Add files using upload-large-folder tool

.gitattributes

@@ -237,3 +237,9 @@ embodiments/aloha-agilex-tactile/urdf/piper_with_pika/gripper6/meshes/Right_Link
 embodiments/aloha-agilex-tactile/urdf/piper_with_pika/gripper6/meshes/base_link1.STL filter=lfs diff=lfs merge=lfs -text
 embodiments/aloha-agilex-tactile/urdf/piper_with_pika/big_limit/meshes/center_Link.STL filter=lfs diff=lfs merge=lfs -text
 embodiments/aloha-agilex-tactile/urdf/piper_with_pika/gripper6/meshes/Left_Link2.STL filter=lfs diff=lfs merge=lfs -text
+objects/034_knife/base.glb filter=lfs diff=lfs merge=lfs -text
+objects/dustbin/base.glb filter=lfs diff=lfs merge=lfs -text
+objects/002_container/base8.glb filter=lfs diff=lfs merge=lfs -text
+objects/002_container/base2.glb filter=lfs diff=lfs merge=lfs -text
+objects/002_container/base3.glb filter=lfs diff=lfs merge=lfs -text
+objects/002_container/base4.glb filter=lfs diff=lfs merge=lfs -text

messy_objects/bottle_001/model_annnotation.json

@@ -0,0 +1 @@
+{"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 3, "object_size": [0.069293228535, 0.03088186312, 0.031416655615]}

messy_objects/bowl_004/004.obj.mtl

@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 004.jpg
+

messy_objects/bowl_004/model.urdf

@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

messy_objects/bowl_004/model_annnotation.json

@@ -0,0 +1 @@
+{"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.030888820199999997, 0.110467442325, 0.09499082043]}

messy_objects/can_014/014.obj.mtl

@@ -0,0 +1,14 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 014.jpg
+
+

messy_objects/can_014/model.urdf

@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

messy_objects/can_014/model_annnotation.json

@@ -0,0 +1 @@
+{"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 3, "object_size": [0.055667974295000006, 0.03804710511499999, 0.038122666730000004]}

messy_objects/can_016/016.obj.mtl

@@ -0,0 +1,14 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 016.jpg
+
+

messy_objects/can_016/model.urdf

@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

messy_objects/can_016/model_annnotation.json

@@ -0,0 +1 @@
+{"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 3, "object_size": [0.06260832601500001, 0.033870291775, 0.03389122861]}

messy_objects/can_018/018.obj.mtl

@@ -0,0 +1,14 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 018.jpg
+
+

messy_objects/can_018/model.urdf

@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

messy_objects/can_018/model_annnotation.json

@@ -0,0 +1 @@
+{"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 3, "object_size": [0.07411616377500001, 0.029578237145, 0.029441270465]}

messy_objects/clock_010/model_annnotation.json

@@ -0,0 +1 @@
+{"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.08114518674999999, 0.030785421534999996, 0.059070602879999996]}

messy_objects/hammer_002/model.urdf

@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

messy_objects/hammer_002/model_annnotation.json

@@ -0,0 +1 @@
+{"direction_axis": {"axis": 0, "axis_sign": 1}, "approach_axis": {"axis": 1, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.16087620350999998, 0.065907152325, 0.017121690919999998]}

messy_objects/marker_006/coacd_collision.obj

@@ -0,0 +1,821 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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messy_objects/marker_006/model.urdf

@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

messy_objects/plate_006/006.obj.mtl

@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 006.jpg
+

messy_objects/plate_006/model.urdf

@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

messy_objects/plate_006/model_annnotation.json

@@ -0,0 +1 @@
+{"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 3, "object_size": [0.012806726434999999, 0.09018665605, 0.08965656065]}

messy_objects/slipper_015/015.obj.mtl

@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 015.jpg
+

messy_objects/slipper_015/model_annnotation.json

@@ -0,0 +1 @@
+{"direction_axis": {"axis": 0, "axis_sign": 1}, "approach_axis": {"axis": 2, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.09953528736, 0.041537070925, 0.047494137585]}

messy_objects/slipper_026/model.urdf

@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

messy_objects/snack_box_001/001.obj.mtl

@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 001.jpg
+

messy_objects/snack_box_001/model.urdf

@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

messy_objects/snack_box_001/model_annnotation.json

@@ -0,0 +1 @@
+{"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.070785389685, 0.017422874489999997, 0.043971635575]}

messy_objects/toothbrush_004/model_annnotation.json

@@ -0,0 +1 @@
+{"direction_axis": {"axis": 0, "axis_sign": 1}, "approach_axis": {"axis": 2, "axis_sign": -1}, "object_symmetry": 2, "object_size": [0.095864720035, 0.009119239645, 0.008681912889999999]}