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RoboTwin

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Files changed (50) hide show
  1. messy_objects/bottle_013/013.obj.mtl +14 -0
  2. messy_objects/bottle_013/coacd_collision.obj +0 -0
  3. messy_objects/bottle_013/model.urdf +28 -0
  4. messy_objects/bottle_013/model_annnotation.json +1 -0
  5. messy_objects/bottle_013/textured.obj +0 -0
  6. messy_objects/brush_006/006.obj.mtl +13 -0
  7. messy_objects/brush_006/model_annnotation.json +1 -0
  8. messy_objects/brush_006/textured.obj +0 -0
  9. messy_objects/can_008/coacd_collision.obj +0 -0
  10. messy_objects/can_008/model.urdf +28 -0
  11. messy_objects/clock_011/011.obj.mtl +13 -0
  12. messy_objects/clock_011/coacd_collision.obj +0 -0
  13. messy_objects/clock_011/model.urdf +28 -0
  14. messy_objects/clock_011/model_annnotation.json +1 -0
  15. messy_objects/clock_011/textured.obj +0 -0
  16. messy_objects/handbag_009/009.obj.mtl +13 -0
  17. messy_objects/handbag_009/coacd_collision.obj +0 -0
  18. messy_objects/handbag_009/model.urdf +28 -0
  19. messy_objects/handbag_009/model_annnotation.json +1 -0
  20. messy_objects/handbag_009/textured.obj +0 -0
  21. messy_objects/handbag_012/012.obj.mtl +13 -0
  22. messy_objects/handbag_012/coacd_collision.obj +0 -0
  23. messy_objects/handbag_012/model.urdf +28 -0
  24. messy_objects/handbag_012/model_annnotation.json +1 -0
  25. messy_objects/handbag_012/textured.obj +0 -0
  26. messy_objects/mug_002/002.obj.mtl +13 -0
  27. messy_objects/mug_002/coacd_collision.obj +0 -0
  28. messy_objects/mug_002/model.urdf +28 -0
  29. messy_objects/mug_002/model_annnotation.json +1 -0
  30. messy_objects/mug_002/textured.obj +0 -0
  31. messy_objects/mug_006/006.obj.mtl +13 -0
  32. messy_objects/mug_006/coacd_collision.obj +0 -0
  33. messy_objects/mug_006/model.urdf +28 -0
  34. messy_objects/mug_006/model_annnotation.json +1 -0
  35. messy_objects/mug_006/textured.obj +0 -0
  36. messy_objects/plate_008/008.obj.mtl +13 -0
  37. messy_objects/plate_008/coacd_collision.obj +0 -0
  38. messy_objects/plate_008/model.urdf +28 -0
  39. messy_objects/plate_008/model_annnotation.json +1 -0
  40. messy_objects/plate_008/textured.obj +0 -0
  41. messy_objects/snack_box_004/004.obj.mtl +13 -0
  42. messy_objects/snack_box_004/coacd_collision.obj +0 -0
  43. messy_objects/snack_box_004/model.urdf +28 -0
  44. messy_objects/snack_box_004/model_annnotation.json +1 -0
  45. messy_objects/snack_box_004/textured.obj +0 -0
  46. messy_objects/snack_package_011/textured.obj +0 -0
  47. messy_objects/sneaker_005/005.obj.mtl +13 -0
  48. messy_objects/sneaker_005/coacd_collision.obj +0 -0
  49. messy_objects/sneaker_005/model.urdf +28 -0
  50. messy_objects/sneaker_005/model_annnotation.json +1 -0
messy_objects/bottle_013/013.obj.mtl ADDED
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messy_objects/bottle_013/coacd_collision.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/bottle_013/model.urdf ADDED
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messy_objects/bottle_013/model_annnotation.json ADDED
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messy_objects/bottle_013/textured.obj ADDED
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messy_objects/brush_006/006.obj.mtl ADDED
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+ Ns 0.000000
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+ map_Kd 006.jpg
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messy_objects/brush_006/model_annnotation.json ADDED
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messy_objects/brush_006/textured.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/can_008/coacd_collision.obj ADDED
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messy_objects/can_008/model.urdf ADDED
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+ <robot name="model.urdf">
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+ <link name="baseLink">
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+ <contact>
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+ <friction_anchor />
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+ <contact_erp value="1.0" />
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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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+
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+ </visual>
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+ <collision>
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+ <geometry>
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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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messy_objects/clock_011/011.obj.mtl ADDED
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+ illum 2
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+ map_Kd 011.jpg
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messy_objects/clock_011/coacd_collision.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/clock_011/model.urdf ADDED
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+ <?xml version='1.0' encoding='utf-8'?>
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+ <robot name="model.urdf">
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+ <contact_erp value="1.0" />
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+ <visual>
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+ <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <geometry>
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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_011/model_annnotation.json ADDED
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messy_objects/clock_011/textured.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/handbag_009/009.obj.mtl ADDED
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+ Ka 0.200000 0.200000 0.200000
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messy_objects/handbag_009/coacd_collision.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/handbag_009/model.urdf ADDED
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+ <?xml version='1.0' encoding='utf-8'?>
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messy_objects/handbag_009/model_annnotation.json ADDED
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messy_objects/handbag_009/textured.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/handbag_012/012.obj.mtl ADDED
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messy_objects/handbag_012/coacd_collision.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/handbag_012/model.urdf ADDED
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messy_objects/handbag_012/model_annnotation.json ADDED
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messy_objects/handbag_012/textured.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/mug_002/002.obj.mtl ADDED
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messy_objects/mug_002/coacd_collision.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/mug_002/model.urdf ADDED
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messy_objects/mug_002/model_annnotation.json ADDED
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messy_objects/mug_002/textured.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/mug_006/006.obj.mtl ADDED
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messy_objects/mug_006/coacd_collision.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/mug_006/model.urdf ADDED
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messy_objects/mug_006/model_annnotation.json ADDED
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messy_objects/mug_006/textured.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/plate_008/008.obj.mtl ADDED
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messy_objects/plate_008/coacd_collision.obj ADDED
The diff for this file is too large to render. See raw diff
 
messy_objects/plate_008/model.urdf ADDED
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+ </collision>
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+ </link>
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+ </robot>
messy_objects/plate_008/model_annnotation.json ADDED
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messy_objects/plate_008/textured.obj ADDED
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messy_objects/snack_box_004/004.obj.mtl ADDED
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+ #
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+ # Wavefront material file
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+ # Converted by Meshlab Group
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+ #
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+ newmtl material_0
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+ Ka 0.200000 0.200000 0.200000
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+ Kd 1.000000 1.000000 1.000000
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+ Ks 1.000000 1.000000 1.000000
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+ illum 2
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+ Ns 0.000000
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+ map_Kd 004.jpg
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messy_objects/snack_box_004/coacd_collision.obj ADDED
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messy_objects/snack_box_004/model.urdf ADDED
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+ <?xml version='1.0' encoding='utf-8'?>
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+ <robot name="model.urdf">
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+ <link name="baseLink">
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+ <contact>
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+ <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>
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+ <inertial>
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+ <origin rpy="0 0 0" xyz="0 0 0" />
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+ <mass value="0.1" />
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+ <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" />
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+ </geometry>
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+
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+ </visual>
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+ <collision>
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+ <geometry>
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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/snack_box_004/model_annnotation.json ADDED
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+ {"direction_axis": {"axis": 1, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.07852434967, 0.01413827397, 0.03918132192]}
messy_objects/snack_box_004/textured.obj ADDED
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messy_objects/snack_package_011/textured.obj ADDED
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messy_objects/sneaker_005/005.obj.mtl ADDED
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+ #
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+ # Wavefront material file
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+ # Converted by Meshlab Group
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+ #
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+
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+ newmtl material_0
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+ Ka 0.200000 0.200000 0.200000
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+ Kd 1.000000 1.000000 1.000000
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+ Ks 1.000000 1.000000 1.000000
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+ illum 2
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+ Ns 0.000000
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+ map_Kd 005.jpg
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messy_objects/sneaker_005/coacd_collision.obj ADDED
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messy_objects/sneaker_005/model.urdf ADDED
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+ <?xml version='1.0' encoding='utf-8'?>
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+ <robot name="model.urdf">
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+ <link name="baseLink">
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+ <contact>
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+ <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>
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+ <inertial>
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+ <origin rpy="0 0 0" xyz="0 0 0" />
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+ <mass value="0.1" />
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+ <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" />
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+ </geometry>
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+
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+ </visual>
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+ <collision>
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+ <geometry>
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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/sneaker_005/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": [0.12215184875, 0.04626813527, 0.04581456605]}