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Datasets:
dgrachev
/
a2_assets

Modalities:
3D
Image
Text
Formats:
text
Size:
1K - 10K
Tags:
robotics
manipulation
simulation
pybullet
Libraries:
Datasets
License:
Dataset card Data Studio Files
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Community
1
dgrachev commited on
Commit
43def84
·
verified ·
1 Parent(s): ed9adec

Upload folder using huggingface_hub

Browse files
Files changed (14) hide show
  1. workspace/None_normal.png +3 -0
  2. workspace/bamboo_albedo.jpg +3 -0
  3. workspace/bamboo_rpoughness.png +3 -0
  4. workspace/bottom.mtl +15 -0
  5. workspace/bottom.obj +16 -0
  6. workspace/bottom.urdf +17 -0
  7. workspace/plane.obj +18 -0
  8. workspace/pp_workspace.urdf +26 -0
  9. workspace/wall.urdf +125 -0
  10. workspace/wallx30.mtl +15 -0
  11. workspace/wallx30.obj +40 -0
  12. workspace/wally32.mtl +15 -0
  13. workspace/wally32.obj +40 -0
  14. workspace/workspace.urdf +26 -0
workspace/None_normal.png ADDED

Git LFS Details

  • SHA256: 5197cfd353c391e3b9a040035d0fee659d0f8c8fd589a7d9c938e814d8ff086c
  • Pointer size: 133 Bytes
  • Size of remote file: 27.7 MB
workspace/bamboo_albedo.jpg ADDED

Git LFS Details

  • SHA256: 9dfc4f6a68ef0c4292bdf48ef0eb699a826601cfe0ff7e158498356dd647bffa
  • Pointer size: 132 Bytes
  • Size of remote file: 4.71 MB
workspace/bamboo_rpoughness.png ADDED

Git LFS Details

  • SHA256: 8ab95df1f2a3e519181b35bbc44578dad3ab75981458382a44b29f1ccd978329
  • Pointer size: 133 Bytes
  • Size of remote file: 13.8 MB
workspace/bottom.mtl ADDED
@@ -0,0 +1,15 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # Blender MTL File: 'None'
2
+ # Material Count: 1
3
+
4
+ newmtl bamboo_panel
5
+ Ns 0.734691
6
+ Ka 1.000000 1.000000 1.000000
7
+ Kd 0.800000 0.800000 0.800000
8
+ Ks 0.500000 0.500000 0.500000
9
+ Ke 0.000000 0.000000 0.000000
10
+ Ni 1.450000
11
+ d 1.000000
12
+ illum 2
13
+ map_Bump None_normal.png
14
+ map_Kd bamboo_albedo.jpg
15
+ map_Ns bamboo_rpoughness.png
workspace/bottom.obj ADDED
@@ -0,0 +1,16 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # Blender v2.91.0 OBJ File: ''
2
+ # www.blender.org
3
+ mtllib bottom.mtl
4
+ o Plane
5
+ v 0.150000 -0.150000 0.000000
6
+ v 0.150000 0.150000 0.000000
7
+ v -0.150000 -0.150000 0.000000
8
+ v -0.150000 0.150000 0.000000
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+ vt -0.583333 -0.583333
10
+ vt 1.583333 -0.583333
11
+ vt 1.583333 1.583333
12
+ vt -0.583333 1.583333
13
+ vn 0.0000 0.0000 1.0000
14
+ usemtl bamboo_panel
15
+ s off
16
+ f 1/1/1 2/2/1 4/3/1 3/4/1
workspace/bottom.urdf ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" ?>
2
+ <robot name="bottom">
3
+
4
+ <link name="bottom_base_link">
5
+
6
+ <visual>
7
+ <origin rpy="0 0 0" xyz="0 0 0.01"/>
8
+ <geometry>
9
+ <mesh filename="bottom.obj" scale="1 1 1"/>
10
+ </geometry>
11
+ </visual>
12
+ <inertial>
13
+ <mass value="0"/>
14
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
15
+ </inertial>
16
+ </link>
17
+ </robot>
workspace/plane.obj ADDED
@@ -0,0 +1,18 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # Blender v2.66 (sub 1) OBJ File: ''
2
+ # www.blender.org
3
+ mtllib plane.mtl
4
+ o Plane
5
+ v 15.000000 -15.000000 0.000000
6
+ v 15.000000 15.000000 0.000000
7
+ v -15.000000 15.000000 0.000000
8
+ v -15.000000 -15.000000 0.000000
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+
10
+ vt 15.000000 0.000000
11
+ vt 15.000000 15.000000
12
+ vt 0.000000 15.000000
13
+ vt 0.000000 0.000000
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+
15
+ usemtl Material
16
+ s off
17
+ f 1/1 2/2 3/3
18
+ f 1/1 3/3 4/4
workspace/pp_workspace.urdf ADDED
@@ -0,0 +1,26 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="0.0" ?>
2
+ <robot name="pp_workspace.urdf">
3
+ <link name="baseLink">
4
+ <inertial>
5
+ <origin rpy="0 0 0" xyz="0 0 0"/>
6
+ <mass value="0"/>
7
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
8
+ </inertial>
9
+ <visual>
10
+ <origin rpy="0 0 0" xyz="0 0 0"/>
11
+ <geometry>
12
+ <mesh filename="plane.obj" scale="0.015 0.03 1"/>
13
+ </geometry>
14
+ <material name="DarkGrey">
15
+ <color rgba="0.3 0.3 0.3 1"/>
16
+ </material>
17
+ </visual>
18
+ <!-- <collision>
19
+ <origin rpy="0 0 0" xyz="0 0 -0.005"/>
20
+ <geometry>
21
+ <box size="2.0 3.0 0.01"/>
22
+ </geometry>
23
+ </collision> -->
24
+ </link>
25
+ </robot>
26
+
workspace/wall.urdf ADDED
@@ -0,0 +1,125 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" ?>
2
+ <robot name="wall">
3
+
4
+ <link name="wall_base_link">
5
+ <inertial>
6
+ <mass value="0"/>
7
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
8
+ </inertial>
9
+ </link>
10
+
11
+ <link name="x_neg_wall">
12
+ <contact>
13
+ <lateral_friction value="1"/>
14
+ </contact>
15
+ <inertial>
16
+ <origin rpy="0 0 0" xyz="-0.155 0 0.025"/>
17
+ <mass value="0"/>
18
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
19
+ </inertial>
20
+ <visual>
21
+ <origin rpy="0 0 0" xyz="-0.155 0 0.025"/>
22
+ <geometry>
23
+ <mesh filename="wallx30.obj" scale="1 1 1"/>
24
+ </geometry>
25
+ </visual>
26
+ <collision>
27
+ <origin rpy="0 0 0" xyz="-0.155 0 0.025"/>
28
+ <geometry>
29
+ <mesh filename="wallx30.obj" scale="1 1 1"/>
30
+ </geometry>
31
+ </collision>
32
+ </link>
33
+
34
+ <joint name="base_to_x_neg_wall" type="fixed">
35
+ <parent link="wall_base_link"/>
36
+ <child link="x_neg_wall"/>
37
+ </joint>
38
+
39
+
40
+ <link name="x_pos_wall">
41
+ <contact>
42
+ <lateral_friction value="1"/>
43
+ </contact>
44
+ <inertial>
45
+ <origin rpy="0 0 0" xyz="0.155 0 0.025"/>
46
+ <mass value="0"/>
47
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
48
+ </inertial>
49
+ <visual>
50
+ <origin rpy="0 0 0" xyz="0.155 0 0.025"/>
51
+ <geometry>
52
+ <mesh filename="wallx30.obj" scale="1 1 1"/>
53
+ </geometry>
54
+ </visual>
55
+ <collision>
56
+ <origin rpy="0 0 0" xyz="0.155 0 0.025"/>
57
+ <geometry>
58
+ <mesh filename="wallx30.obj" scale="1 1 1"/>
59
+ </geometry>
60
+ </collision>
61
+ </link>
62
+
63
+ <joint name="base_to_x_pos_wall" type="fixed">
64
+ <parent link="wall_base_link"/>
65
+ <child link="x_pos_wall"/>
66
+ </joint>
67
+
68
+
69
+ <link name="y_neg_wall">
70
+ <contact>
71
+ <lateral_friction value="1"/>
72
+ </contact>
73
+ <inertial>
74
+ <origin rpy="0 0 0" xyz="0 -0.155 0.025"/>
75
+ <mass value="0"/>
76
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
77
+ </inertial>
78
+ <visual>
79
+ <origin rpy="0 0 0" xyz="0 -0.155 0.025"/>
80
+ <geometry>
81
+ <mesh filename="wally32.obj" scale="1 1 1"/>
82
+ </geometry>
83
+ </visual>
84
+ <collision>
85
+ <origin rpy="0 0 0" xyz="0 -0.155 0.025"/>
86
+ <geometry>
87
+ <mesh filename="wally32.obj" scale="1 1 1"/>
88
+ </geometry>
89
+ </collision>
90
+ </link>
91
+
92
+ <joint name="base_to_y_neg_wall" type="fixed">
93
+ <parent link="wall_base_link"/>
94
+ <child link="y_neg_wall"/>
95
+ </joint>
96
+
97
+ <link name="y_pos_wall">
98
+ <contact>
99
+ <lateral_friction value="1"/>
100
+ </contact>
101
+ <inertial>
102
+ <origin rpy="0 0 0" xyz="0 0.155 0.025"/>
103
+ <mass value="0"/>
104
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
105
+ </inertial>
106
+ <visual>
107
+ <origin rpy="0 0 0" xyz="0 0.155 0.025"/>
108
+ <geometry>
109
+ <mesh filename="wally32.obj" scale="1 1 1"/>
110
+ </geometry>
111
+ </visual>
112
+ <collision>
113
+ <origin rpy="0 0 0" xyz="0 0.155 0.025"/>
114
+ <geometry>
115
+ <mesh filename="wally32.obj" scale="1 1 1"/>
116
+ </geometry>
117
+ </collision>
118
+ </link>
119
+
120
+ <joint name="base_to_y_pos_wall" type="fixed">
121
+ <parent link="wall_base_link"/>
122
+ <child link="y_pos_wall"/>
123
+ </joint>
124
+
125
+ </robot>
workspace/wallx30.mtl ADDED
@@ -0,0 +1,15 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # Blender MTL File: 'None'
2
+ # Material Count: 1
3
+
4
+ newmtl bamboo_panel
5
+ Ns 0.734691
6
+ Ka 1.000000 1.000000 1.000000
7
+ Kd 0.800000 0.800000 0.800000
8
+ Ks 0.500000 0.500000 0.500000
9
+ Ke 0.000000 0.000000 0.000000
10
+ Ni 1.450000
11
+ d 1.000000
12
+ illum 2
13
+ map_Bump None_normal.png
14
+ map_Kd bamboo_albedo.jpg
15
+ map_Ns bamboo_rpoughness.png
workspace/wallx30.obj ADDED
@@ -0,0 +1,40 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # Blender v2.91.0 OBJ File: ''
2
+ # www.blender.org
3
+ mtllib wallx30.mtl
4
+ o wallx30_Cube.007
5
+ v 0.005000 -0.150000 -0.025000
6
+ v 0.005000 -0.150000 0.025000
7
+ v -0.005000 -0.150000 -0.025000
8
+ v -0.005000 -0.150000 0.025000
9
+ v 0.005000 0.150000 -0.025000
10
+ v 0.005000 0.150000 0.025000
11
+ v -0.005000 0.150000 -0.025000
12
+ v -0.005000 0.150000 0.025000
13
+ vt 0.375000 0.000000
14
+ vt 0.625000 0.000000
15
+ vt 0.625000 0.250000
16
+ vt 0.375000 0.250000
17
+ vt 0.625000 0.500000
18
+ vt 0.375000 0.500000
19
+ vt 0.625000 0.750000
20
+ vt 0.375000 0.750000
21
+ vt 0.625000 1.000000
22
+ vt 0.375000 1.000000
23
+ vt 0.125000 0.500000
24
+ vt 0.125000 0.750000
25
+ vt 0.875000 0.500000
26
+ vt 0.875000 0.750000
27
+ vn 0.0000 -1.0000 0.0000
28
+ vn -1.0000 0.0000 0.0000
29
+ vn 0.0000 1.0000 0.0000
30
+ vn 1.0000 0.0000 0.0000
31
+ vn 0.0000 0.0000 -1.0000
32
+ vn 0.0000 0.0000 1.0000
33
+ usemtl bamboo_panel
34
+ s off
35
+ f 1/1/1 2/2/1 4/3/1 3/4/1
36
+ f 3/4/2 4/3/2 8/5/2 7/6/2
37
+ f 7/6/3 8/5/3 6/7/3 5/8/3
38
+ f 5/8/4 6/7/4 2/9/4 1/10/4
39
+ f 3/11/5 7/6/5 5/8/5 1/12/5
40
+ f 8/5/6 4/13/6 2/14/6 6/7/6
workspace/wally32.mtl ADDED
@@ -0,0 +1,15 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # Blender MTL File: 'None'
2
+ # Material Count: 1
3
+
4
+ newmtl bamboo_panel
5
+ Ns 0.734691
6
+ Ka 1.000000 1.000000 1.000000
7
+ Kd 0.800000 0.800000 0.800000
8
+ Ks 0.500000 0.500000 0.500000
9
+ Ke 0.000000 0.000000 0.000000
10
+ Ni 1.450000
11
+ d 1.000000
12
+ illum 2
13
+ map_Bump None_normal.png
14
+ map_Kd bamboo_albedo.jpg
15
+ map_Ns bamboo_rpoughness.png
workspace/wally32.obj ADDED
@@ -0,0 +1,40 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # Blender v2.91.0 OBJ File: ''
2
+ # www.blender.org
3
+ mtllib wally32.mtl
4
+ o wallx30_Cube.007
5
+ v 0.160000 -0.005000 -0.025000
6
+ v 0.160000 -0.005000 0.025000
7
+ v -0.160000 -0.005000 -0.025000
8
+ v -0.160000 -0.005000 0.025000
9
+ v 0.160000 0.005000 -0.025000
10
+ v 0.160000 0.005000 0.025000
11
+ v -0.160000 0.005000 -0.025000
12
+ v -0.160000 0.005000 0.025000
13
+ vt 0.375000 0.000000
14
+ vt 0.625000 0.000000
15
+ vt 0.625000 0.250000
16
+ vt 0.375000 0.250000
17
+ vt 0.625000 0.500000
18
+ vt 0.375000 0.500000
19
+ vt 0.625000 0.750000
20
+ vt 0.375000 0.750000
21
+ vt 0.625000 1.000000
22
+ vt 0.375000 1.000000
23
+ vt 0.125000 0.500000
24
+ vt 0.125000 0.750000
25
+ vt 0.875000 0.500000
26
+ vt 0.875000 0.750000
27
+ vn 0.0000 -1.0000 0.0000
28
+ vn -1.0000 0.0000 0.0000
29
+ vn 0.0000 1.0000 0.0000
30
+ vn 1.0000 0.0000 0.0000
31
+ vn 0.0000 0.0000 -1.0000
32
+ vn 0.0000 0.0000 1.0000
33
+ usemtl bamboo_panel
34
+ s off
35
+ f 1/1/1 2/2/1 4/3/1 3/4/1
36
+ f 3/4/2 4/3/2 8/5/2 7/6/2
37
+ f 7/6/3 8/5/3 6/7/3 5/8/3
38
+ f 5/8/4 6/7/4 2/9/4 1/10/4
39
+ f 3/11/5 7/6/5 5/8/5 1/12/5
40
+ f 8/5/6 4/13/6 2/14/6 6/7/6
workspace/workspace.urdf ADDED
@@ -0,0 +1,26 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="0.0" ?>
2
+ <robot name="workspace.urdf">
3
+ <link name="baseLink">
4
+ <inertial>
5
+ <origin rpy="0 0 0" xyz="0 0 0"/>
6
+ <mass value="0"/>
7
+ <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
8
+ </inertial>
9
+ <visual>
10
+ <origin rpy="0 0 0" xyz="0 0 0"/>
11
+ <geometry>
12
+ <mesh filename="plane.obj" scale="0.015 0.015 1"/>
13
+ </geometry>
14
+ <material name="DarkGrey">
15
+ <color rgba="0.3 0.3 0.3 1"/>
16
+ </material>
17
+ </visual>
18
+ <!-- <collision>
19
+ <origin rpy="0 0 0" xyz="0 0 -0.005"/>
20
+ <geometry>
21
+ <box size="2.0 3.0 0.01"/>
22
+ </geometry>
23
+ </collision> -->
24
+ </link>
25
+ </robot>
26
+