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RoboTwin

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  1. messy_objects/bottle_021/model_annnotation.json +1 -0
  2. messy_objects/bottle_021/textured.obj +0 -0
  3. messy_objects/bottle_025/025.obj.mtl +13 -0
  4. messy_objects/bottle_025/coacd_collision.obj +0 -0
  5. messy_objects/bottle_025/model.urdf +28 -0
  6. messy_objects/bottle_025/model_annnotation.json +1 -0
  7. messy_objects/bottle_025/textured.obj +0 -0
  8. messy_objects/brush_007/007.obj.mtl +13 -0
  9. messy_objects/brush_007/coacd_collision.obj +0 -0
  10. messy_objects/brush_007/model.urdf +28 -0
  11. messy_objects/brush_007/model_annnotation.json +1 -0
  12. messy_objects/brush_007/textured.obj +0 -0
  13. messy_objects/clock_006/006.obj.mtl +13 -0
  14. messy_objects/clock_006/coacd_collision.obj +0 -0
  15. messy_objects/clock_006/model.urdf +28 -0
  16. messy_objects/clock_006/model_annnotation.json +1 -0
  17. messy_objects/clock_006/textured.obj +0 -0
  18. messy_objects/hammer_002/002.obj.mtl +13 -0
  19. messy_objects/mug_010/coacd_collision.obj +0 -0
  20. messy_objects/mug_010/model_annnotation.json +1 -0
  21. messy_objects/mug_010/textured.obj +0 -0
  22. messy_objects/ramen_box_005/005.obj.mtl +13 -0
  23. messy_objects/ramen_box_005/coacd_collision.obj +0 -0
  24. messy_objects/ramen_box_005/model.urdf +28 -0
  25. messy_objects/ramen_box_005/model_annnotation.json +1 -0
  26. messy_objects/ramen_box_014/014.obj.mtl +13 -0
  27. messy_objects/ramen_box_014/coacd_collision.obj +0 -0
  28. messy_objects/ramen_box_014/model.urdf +28 -0
  29. messy_objects/ramen_box_014/model_annnotation.json +1 -0
  30. messy_objects/ramen_box_014/textured.obj +0 -0
  31. messy_objects/ramen_package_005/005.obj.mtl +13 -0
  32. messy_objects/ramen_package_005/model.urdf +28 -0
  33. messy_objects/remote_009/009.obj.mtl +13 -0
  34. messy_objects/remote_009/coacd_collision.obj +0 -0
  35. messy_objects/remote_009/model.urdf +28 -0
  36. messy_objects/remote_009/model_annnotation.json +1 -0
  37. messy_objects/remote_009/textured.obj +0 -0
  38. messy_objects/slipper_021/textured.obj +0 -0
  39. messy_objects/snack_box_041/041.obj.mtl +13 -0
  40. messy_objects/snack_box_041/coacd_collision.obj +0 -0
  41. messy_objects/snack_box_041/model.urdf +28 -0
  42. messy_objects/snack_box_041/model_annnotation.json +1 -0
  43. messy_objects/snack_box_041/textured.obj +0 -0
  44. messy_objects/snack_box_043/coacd_collision.obj +0 -0
  45. messy_objects/snack_box_043/model_annnotation.json +1 -0
  46. messy_objects/snack_box_043/textured.obj +0 -0
  47. messy_objects/snack_package_002/002.obj.mtl +13 -0
  48. messy_objects/snack_package_002/coacd_collision.obj +0 -0
  49. messy_objects/snack_package_002/model.urdf +28 -0
  50. messy_objects/snack_package_002/model_annnotation.json +1 -0
messy_objects/bottle_021/model_annnotation.json ADDED
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messy_objects/bottle_021/textured.obj ADDED
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messy_objects/bottle_025/025.obj.mtl ADDED
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messy_objects/bottle_025/coacd_collision.obj ADDED
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messy_objects/bottle_025/model.urdf ADDED
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+ <visual>
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messy_objects/bottle_025/model_annnotation.json ADDED
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messy_objects/bottle_025/textured.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/brush_007/007.obj.mtl ADDED
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messy_objects/brush_007/coacd_collision.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/brush_007/model.urdf ADDED
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+ <robot name="model.urdf">
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+ <contact_cfm value="0.0" />
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+ <mass value="0.1" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
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+ </geometry>
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+ <collision>
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+ <mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ </robot>
messy_objects/brush_007/model_annnotation.json ADDED
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+ {"direction_axis": {"axis": 0, "axis_sign": 1}, "approach_axis": {"axis": 2, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.058890081725, 0.01995864435, 0.025215688035]}
messy_objects/brush_007/textured.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/clock_006/006.obj.mtl ADDED
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messy_objects/clock_006/coacd_collision.obj ADDED
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messy_objects/clock_006/model.urdf ADDED
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+ <collision>
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+ <mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ </robot>
messy_objects/clock_006/model_annnotation.json ADDED
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+ {"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.07937723224500001, 0.030046871750000002, 0.059054252089999995]}
messy_objects/clock_006/textured.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/hammer_002/002.obj.mtl ADDED
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+ illum 2
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+ map_Kd 002.jpg
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messy_objects/mug_010/coacd_collision.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/mug_010/model_annnotation.json ADDED
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+ {"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 1, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.053141267435, 0.057754201539999994, 0.04129271226]}
messy_objects/mug_010/textured.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/ramen_box_005/005.obj.mtl ADDED
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messy_objects/ramen_box_005/coacd_collision.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/ramen_box_005/model.urdf ADDED
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messy_objects/ramen_box_005/model_annnotation.json ADDED
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messy_objects/ramen_box_014/014.obj.mtl ADDED
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messy_objects/ramen_box_014/coacd_collision.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/ramen_box_014/model.urdf ADDED
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messy_objects/ramen_box_014/model_annnotation.json ADDED
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messy_objects/ramen_box_014/textured.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/ramen_package_005/005.obj.mtl ADDED
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messy_objects/ramen_package_005/model.urdf ADDED
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messy_objects/remote_009/009.obj.mtl ADDED
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messy_objects/remote_009/coacd_collision.obj ADDED
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messy_objects/remote_009/model.urdf ADDED
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messy_objects/remote_009/model_annnotation.json ADDED
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messy_objects/remote_009/textured.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/slipper_021/textured.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/snack_box_041/041.obj.mtl ADDED
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+ # Converted by Meshlab Group
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+ #
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+ Ka 0.200000 0.200000 0.200000
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messy_objects/snack_box_041/coacd_collision.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/snack_box_041/model.urdf ADDED
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+ <inertial>
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+ <origin rpy="0 0 0" xyz="0 0 0" />
13
+ <mass value="0.1" />
14
+ <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
19
+ </geometry>
20
+
21
+ </visual>
22
+ <collision>
23
+ <geometry>
24
+ <mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
25
+ </geometry>
26
+ </collision>
27
+ </link>
28
+ </robot>
messy_objects/snack_box_041/model_annnotation.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"direction_axis": {"axis": 1, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.121093855585, 0.03239253941, 0.058363826529999996]}
messy_objects/snack_box_041/textured.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/snack_box_043/coacd_collision.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/snack_box_043/model_annnotation.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.07295529937, 0.041266439239999994, 0.09857837451500001]}
messy_objects/snack_box_043/textured.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/snack_package_002/002.obj.mtl ADDED
@@ -0,0 +1,13 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ #
2
+ # Wavefront material file
3
+ # Converted by Meshlab Group
4
+ #
5
+
6
+ newmtl material_0
7
+ Ka 0.200000 0.200000 0.200000
8
+ Kd 1.000000 1.000000 1.000000
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+ Ks 1.000000 1.000000 1.000000
10
+ illum 2
11
+ Ns 0.000000
12
+ map_Kd 002.jpg
13
+
messy_objects/snack_package_002/coacd_collision.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/snack_package_002/model.urdf ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version='1.0' encoding='utf-8'?>
2
+ <robot name="model.urdf">
3
+ <link name="baseLink">
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+ <contact>
5
+ <friction_anchor />
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+ <lateral_friction value="0.3" />
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+ <rolling_friction value="0.0" />
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+ <contact_cfm value="0.0" />
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+ <contact_erp value="1.0" />
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+ </contact>
11
+ <inertial>
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+ <origin rpy="0 0 0" xyz="0 0 0" />
13
+ <mass value="0.1" />
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+ <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
15
+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
19
+ </geometry>
20
+
21
+ </visual>
22
+ <collision>
23
+ <geometry>
24
+ <mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
25
+ </geometry>
26
+ </collision>
27
+ </link>
28
+ </robot>
messy_objects/snack_package_002/model_annnotation.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"direction_axis": {"axis": 1, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.088501476675, 0.041737662849999996, 0.03826764629999999]}