byml commited on Mar 19, 2025

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fb2720f

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1 Parent(s): 14b1f0d

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messy_objects/can_015/015.obj.mtl +14 -0
messy_objects/can_015/coacd_collision.obj +0 -0
messy_objects/can_015/model_annnotation.json +1 -0
messy_objects/can_015/textured.obj +0 -0
messy_objects/knife_003/003.obj.mtl +13 -0
messy_objects/knife_003/coacd_collision.obj +2599 -0
messy_objects/knife_003/model.urdf +28 -0
messy_objects/knife_003/model_annnotation.json +1 -0
messy_objects/knife_003/textured.obj +0 -0
messy_objects/pencil_001/model_annnotation.json +1 -0
messy_objects/pencil_001/textured.obj +0 -0
messy_objects/plate_007/007.obj.mtl +13 -0
messy_objects/plate_007/coacd_collision.obj +0 -0
messy_objects/plate_007/model.urdf +28 -0
messy_objects/plate_007/model_annnotation.json +1 -0
messy_objects/plate_007/textured.obj +0 -0
messy_objects/pot_007/coacd_collision.obj +0 -0
messy_objects/pot_007/model.urdf +28 -0
messy_objects/pot_007/model_annnotation.json +1 -0
messy_objects/ramen_box_016/coacd_collision.obj +0 -0
messy_objects/ramen_box_016/model.urdf +28 -0
messy_objects/ramen_box_016/model_annnotation.json +1 -0
messy_objects/ramen_box_016/textured.obj +0 -0
messy_objects/ramen_package_002/002.obj.mtl +13 -0
messy_objects/ramen_package_002/coacd_collision.obj +0 -0
messy_objects/ramen_package_002/model.urdf +28 -0
messy_objects/ramen_package_002/model_annnotation.json +1 -0
messy_objects/ramen_package_002/textured.obj +0 -0
messy_objects/slipper_003/003.obj.mtl +13 -0
messy_objects/slipper_003/model.urdf +28 -0
messy_objects/slipper_019/019.obj.mtl +13 -0
messy_objects/slipper_019/coacd_collision.obj +0 -0
messy_objects/slipper_019/model.urdf +28 -0
messy_objects/slipper_019/model_annnotation.json +1 -0
messy_objects/slipper_019/textured.obj +0 -0
messy_objects/snack_box_025/025.obj.mtl +13 -0
messy_objects/snack_box_025/coacd_collision.obj +0 -0
messy_objects/snack_box_025/model.urdf +28 -0
messy_objects/snack_box_025/model_annnotation.json +1 -0
messy_objects/snack_box_025/textured.obj +0 -0
messy_objects/snack_box_033/coacd_collision.obj +0 -0
messy_objects/snack_box_033/model.urdf +28 -0
messy_objects/snack_box_034/034.obj.mtl +13 -0
messy_objects/snack_box_034/coacd_collision.obj +0 -0
messy_objects/snack_box_034/model.urdf +28 -0
messy_objects/snack_box_034/model_annnotation.json +1 -0
messy_objects/snack_box_034/textured.obj +0 -0
messy_objects/snack_box_043/043.obj.mtl +13 -0
messy_objects/snack_box_043/model.urdf +28 -0
messy_objects/snack_package_005/005.obj.mtl +13 -0

messy_objects/can_015/015.obj.mtl ADDED Viewed

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+#
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+# Converted by Meshlab Group
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+newmtl material_0
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messy_objects/can_015/coacd_collision.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/can_015/model_annnotation.json ADDED Viewed

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1	+ {"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 3, "object_size": [0.058472625094999994, 0.02968258453, 0.029782217649999998]}

messy_objects/can_015/textured.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/knife_003/003.obj.mtl ADDED Viewed

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+#
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+<?xml version='1.0' encoding='utf-8'?>
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messy_objects/knife_003/model_annnotation.json ADDED Viewed

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1	+ {"direction_axis": {"axis": 0, "axis_sign": 1}, "approach_axis": {"axis": 1, "axis_sign": -1}, "object_symmetry": 2, "object_size": [0.11307636759, 0.015821418375, 0.010641905805]}

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messy_objects/pencil_001/model_annnotation.json ADDED Viewed

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1	+ {"direction_axis": {"axis": 0, "axis_sign": 1}, "approach_axis": {"axis": 2, "axis_sign": 1}, "object_symmetry": 3, "object_size": [0.09692510528500001, 0.00481176593, 0.00497579142]}

messy_objects/pencil_001/textured.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/plate_007/007.obj.mtl ADDED Viewed

	@@ -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/plate_007/coacd_collision.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/plate_007/model.urdf ADDED Viewed

	@@ -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_007/model_annnotation.json ADDED Viewed

	@@ -0,0 +1 @@


1	+ {"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 3, "object_size": [0.00788900072, 0.07892210582999999, 0.07874812308500001]}

messy_objects/plate_007/textured.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/pot_007/coacd_collision.obj ADDED Viewed

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messy_objects/pot_007/model.urdf ADDED Viewed

	@@ -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/model_annnotation.json ADDED Viewed

	@@ -0,0 +1 @@


1	+ {"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 1, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.040727304405, 0.12616326093000002, 0.09668270216]}

messy_objects/ramen_box_016/coacd_collision.obj ADDED Viewed

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messy_objects/ramen_box_016/model.urdf ADDED Viewed

	@@ -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_016/model_annnotation.json ADDED Viewed

	@@ -0,0 +1 @@


1	+ {"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 3, "object_size": [0.04926637216, 0.07352085721000001, 0.073349516305]}

messy_objects/ramen_box_016/textured.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/ramen_package_002/002.obj.mtl ADDED Viewed

	@@ -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 002.jpg

messy_objects/ramen_package_002/coacd_collision.obj ADDED Viewed

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messy_objects/ramen_package_002/model.urdf ADDED Viewed

	@@ -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_002/model_annnotation.json ADDED Viewed

	@@ -0,0 +1 @@


1	+ {"direction_axis": {"axis": 1, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.06448632943999999, 0.022566536585, 0.05571669034]}

messy_objects/ramen_package_002/textured.obj ADDED Viewed

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messy_objects/slipper_003/003.obj.mtl ADDED Viewed

	@@ -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/slipper_003/model.urdf ADDED Viewed

	@@ -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_019/019.obj.mtl ADDED Viewed

	@@ -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 019.jpg

messy_objects/slipper_019/coacd_collision.obj ADDED Viewed

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messy_objects/slipper_019/model.urdf ADDED Viewed

	@@ -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_019/model_annnotation.json ADDED Viewed

	@@ -0,0 +1 @@


1	+ {"direction_axis": {"axis": 0, "axis_sign": 1}, "approach_axis": {"axis": 2, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.13278989038, 0.040321121645, 0.05093135581]}

messy_objects/slipper_019/textured.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/snack_box_025/025.obj.mtl ADDED Viewed

	@@ -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 025.jpg

messy_objects/snack_box_025/coacd_collision.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/snack_box_025/model.urdf ADDED Viewed

	@@ -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_025/model_annnotation.json ADDED Viewed

	@@ -0,0 +1 @@


1	+ {"direction_axis": {"axis": 1, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.10112525507, 0.021823736555, 0.04695345027]}

messy_objects/snack_box_025/textured.obj ADDED Viewed

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messy_objects/snack_box_033/coacd_collision.obj ADDED Viewed

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messy_objects/snack_box_033/model.urdf ADDED Viewed

	@@ -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_034/034.obj.mtl ADDED Viewed

	@@ -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 034.jpg

messy_objects/snack_box_034/coacd_collision.obj ADDED Viewed

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messy_objects/snack_box_034/model.urdf ADDED Viewed

	@@ -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_034/model_annnotation.json ADDED Viewed

	@@ -0,0 +1 @@


1	+ {"direction_axis": {"axis": 1, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.10465429073499999, 0.02980179877, 0.029299871130000002]}

messy_objects/snack_box_034/textured.obj ADDED Viewed

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messy_objects/snack_box_043/043.obj.mtl ADDED Viewed

	@@ -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 043.jpg

messy_objects/snack_box_043/model.urdf ADDED Viewed

	@@ -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_005/005.obj.mtl ADDED Viewed

	@@ -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 005.jpg