Add files using upload-large-folder tool

messy_objects/bottle_019/019.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 019.jpg
+
+

messy_objects/bottle_019/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/bottle_019/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": [0.09822783761500001, 0.022728548885, 0.040787804629999994]}

messy_objects/knife_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/knife_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/knife_006/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": [0.098144718935, 0.013667116395000001, 0.007856463854999999]}

messy_objects/pencil_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/pencil_001/coacd_collision.obj

@@ -0,0 +1,521 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
+v 91.10453023 5.01218309 0.95858693 0.54509804 0.71372549 0.60000000
+v 93.02101628 4.33906795 2.65137150 0.54509804 0.71372549 0.60000000
+v 93.02101628 5.00536403 0.95858693 0.54509804 0.71372549 0.60000000
+v 91.10453023 4.89821133 -0.95839506 0.54509804 0.71372549 0.60000000
+v -93.03040326 4.67806051 -0.95839506 0.54509804 0.71372549 0.60000000
+v -64.24508437 4.77644651 0.95858693 0.54509804 0.71372549 0.60000000
+v -73.84651725 4.20463972 2.39702997 0.54509804 0.71372549 0.60000000
+v 93.02101628 3.57633386 3.61033377 0.54509804 0.71372549 0.60000000
+v 94.93750805 4.21145842 2.48369440 0.54509804 0.71372549 0.60000000
+v 93.02101628 4.86898780 -0.95839506 0.54509804 0.71372549 0.60000000
+v 94.93750805 4.69656899 0.95858693 0.54509804 0.71372549 0.60000000
+v 93.02101628 4.20269136 -2.39212800 0.54509804 0.71372549 0.60000000
+v 6.70302699 4.20561371 -2.50140074 0.54509804 0.71372549 0.60000000
+v -93.03040326 4.15788207 -2.50705268 0.54509804 0.71372549 0.60000000
+v -94.94688931 4.06436678 -2.35067983 0.54509804 0.71372549 0.60000000
+v -94.94688931 4.47641853 -0.95839506 0.54509804 0.71372549 0.60000000
+v -93.03040326 4.65760404 0.95858693 0.54509804 0.71372549 0.60000000
+v -73.84651725 4.73942992 0.95858693 0.54509804 0.71372549 0.60000000
+v -93.03040326 4.13742560 2.34145150 0.54509804 0.71372549 0.60000000
+v -91.11391149 3.31624482 3.30606535 0.54509804 0.71372549 0.60000000
+v -75.76300902 3.34059764 3.34657169 0.54509804 0.71372549 0.60000000
+v 93.02101628 2.61682849 4.25278190 0.54509804 0.71372549 0.60000000
+v 94.93750805 2.44928021 4.15104514 0.54509804 0.71372549 0.60000000
+v 94.93750805 3.40878575 3.44265667 0.54509804 0.71372549 0.60000000
+v -91.11391149 2.35673909 4.13503098 0.54509804 0.71372549 0.60000000
+v -75.76300902 2.38109209 4.14916075 0.54509804 0.71372549 0.60000000
+v 96.05704466 4.00299737 2.16341254 0.54509804 0.71372549 0.60000000
+v 94.93750805 4.50856441 -0.95839506 0.54509804 0.71372549 0.60000000
+v 94.93750805 4.02345384 -2.17640859 0.54509804 0.71372549 0.60000000
+v 96.15192055 4.12281384 0.95858693 0.54509804 0.71372549 0.60000000
+v 96.05704466 4.00786808 -0.95839506 0.54509804 0.71372549 0.60000000
+v 95.05135797 2.79411784 -3.24652710 0.54509804 0.71372549 0.60000000
+v 93.02101628 3.10388706 -3.35109010 0.54509804 0.71372549 0.60000000
+v -93.03040326 3.47794822 -3.46601477 0.54509804 0.71372549 0.60000000
+v -94.94688931 3.34059764 -3.30964192 0.54509804 0.71372549 0.60000000
+v -95.99052406 3.92214549 -2.08691810 0.54509804 0.71372549 0.60000000
+v -96.12335945 4.05170337 -0.95839506 0.54509804 0.71372549 0.60000000
+v -94.94688931 4.43160888 0.95858693 0.54509804 0.71372549 0.60000000
+v -94.94688931 4.01858313 2.16718044 0.54509804 0.71372549 0.60000000
+v -93.03040326 3.29578835 3.30041359 0.54509804 0.71372549 0.60000000
+v 93.02101628 0.95888081 4.86508538 0.54509804 0.71372549 0.60000000
+v 94.93750805 0.95888081 4.66161187 0.54509804 0.71372549 0.60000000
+v 96.03806491 2.13951099 3.97583189 0.54509804 0.71372549 0.60000000
+v -93.03040326 2.33725680 4.11995866 0.54509804 0.71372549 0.60000000
+v -93.03040326 0.95888081 4.52784751 0.54509804 0.71372549 0.60000000
+v -91.11391149 0.95888081 4.54668720 0.54509804 0.71372549 0.60000000
+v 10.53600910 0.95888081 4.75769686 0.54509804 0.71372549 0.60000000
+v 96.26577618 2.81749666 2.83223670 0.54509804 0.71372549 0.60000000
+v 96.64527973 2.87691772 0.95858693 0.54509804 0.71372549 0.60000000
+v 95.92420927 3.85006103 -1.93996528 0.54509804 0.71372549 0.60000000
+v 96.51244434 2.87691772 -0.95839506 0.54509804 0.71372549 0.60000000
+v 94.48210837 2.10054622 -3.92194540 0.54509804 0.71372549 0.60000000
+v 95.77241700 1.76350165 -3.78818104 0.54509804 0.71372549 0.60000000
+v 93.02101628 2.14535569 -3.94455389 0.54509804 0.71372549 0.60000000
+v -93.03040326 2.51844268 -4.18664933 0.54509804 0.71372549 0.60000000
+v -94.94688931 2.38206609 -4.10752106 0.54509804 0.71372549 0.60000000
+v -96.00950381 2.11418399 -3.95020565 0.54509804 0.71372549 0.60000000
+v -96.21823534 2.80288490 -2.78682857 0.54509804 0.71372549 0.60000000
+v -96.63567552 2.87691772 -0.95839506 0.54509804 0.71372549 0.60000000
+v -96.08539995 4.01663514 0.95858693 0.54509804 0.71372549 0.60000000
+v -95.93360768 3.87636220 1.97218530 0.54509804 0.71372549 0.60000000
+v -94.94688931 3.09512000 3.12614217 0.54509804 0.71372549 0.60000000
+v -94.94688931 2.13561446 3.98336805 0.54509804 0.71372549 0.60000000
+v 91.10453023 -0.95818211 4.81986912 0.54509804 0.71372549 0.60000000
+v 93.02101628 -0.95818211 4.82081096 0.54509804 0.71372549 0.60000000
+v 94.93750805 -0.95818211 4.60414953 0.54509804 0.71372549 0.60000000
+v 96.17090030 -0.95818211 4.11430689 0.54509804 0.71372549 0.60000000
+v 96.18988005 0.95888081 4.14445082 0.54509804 0.71372549 0.60000000
+v 96.70219612 0.95888081 2.87651093 0.54509804 0.71372549 0.60000000
+v -93.03040326 -0.95818211 4.35357609 0.54509804 0.71372549 0.60000000
+v -94.94688931 0.95888081 4.27067974 0.54509804 0.71372549 0.60000000
+v -95.00381713 -1.04877504 4.11336434 0.54509804 0.71372549 0.60000000
+v 10.53600910 -0.95818211 4.68893028 0.54509804 0.71372549 0.60000000
+v 96.91092764 0.95888081 0.95858693 0.54509804 0.71372549 0.60000000
+v 96.87296814 0.95888081 -0.95839506 0.54509804 0.71372549 0.60000000
+v 96.13294080 2.87691772 -2.37799788 0.54509804 0.71372549 0.60000000
+v 96.32269257 1.05824071 -3.04022807 0.54509804 0.71372549 0.60000000
+v 93.02101628 0.95888081 -4.26012583 0.54509804 0.71372549 0.60000000
+v 95.05135797 1.05824071 -4.06324665 0.54509804 0.71372549 0.60000000
+v 95.98114852 0.48545974 -3.91440924 0.54509804 0.71372549 0.60000000
+v -93.03040326 0.95888081 -4.75844648 0.54509804 0.71372549 0.60000000
+v -94.94688931 0.95888081 -4.61149418 0.54509804 0.71372549 0.60000000
+v -96.16129609 0.95888081 -4.12259267 0.54509804 0.71372549 0.60000000
+v -96.65465527 0.95888081 -2.87726108 0.54509804 0.71372549 0.60000000
+v -96.92030318 0.95888081 -0.95839506 0.54509804 0.71372549 0.60000000
+v -96.88236655 0.95888081 0.95858693 0.54509804 0.71372549 0.60000000
+v -96.57875913 2.87691772 0.95858693 0.54509804 0.71372549 0.60000000
+v -96.12335945 2.69962837 2.71731202 0.54509804 0.71372549 0.60000000
+v -95.91462793 1.94273917 3.85242921 0.54509804 0.71372549 0.60000000
+v 71.92064423 -2.63366391 4.18401531 0.54509804 0.71372549 0.60000000
+v -10.54539107 -2.50897692 4.09546649 0.54509804 0.71372549 0.60000000
+v 94.93750805 -2.39208281 4.09358281 0.54509804 0.71372549 0.60000000
+v 91.10453023 -2.57326868 4.21415925 0.54509804 0.71372549 0.60000000
+v 93.02101628 -2.58203574 4.20850748 0.54509804 0.71372549 0.60000000
+v 96.00012827 -2.10569223 3.93626740 0.54509804 0.71372549 0.60000000
+v 96.66425948 -0.95818211 2.87651093 0.54509804 0.71372549 0.60000000
+v 96.92990739 -0.95818211 0.95858693 0.54509804 0.71372549 0.60000000
+v -94.41558777 -2.08426176 3.91460147 0.54509804 0.71372549 0.60000000
+v -93.03040326 -2.14757935 3.94568796 0.54509804 0.71372549 0.60000000
+v -96.00950381 0.95888081 3.93344187 0.54509804 0.71372549 0.60000000
+v -96.02848357 -0.47014932 3.94945532 0.54509804 0.71372549 0.60000000
+v -95.68692237 -1.74916536 3.76199670 0.54509804 0.71372549 0.60000000
+v 96.87296814 -0.95818211 -0.95839506 0.54509804 0.71372549 0.60000000
+v 96.32269257 -1.06728325 -3.04493800 0.54509804 0.71372549 0.60000000
+v 93.02101628 -0.95818211 -4.29309600 0.54509804 0.71372549 0.60000000
+v 95.07033772 -1.06728325 -4.07078281 0.54509804 0.71372549 0.60000000
+v 95.98114852 -0.50034698 -3.91440924 0.54509804 0.71372549 0.60000000
+v -93.03040326 -0.95818211 -4.66707212 0.54509804 0.71372549 0.60000000
+v -94.94688931 -0.95818211 -4.55120561 0.54509804 0.71372549 0.60000000
+v -96.12335945 -0.95818211 -4.10092674 0.54509804 0.71372549 0.60000000
+v -96.59773889 -0.95818211 -2.87726108 0.54509804 0.71372549 0.60000000
+v -96.82542729 -0.95818211 -0.95839506 0.54509804 0.71372549 0.60000000
+v -96.82542729 -0.95818211 0.95858693 0.54509804 0.71372549 0.60000000
+v -96.48388325 0.95888081 2.87651093 0.54509804 0.71372549 0.60000000
+v 71.92064423 -3.59316946 3.62069545 0.54509804 0.71372549 0.60000000
+v 73.83713599 -3.59511781 3.62163730 0.54509804 0.71372549 0.60000000
+v -10.54539107 -3.46848228 3.53403103 0.54509804 0.71372549 0.60000000
+v 93.02101628 -3.54154110 3.52932110 0.54509804 0.71372549 0.60000000
+v 94.93750805 -3.35061417 3.32584760 0.54509804 0.71372549 0.60000000
+v 95.98114852 -3.91560226 2.07486389 0.54509804 0.71372549 0.60000000
+v 96.20883693 -2.79828967 2.77948428 0.54509804 0.71372549 0.60000000
+v 96.60732023 -2.87719319 0.95858693 0.54509804 0.71372549 0.60000000
+v -93.03040326 -3.10611089 3.37106385 0.54509804 0.71372549 0.60000000
+v -95.00381713 -2.78465208 3.23447325 0.54509804 0.71372549 0.60000000
+v -96.33206811 -1.04877504 3.02440578 0.54509804 0.71372549 0.60000000
+v -96.12335945 -2.87719319 2.35840768 0.54509804 0.71372549 0.60000000
+v -95.91462793 -3.84936215 1.94015715 0.54509804 0.71372549 0.60000000
+v 96.53142409 -2.87719319 -0.95839506 0.54509804 0.71372549 0.60000000
+v 96.13294080 -2.87719319 -2.38365000 0.54509804 0.71372549 0.60000000
+v 95.79139103 -1.77936307 -3.79665904 0.54509804 0.71372549 0.60000000
+v 94.50108240 -2.06477929 -3.93419149 0.54509804 0.71372549 0.60000000
+v 93.02101628 -2.13004523 -3.97658222 0.54509804 0.71372549 0.60000000
+v -93.03040326 -2.26349928 -4.09527498 0.54509804 0.71372549 0.60000000
+v -94.94688931 -2.19044046 -4.04723248 0.54509804 0.71372549 0.60000000
+v -95.99052406 -2.02484053 -3.92194540 0.54509804 0.71372549 0.60000000
+v -96.12335945 -2.74958385 -2.69451184 0.54509804 0.71372549 0.60000000
+v -96.44592375 -2.87719319 -0.95839506 0.54509804 0.71372549 0.60000000
+v -96.44592375 -2.87719319 0.95858693 0.54509804 0.71372549 0.60000000
+v -91.11391149 -4.23706107 2.40739202 0.54509804 0.71372549 0.60000000
+v 71.92064423 -4.23413872 2.66079152 0.54509804 0.71372549 0.60000000
+v 73.83713599 -4.22926801 2.66173354 0.54509804 0.71372549 0.60000000
+v 93.02101628 -4.17958802 2.57035901 0.54509804 0.71372549 0.60000000
+v -93.03040326 -4.22050096 2.41116010 0.54509804 0.71372549 0.60000000
+v 94.93750805 -4.06853861 2.36688569 0.54509804 0.71372549 0.60000000
+v 96.09500416 -4.04126344 0.95858693 0.54509804 0.71372549 0.60000000
+v 94.93750805 -4.46890095 0.95858693 0.54509804 0.71372549 0.60000000
+v 96.05704466 -3.99353179 -0.95839506 0.54509804 0.71372549 0.60000000
+v -94.94688931 -4.02957402 2.18036854 0.54509804 0.71372549 0.60000000
+v -96.00950381 -3.94969650 0.95858693 0.54509804 0.71372549 0.60000000
+v -94.94688931 -4.43772906 0.95858693 0.54509804 0.71372549 0.60000000
+v 95.92420927 -3.85228450 -1.93902326 0.54509804 0.71372549 0.60000000
+v 95.07033772 -2.77296267 -3.17587684 0.54509804 0.71372549 0.60000000
+v 94.93750805 -3.96528226 -2.08126616 0.54509804 0.71372549 0.60000000
+v 93.02101628 -3.08955077 -3.18058676 0.54509804 0.71372549 0.60000000
+v -93.03040326 -3.22300500 -3.27384551 0.54509804 0.71372549 0.60000000
+v -94.94688931 -3.14897183 -3.09298049 0.54509804 0.71372549 0.60000000
+v -95.91462793 -3.84643980 -1.93337113 0.54509804 0.71372549 0.60000000
+v -96.00950381 -3.94774815 -0.95839506 0.54509804 0.71372549 0.60000000
+v -91.11391149 -4.93745139 0.95858693 0.54509804 0.71372549 0.60000000
+v -89.19741972 -4.93939975 0.95858693 0.54509804 0.71372549 0.60000000
+v 71.92064423 -4.78159270 0.95858693 0.54509804 0.71372549 0.60000000
+v 93.02101628 -4.69684447 0.95858693 0.54509804 0.71372549 0.60000000
+v -93.03040326 -4.87218563 0.95858693 0.54509804 0.71372549 0.60000000
+v 94.93750805 -4.36564460 -0.95839506 0.54509804 0.71372549 0.60000000
+v 93.02101628 -4.59553612 -0.95839506 0.54509804 0.71372549 0.60000000
+v -94.94688931 -4.41727259 -0.95839506 0.54509804 0.71372549 0.60000000
+v 93.02101628 -4.07828002 -2.22162503 0.54509804 0.71372549 0.60000000
+v 91.10453023 -4.08607273 -2.23010303 0.54509804 0.71372549 0.60000000
+v -93.03040326 -4.16789861 -2.31488360 0.54509804 0.71372549 0.60000000
+v -94.94688931 -4.00911755 -2.13401840 0.54509804 0.71372549 0.60000000
+v -91.11391149 -4.86536657 -0.95839506 0.54509804 0.71372549 0.60000000
+v -93.03040326 -4.82055728 -0.95839506 0.54509804 0.71372549 0.60000000
+v 52.73675822 -4.65982788 -0.95839506 0.54509804 0.71372549 0.60000000
+v 91.10453023 -4.60235482 -0.95839506 0.54509804 0.71372549 0.60000000
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 8
+f 3 10 4
+f 3 9 11
+f 3 11 10
+f 4 10 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 6
+f 6 18 7
+f 7 18 17
+f 7 17 19
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 8 22 23
+f 8 23 24
+f 8 24 9
+f 8 21 25
+f 8 25 26
+f 8 26 22
+f 9 24 27
+f 9 27 11
+f 10 11 28
+f 10 28 29
+f 10 29 12
+f 11 27 30
+f 11 30 31
+f 11 31 28
+f 12 29 32
+f 12 32 33
+f 12 33 34
+f 12 34 13
+f 13 34 14
+f 14 34 15
+f 15 35 36
+f 15 36 16
+f 15 34 35
+f 16 36 37
+f 16 37 38
+f 16 38 17
+f 17 38 39
+f 17 39 19
+f 19 39 40
+f 19 40 20
+f 20 40 25
+f 20 25 21
+f 22 41 23
+f 22 26 41
+f 23 41 42
+f 23 42 43
+f 23 43 24
+f 24 43 27
+f 25 40 44
+f 25 44 45
+f 25 45 46
+f 25 46 47
+f 25 47 26
+f 26 47 41
+f 27 43 48
+f 27 48 49
+f 27 49 30
+f 28 31 50
+f 28 50 29
+f 29 50 32
+f 30 49 51
+f 30 51 31
+f 31 51 50
+f 32 52 33
+f 32 50 53
+f 32 53 52
+f 33 52 54
+f 33 54 55
+f 33 55 34
+f 34 55 56
+f 34 56 35
+f 35 56 57
+f 35 57 36
+f 36 57 58
+f 36 58 59
+f 36 59 37
+f 37 59 60
+f 37 60 38
+f 38 60 61
+f 38 61 39
+f 39 61 62
+f 39 62 40
+f 40 62 63
+f 40 63 44
+f 41 64 65
+f 41 65 42
+f 41 47 64
+f 42 65 66
+f 42 66 67
+f 42 67 68
+f 42 68 43
+f 43 68 69
+f 43 69 48
+f 44 63 45
+f 45 70 46
+f 45 63 71
+f 45 71 72
+f 45 72 70
+f 46 70 73
+f 46 73 47
+f 47 73 64
+f 48 69 49
+f 49 69 74
+f 49 74 75
+f 49 75 51
+f 50 51 76
+f 50 76 53
+f 51 75 77
+f 51 77 76
+f 52 78 54
+f 52 53 79
+f 52 79 78
+f 53 76 77
+f 53 77 80
+f 53 80 79
+f 54 78 81
+f 54 81 55
+f 55 81 56
+f 56 81 82
+f 56 82 57
+f 57 83 84
+f 57 84 58
+f 57 82 83
+f 58 84 59
+f 59 84 85
+f 59 85 86
+f 59 86 87
+f 59 87 60
+f 60 87 61
+f 61 87 88
+f 61 88 89
+f 61 89 62
+f 62 89 63
+f 63 89 71
+f 64 90 65
+f 64 73 91
+f 64 91 90
+f 65 92 66
+f 65 90 93
+f 65 93 94
+f 65 94 92
+f 66 92 95
+f 66 95 67
+f 67 96 69
+f 67 69 68
+f 67 95 96
+f 69 96 97
+f 69 97 74
+f 70 72 98
+f 70 98 99
+f 70 99 91
+f 70 91 73
+f 71 89 100
+f 71 100 101
+f 71 101 72
+f 72 101 102
+f 72 102 98
+f 74 97 75
+f 75 97 103
+f 75 103 104
+f 75 104 77
+f 77 104 80
+f 78 79 105
+f 78 105 81
+f 79 106 105
+f 79 80 106
+f 80 107 106
+f 80 104 107
+f 81 108 109
+f 81 109 82
+f 81 105 108
+f 82 109 110
+f 82 110 83
+f 83 110 84
+f 84 110 111
+f 84 111 85
+f 85 111 112
+f 85 112 113
+f 85 113 86
+f 86 113 114
+f 86 114 87
+f 87 114 88
+f 88 114 89
+f 89 114 100
+f 90 115 116
+f 90 116 93
+f 90 91 117
+f 90 117 115
+f 91 99 117
+f 92 94 118
+f 92 118 119
+f 92 119 95
+f 93 116 94
+f 94 116 118
+f 95 120 121
+f 95 121 96
+f 95 119 120
+f 96 122 97
+f 96 121 122
+f 97 122 103
+f 98 123 99
+f 98 102 124
+f 98 124 123
+f 99 123 117
+f 100 114 101
+f 101 114 125
+f 101 125 126
+f 101 126 102
+f 102 126 127
+f 102 127 124
+f 103 122 128
+f 103 128 104
+f 104 128 129
+f 104 129 130
+f 104 130 107
+f 105 106 131
+f 105 131 132
+f 105 132 108
+f 106 107 130
+f 106 130 131
+f 108 133 134
+f 108 134 109
+f 108 132 133
+f 109 134 135
+f 109 135 110
+f 110 135 111
+f 111 135 136
+f 111 136 137
+f 111 137 112
+f 112 137 138
+f 112 138 113
+f 113 138 125
+f 113 125 114
+f 115 117 139
+f 115 139 116
+f 116 139 140
+f 116 140 141
+f 116 141 142
+f 116 142 118
+f 117 123 143
+f 117 143 139
+f 118 142 144
+f 118 144 119
+f 119 144 120
+f 120 145 122
+f 120 122 121
+f 120 144 146
+f 120 146 145
+f 122 145 147
+f 122 147 128
+f 123 124 148
+f 123 148 143
+f 124 127 148
+f 125 138 126
+f 126 138 127
+f 127 138 149
+f 127 149 150
+f 127 150 148
+f 128 147 151
+f 128 151 129
+f 129 151 130
+f 130 151 152
+f 130 152 131
+f 131 152 153
+f 131 153 154
+f 131 154 132
+f 132 154 133
+f 133 155 134
+f 133 154 155
+f 134 155 156
+f 134 156 135
+f 135 157 136
+f 135 156 157
+f 136 157 137
+f 137 157 158
+f 137 158 149
+f 137 149 138
+f 139 143 159
+f 139 159 160
+f 139 160 140
+f 140 161 141
+f 140 160 161
+f 141 161 162
+f 141 162 142
+f 142 162 144
+f 143 163 159
+f 143 148 163
+f 144 162 146
+f 145 146 147
+f 146 164 147
+f 146 162 165
+f 146 165 164
+f 147 164 151
+f 148 150 163
+f 149 158 150
+f 150 166 163
+f 150 158 166
+f 151 164 153
+f 151 153 152
+f 153 164 165
+f 153 165 167
+f 153 167 154
+f 154 167 168
+f 154 168 155
+f 155 169 156
+f 155 168 169
+f 156 169 170
+f 156 170 157
+f 157 170 166
+f 157 166 158
+f 159 171 160
+f 159 163 172
+f 159 172 171
+f 160 171 161
+f 161 173 174
+f 161 174 165
+f 161 165 162
+f 161 171 173
+f 163 166 172
+f 165 174 168
+f 165 168 167
+f 166 170 172
+f 168 174 173
+f 168 173 171
+f 168 171 169
+f 169 171 172
+f 169 172 170

messy_objects/pencil_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/pot_007/007.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 007.jpg
+

messy_objects/ramen_box_017/017.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 017.jpg
+

messy_objects/ramen_box_017/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/ramen_box_017/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": [0.03950577097, 0.08973841078000001, 0.08934940392999999]}

messy_objects/ramen_box_022/022.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 022.jpg
+

messy_objects/ramen_box_022/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/ramen_box_022/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": [0.033717942895000005, 0.097461944015, 0.09702240868999999]}

messy_objects/ramen_package_003/003.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 003.jpg
+

messy_objects/ramen_package_003/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/ramen_package_003/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": [0.13505701315, 0.02971158241, 0.07347481192000001]}

messy_objects/slipper_032/032.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 032.jpg
+

messy_objects/slipper_032/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/slipper_032/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": [0.09611413529000001, 0.041418641635, 0.046662216045]}

messy_objects/snack_box_035/035.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 035.jpg
+

messy_objects/snack_box_035/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_035/model_annnotation.json

@@ -0,0 +1 @@
+{"direction_axis": {"axis": 1, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.114164634565, 0.030308132760000002, 0.030327765620000002]}

messy_objects/snack_package_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/snack_package_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/snack_package_006/model_annnotation.json

@@ -0,0 +1 @@
+{"direction_axis": {"axis": 1, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.12393650984500001, 0.035304027845, 0.080868659505]}

messy_objects/snack_package_008/008.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 008.jpg
+

messy_objects/snack_package_008/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": [0.09568861375500001, 0.020202904439999995, 0.05548873019]}

messy_objects/spanner_001/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": [0.13780171704, 0.02909287167, 0.009237106924999999]}