dd1", + "geometry": { + "faces": 1280, + "vertices": 642, + "aligned_bbox": { + "vertices": [ + [ + -0.03, + -0.03, + -0.035 + ], + [ + -0.03, + -0.03, + 0.035 + ], + [ + -0.03, + 0.03, + -0.035 + ], + [ + -0.03, + 0.03, + 0.035 + ], + [ + 0.03, + -0.03, + -0.035 + ], + [ + 0.03, + -0.03, + 0.035 + ], + [ + 0.03, + 0.03, + -0.035 + ], + [ + 0.03, + 0.03, + 0.035 + ] + ], + "extents": [ + 0.06, + 0.06, + 0.07 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0372, + 0.0199, + -0.035 + ], + [ + -0.0372, + 0.0199, + 0.035 + ], + [ + 0.0199, + 0.0372, + -0.035 + ], + [ + 0.0199, + 0.0372, + 0.035 + ], + [ + -0.0199, + -0.0372, + -0.035 + ], + [ + -0.0199, + -0.0372, + 0.035 + ], + [ + 0.0372, + -0.0199, + -0.035 + ], + [ + 0.0372, + -0.0199, + 0.035 + ] + ], + "extents": [ + 0.0745, + 0.0745, + 0.07 + ] + }, + "radius": 0.0461 + }, + "visual": { + "visible": true, + "visual_mdl_path": "$Robodojo_ASSETS/Material/Fluid/Linen_Blue.mdl", + "scale": [0.9, 0.9, 1] + }, + "physics": { + "type": "fluid", + "particle_system": { + "particle_contact_offset": 0.0025, + "contact_offset": 0.0025, + "rest_offset": 0.002, + "fluid_rest_offset": 0.0015, + "solid_rest_offset": 0.0015, + "max_velocity": 2, + "smoothing": false, + "anisotropy": false, + "isosurface": true + }, + "particle_material": { + "adhesion": null, + "adhesion_offset_scale": null, + "cohesion": 0.005, + "particle_adhesion_scale": null, + "particle_friction_scale": null, + "drag": null, + "lift": null, + "friction": 0.1, + "damping": 0.99, + "gravity_scale": 1.0, + "viscosity": 0.0091, + "vorticity_confinement": null, + "surface_tension": 0.0074, + "density": null, + "cfl_coefficient": null + }, + "interaction_with_object": true + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Fluid/wuliangye/00000/object.usdz b/Assets/Object/RoboDojo/Fluid/wuliangye/00000/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..d297296cbeb6787fb2581e4b71bc9c9042c029ae Binary files /dev/null and b/Assets/Object/RoboDojo/Fluid/wuliangye/00000/object.usdz differ diff --git a/Assets/Object/RoboDojo/Fluid/wuliangye/00001/metadata.json b/Assets/Object/RoboDojo/Fluid/wuliangye/00001/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..ebd2bed66dcff9e4dd019709b5461847a445e6c5 --- /dev/null +++ b/Assets/Object/RoboDojo/Fluid/wuliangye/00001/metadata.json @@ -0,0 +1,143 @@ +{ + "uuid": "12d695f8-d81d-4bba-84c2-3116ac7f6dd1", + "geometry": { + "faces": 1280, + "vertices": 642, + "aligned_bbox": { + "vertices": [ + [ + -0.018, + -0.018, + -0.0245 + ], + [ + -0.018, + -0.018, + 0.0245 + ], + [ + -0.018, + 0.018, + -0.0245 + ], + [ + -0.018, + 0.018, + 0.0245 + ], + [ + 0.018, + -0.018, + -0.0245 + ], + [ + 0.018, + -0.018, + 0.0245 + ], + [ + 0.018, + 0.018, + -0.0245 + ], + [ + 0.018, + 0.018, + 0.0245 + ] + ], + "extents": [ + 0.036, + 0.036, + 0.049 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0223, + 0.0119, + -0.0245 + ], + [ + -0.0223, + 0.0119, + 0.0245 + ], + [ + 0.0119, + 0.0223, + -0.0245 + ], + [ + 0.0119, + 0.0223, + 0.0245 + ], + [ + -0.0119, + -0.0223, + -0.0245 + ], + [ + -0.0119, + -0.0223, + 0.0245 + ], + [ + 0.0223, + -0.0119, + -0.0245 + ], + [ + 0.0223, + -0.0119, + 0.0245 + ] + ], + "extents": [ + 0.0447, + 0.0447, + 0.049 + ] + }, + "radius": 0.0304 + }, + "visual": { + "visible": true, + "visual_mdl_path": "$Robodojo_ASSETS/Material/Fluid/Linen_Blue.mdl", + "scale": [1, 1, 1] + }, + "physics": { + "type": "fluid", + "particle_system": { + "particle_contact_offset": 0.0025, + "contact_offset": 0.0025, + "rest_offset": 0.002, + "fluid_rest_offset": 0.0015, + "solid_rest_offset": 0.0015, + "max_velocity": 2, + "smoothing": false, + "anisotropy": false, + "isosurface": true + }, + "particle_material": { + "adhesion": null, + "adhesion_offset_scale": null, + "cohesion": 0.005, + "particle_adhesion_scale": null, + "particle_friction_scale": null, + "drag": null, + "lift": null, + "friction": 0.1, + "damping": 0.99, + "gravity_scale": 1.0, + "viscosity": 0.0091, + "vorticity_confinement": null, + "surface_tension": 0.0074, + "density": null, + "cfl_coefficient": null + }, + "interaction_with_object": true + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Fluid/wuliangye/00001/object.usdz b/Assets/Object/RoboDojo/Fluid/wuliangye/00001/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..2b791e25ff88afdd657ef4c02fcf5f65ec3db8e5 Binary files /dev/null and b/Assets/Object/RoboDojo/Fluid/wuliangye/00001/object.usdz differ diff --git a/Assets/Object/RoboDojo/Fluid/wuliangye/00002/metadata.json b/Assets/Object/RoboDojo/Fluid/wuliangye/00002/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..0bf8286cbca06ad053af19d67733cc7925bd95ea --- /dev/null +++ b/Assets/Object/RoboDojo/Fluid/wuliangye/00002/metadata.json @@ -0,0 +1,143 @@ +{ + "uuid": "12d695f8-d81d-4bba-84c2-3116ac7f6dd1", + "geometry": { + "faces": 1280, + "vertices": 642, + "aligned_bbox": { + "vertices": [ + [ + -0.018, + -0.018, + -0.0245 + ], + [ + -0.018, + -0.018, + 0.0245 + ], + [ + -0.018, + 0.018, + -0.0245 + ], + [ + -0.018, + 0.018, + 0.0245 + ], + [ + 0.018, + -0.018, + -0.0245 + ], + [ + 0.018, + -0.018, + 0.0245 + ], + [ + 0.018, + 0.018, + -0.0245 + ], + [ + 0.018, + 0.018, + 0.0245 + ] + ], + "extents": [ + 0.036, + 0.036, + 0.049 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0223, + 0.0119, + -0.0245 + ], + [ + -0.0223, + 0.0119, + 0.0245 + ], + [ + 0.0119, + 0.0223, + -0.0245 + ], + [ + 0.0119, + 0.0223, + 0.0245 + ], + [ + -0.0119, + -0.0223, + -0.0245 + ], + [ + -0.0119, + -0.0223, + 0.0245 + ], + [ + 0.0223, + -0.0119, + -0.0245 + ], + [ + 0.0223, + -0.0119, + 0.0245 + ] + ], + "extents": [ + 0.0447, + 0.0447, + 0.049 + ] + }, + "radius": 0.0304 + }, + "visual": { + "visible": true, + "visual_mdl_path": "$Robodojo_ASSETS/Material/Fluid/Linen_Yellow.mdl", + "scale": [1, 1, 1] + }, + "physics": { + "type": "fluid", + "particle_system": { + "particle_contact_offset": 0.0025, + "contact_offset": 0.0025, + "rest_offset": 0.002, + "fluid_rest_offset": 0.0015, + "solid_rest_offset": 0.0015, + "max_velocity": 2, + "smoothing": false, + "anisotropy": false, + "isosurface": true + }, + "particle_material": { + "adhesion": null, + "adhesion_offset_scale": null, + "cohesion": 0.005, + "particle_adhesion_scale": null, + "particle_friction_scale": null, + "drag": null, + "lift": null, + "friction": 0.1, + "damping": 0.99, + "gravity_scale": 1.0, + "viscosity": 0.0091, + "vorticity_confinement": null, + "surface_tension": 0.0074, + "density": null, + "cfl_coefficient": null + }, + "interaction_with_object": true + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Fluid/wuliangye/00002/object.usdz b/Assets/Object/RoboDojo/Fluid/wuliangye/00002/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..2b791e25ff88afdd657ef4c02fcf5f65ec3db8e5 Binary files /dev/null and b/Assets/Object/RoboDojo/Fluid/wuliangye/00002/object.usdz differ diff --git a/Assets/Object/RoboDojo/Fluid/wuliangye/00003/metadata.json b/Assets/Object/RoboDojo/Fluid/wuliangye/00003/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..4660cf075d73c14cf02a7de0a21c51f42257f1fb --- /dev/null +++ b/Assets/Object/RoboDojo/Fluid/wuliangye/00003/metadata.json @@ -0,0 +1,143 @@ +{ + "uuid": "12d695f8-d81d-4bba-84c2-3116ac7f6dd1", + "geometry": { + "faces": 1280, + "vertices": 642, + "aligned_bbox": { + "vertices": [ + [ + -0.018, + -0.018, + -0.0245 + ], + [ + -0.018, + -0.018, + 0.0245 + ], + [ + -0.018, + 0.018, + -0.0245 + ], + [ + -0.018, + 0.018, + 0.0245 + ], + [ + 0.018, + -0.018, + -0.0245 + ], + [ + 0.018, + -0.018, + 0.0245 + ], + [ + 0.018, + 0.018, + -0.0245 + ], + [ + 0.018, + 0.018, + 0.0245 + ] + ], + "extents": [ + 0.036, + 0.036, + 0.049 + ] + }, + "oriented_bbox": { + "vertices": [ + [ + -0.0223, + 0.0119, + -0.0245 + ], + [ + -0.0223, + 0.0119, + 0.0245 + ], + [ + 0.0119, + 0.0223, + -0.0245 + ], + [ + 0.0119, + 0.0223, + 0.0245 + ], + [ + -0.0119, + -0.0223, + -0.0245 + ], + [ + -0.0119, + -0.0223, + 0.0245 + ], + [ + 0.0223, + -0.0119, + -0.0245 + ], + [ + 0.0223, + -0.0119, + 0.0245 + ] + ], + "extents": [ + 0.0447, + 0.0447, + 0.049 + ] + }, + "radius": 0.0304 + }, + "visual": { + "visible": true, + "visual_mdl_path": "$Robodojo_ASSETS/Material/Fluid/Linen_Red.mdl", + "scale": [1, 1, 1] + }, + "physics": { + "type": "fluid", + "particle_system": { + "particle_contact_offset": 0.0025, + "contact_offset": 0.0025, + "rest_offset": 0.002, + "fluid_rest_offset": 0.0015, + "solid_rest_offset": 0.0015, + "max_velocity": 2, + "smoothing": false, + "anisotropy": false, + "isosurface": true + }, + "particle_material": { + "adhesion": null, + "adhesion_offset_scale": null, + "cohesion": 0.005, + "particle_adhesion_scale": null, + "particle_friction_scale": null, + "drag": null, + "lift": null, + "friction": 0.1, + "damping": 0.99, + "gravity_scale": 1.0, + "viscosity": 0.0091, + "vorticity_confinement": null, + "surface_tension": 0.0074, + "density": null, + "cfl_coefficient": null + }, + "interaction_with_object": true + } +} \ No newline at end of file diff --git a/Assets/Object/RoboDojo/Fluid/wuliangye/00003/object.usdz b/Assets/Object/RoboDojo/Fluid/wuliangye/00003/object.usdz new file mode 100644 index 0000000000000000000000000000000000000000..2b791e25ff88afdd657ef4c02fcf5f65ec3db8e5 Binary files /dev/null and b/Assets/Object/RoboDojo/Fluid/wuliangye/00003/object.usdz differ