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dgrachev
/
a2_assets

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3D
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Formats:
text
Size:
1K - 10K
Tags:
robotics
manipulation
simulation
pybullet
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License:
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dgrachev commited on
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Files changed (20) hide show
  1. simplified_objects/008.urdf +22 -0
  2. simplified_objects/012.urdf +22 -0
  3. simplified_objects/013.urdf +22 -0
  4. simplified_objects/014.urdf +22 -0
  5. simplified_objects/027.urdf +22 -0
  6. simplified_objects/034.urdf +22 -0
  7. simplified_objects/040.urdf +22 -0
  8. simplified_objects/041.urdf +22 -0
  9. simplified_objects/043.urdf +22 -0
  10. simplified_objects/050.urdf +22 -0
  11. simplified_objects/061.urdf +22 -0
  12. simplified_objects/073.urdf +22 -0
  13. simplified_objects/074.urdf +22 -0
  14. simplified_objects/077.urdf +22 -0
  15. simplified_objects/079.urdf +22 -0
  16. simplified_objects/081.urdf +22 -0
  17. simplified_objects/083.urdf +22 -0
  18. simplified_objects/084.urdf +22 -0
  19. simplified_objects/086.urdf +22 -0
  20. simplified_objects/readme.txt +6 -0
simplified_objects/008.urdf ADDED
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simplified_objects/012.urdf ADDED
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simplified_objects/013.urdf ADDED
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simplified_objects/014.urdf ADDED
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+ <mass value="1.0" />
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+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
20
+ </inertial>
21
+ </link>
22
+ </robot>
simplified_objects/084.urdf ADDED
@@ -0,0 +1,22 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <robot name="084">
2
+ <link name="_name">
3
+ <visual>
4
+ <origin xyz="0.0001945852705653997 -0.004163337682907936 -0.0056789480591618105" rpy="0 0 0" />
5
+ <geometry>
6
+ <mesh filename="084/textured_simplified.obj" scale="1 1 1" />
7
+ </geometry>
8
+ <material name="texture">
9
+ <color rgba="1.0 1.0 1.0 1.0" />
10
+ </material>
11
+ </visual>
12
+ <collision>
13
+ <geometry>
14
+ <mesh filename="084/textured_simplified_vhacd.obj" scale="1 1 1" />
15
+ </geometry>
16
+ <origin xyz="0.0001945852705653997 -0.004163337682907936 -0.0056789480591618105" rpy="0 0 0" /></collision>
17
+ <inertial>
18
+ <mass value="1.0" />
19
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
20
+ </inertial>
21
+ </link>
22
+ </robot>
simplified_objects/086.urdf ADDED
@@ -0,0 +1,22 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <robot name="086">
2
+ <link name="_name">
3
+ <visual>
4
+ <origin xyz="-0.0016754760365029551 0.002604501164238257 0.008966415251151492" rpy="0 0 0" />
5
+ <geometry>
6
+ <mesh filename="086/textured_simplified.obj" scale="1 1 1" />
7
+ </geometry>
8
+ <material name="texture">
9
+ <color rgba="1.0 1.0 1.0 1.0" />
10
+ </material>
11
+ </visual>
12
+ <collision>
13
+ <geometry>
14
+ <mesh filename="086/textured_simplified_vhacd.obj" scale="1 1 1" />
15
+ </geometry>
16
+ <origin xyz="-0.0016754760365029551 0.002604501164238257 0.008966415251151492" rpy="0 0 0" /></collision>
17
+ <inertial>
18
+ <mass value="1.0" />
19
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
20
+ </inertial>
21
+ </link>
22
+ </robot>
simplified_objects/readme.txt ADDED
@@ -0,0 +1,6 @@
 
 
 
 
 
 
 
1
+ COPY RIGHT: GRASPNET GROUP, MVIG, SJTU RESERVED
2
+
3
+ For the model files, nontextured.ply is the ply file for the obj but does map the texture file to face and vertices.
4
+ The nontextured_simplified.ply is its simplified version, for easy loading in simulator like Bullet and V-REP.
5
+
6
+ You can also use the sim_mesh.py to further simplify the mesh by first enlarging the value of "Cell Size" (e.g., from 0.0005 to 0.001) in the sim_mesh.mlx and then running the sim_mesh.py. Meshlab is required to use this script.