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- assets/urdf/Dispenser/101417/bounding_box.json +1 -0
- assets/urdf/Dispenser/101417/grasp_poses.json +72 -0
- assets/urdf/Dispenser/101417/meta.json +1 -0
- assets/urdf/Dispenser/101417/mobility.urdf +780 -0
- assets/urdf/Dispenser/101417/mobility_v2.json +1 -0
- assets/urdf/Dispenser/101417/model_data.json +98 -0
- assets/urdf/Dispenser/101417/result.json +1 -0
- assets/urdf/Dispenser/101417/result_original.json +1 -0
- assets/urdf/Dispenser/101417/semantics.txt +3 -0
- assets/urdf/Dispenser/101489/bounding_box.json +1 -0
- assets/urdf/Dispenser/101489/grasp_poses.json +72 -0
- assets/urdf/Dispenser/101489/meta.json +1 -0
- assets/urdf/Dispenser/101489/mobility_v2.json +1 -0
- assets/urdf/Dispenser/101489/result.json +1 -0
- assets/urdf/Dispenser/101489/result_original.json +1 -0
- assets/urdf/Dispenser/101489/semantics.txt +2 -0
- assets/urdf/Dispenser/101546/bounding_box.json +1 -0
- assets/urdf/Dispenser/101546/grasp_poses.json +72 -0
- assets/urdf/Dispenser/101546/meta.json +1 -0
- assets/urdf/Dispenser/101546/mobility_v2.json +1 -0
- assets/urdf/Dispenser/101546/model_data.json +98 -0
- assets/urdf/Dispenser/101546/result.json +1 -0
- assets/urdf/Dispenser/101546/result_original.json +1 -0
- assets/urdf/Dispenser/101546/semantics.txt +3 -0
- assets/urdf/Dispenser/101565/bounding_box.json +1 -0
- assets/urdf/Dispenser/101565/grasp_poses.json +72 -0
- assets/urdf/Dispenser/101565/meta.json +1 -0
- assets/urdf/Dispenser/101565/mobility.urdf +967 -0
- assets/urdf/Dispenser/101565/mobility_v2.json +1 -0
- assets/urdf/Dispenser/101565/model_data.json +98 -0
- assets/urdf/Dispenser/101565/result.json +1 -0
- assets/urdf/Dispenser/101565/semantics.txt +3 -0
- assets/urdf/Dispenser/103372/grasp_poses.json +72 -0
- assets/urdf/Dispenser/103372/meta.json +1 -0
- assets/urdf/Dispenser/103379/bounding_box.json +1 -0
- assets/urdf/Dispenser/103379/grasp_poses.json +72 -0
- assets/urdf/Dispenser/103379/meta.json +1 -0
- assets/urdf/Dispenser/103379/mobility.urdf +415 -0
- assets/urdf/Dispenser/103379/mobility_v2.json +1 -0
- assets/urdf/Dispenser/103379/model_data.json +98 -0
- assets/urdf/Dispenser/103379/result.json +1 -0
- assets/urdf/Dispenser/103379/result_original.json +1 -0
- assets/urdf/Dispenser/103379/semantics.txt +3 -0
- assets/urdf/Dispenser/103394/bounding_box.json +1 -0
- assets/urdf/Dispenser/103394/grasp_poses.json +72 -0
- assets/urdf/Dispenser/103402/bounding_box.json +1 -0
- assets/urdf/Dispenser/103402/grasp_poses.json +72 -0
- assets/urdf/Dispenser/103402/meta.json +1 -0
- assets/urdf/Dispenser/103402/mobility.urdf +111 -0
- assets/urdf/Dispenser/103402/model_data.json +98 -0
assets/urdf/Dispenser/101417/bounding_box.json
ADDED
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{"min": [-0.306184, -0.442764, -0.3114], "max": [0.307884, 0.986834, 0.302667]}
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assets/urdf/Dispenser/101417/grasp_poses.json
ADDED
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@@ -0,0 +1,72 @@
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{
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"matrix": [
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}
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assets/urdf/Dispenser/101417/meta.json
ADDED
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{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "2a9b20d21e27ab0026cca18be86a1458", "version": "3", "anno_id": "1417", "time_in_sec": "1085"}
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assets/urdf/Dispenser/101417/mobility.urdf
ADDED
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@@ -0,0 +1,780 @@
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| 693 |
+
<origin xyz="0 0 0"/>
|
| 694 |
+
<geometry>
|
| 695 |
+
<mesh filename="textured_objs/original-60.obj"/>
|
| 696 |
+
</geometry>
|
| 697 |
+
</collision>
|
| 698 |
+
<collision>
|
| 699 |
+
<origin xyz="0 0 0"/>
|
| 700 |
+
<geometry>
|
| 701 |
+
<mesh filename="textured_objs/original-19.obj"/>
|
| 702 |
+
</geometry>
|
| 703 |
+
</collision>
|
| 704 |
+
<collision>
|
| 705 |
+
<origin xyz="0 0 0"/>
|
| 706 |
+
<geometry>
|
| 707 |
+
<mesh filename="textured_objs/original-40.obj"/>
|
| 708 |
+
</geometry>
|
| 709 |
+
</collision>
|
| 710 |
+
<collision>
|
| 711 |
+
<origin xyz="0 0 0"/>
|
| 712 |
+
<geometry>
|
| 713 |
+
<mesh filename="textured_objs/original-46.obj"/>
|
| 714 |
+
</geometry>
|
| 715 |
+
</collision>
|
| 716 |
+
<collision>
|
| 717 |
+
<origin xyz="0 0 0"/>
|
| 718 |
+
<geometry>
|
| 719 |
+
<mesh filename="textured_objs/original-57.obj"/>
|
| 720 |
+
</geometry>
|
| 721 |
+
</collision>
|
| 722 |
+
</link>
|
| 723 |
+
<joint name="joint_1" type="fixed">
|
| 724 |
+
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
|
| 725 |
+
<child link="link_1"/>
|
| 726 |
+
<parent link="base"/>
|
| 727 |
+
</joint>
|
| 728 |
+
<link name="link_2">
|
| 729 |
+
<visual name="head-5">
|
| 730 |
+
<origin xyz="-0.0008504999999999971 0 0.004366499999999999"/>
|
| 731 |
+
<geometry>
|
| 732 |
+
<mesh filename="textured_objs/original-11.obj"/>
|
| 733 |
+
</geometry>
|
| 734 |
+
</visual>
|
| 735 |
+
<visual name="head-5">
|
| 736 |
+
<origin xyz="-0.0008504999999999971 0 0.004366499999999999"/>
|
| 737 |
+
<geometry>
|
| 738 |
+
<mesh filename="textured_objs/original-14.obj"/>
|
| 739 |
+
</geometry>
|
| 740 |
+
</visual>
|
| 741 |
+
<visual name="nose-7">
|
| 742 |
+
<origin xyz="-0.0008504999999999971 0 0.004366499999999999"/>
|
| 743 |
+
<geometry>
|
| 744 |
+
<mesh filename="textured_objs/original-8.obj"/>
|
| 745 |
+
</geometry>
|
| 746 |
+
</visual>
|
| 747 |
+
<collision>
|
| 748 |
+
<origin xyz="-0.0008504999999999971 0 0.004366499999999999"/>
|
| 749 |
+
<geometry>
|
| 750 |
+
<mesh filename="textured_objs/original-11.obj"/>
|
| 751 |
+
</geometry>
|
| 752 |
+
</collision>
|
| 753 |
+
<collision>
|
| 754 |
+
<origin xyz="-0.0008504999999999971 0 0.004366499999999999"/>
|
| 755 |
+
<geometry>
|
| 756 |
+
<mesh filename="textured_objs/original-14.obj"/>
|
| 757 |
+
</geometry>
|
| 758 |
+
</collision>
|
| 759 |
+
<collision>
|
| 760 |
+
<origin xyz="-0.0008504999999999971 0 0.004366499999999999"/>
|
| 761 |
+
<geometry>
|
| 762 |
+
<mesh filename="textured_objs/original-8.obj"/>
|
| 763 |
+
</geometry>
|
| 764 |
+
</collision>
|
| 765 |
+
</link>
|
| 766 |
+
<joint name="joint_2" type="continuous">
|
| 767 |
+
<origin xyz="0.0 0 0.0"/>
|
| 768 |
+
<axis xyz="0 1 0"/>
|
| 769 |
+
<child link="link_2"/>
|
| 770 |
+
<parent link="link_2_helper"/>
|
| 771 |
+
</joint>
|
| 772 |
+
<link name="link_2_helper"/>
|
| 773 |
+
<joint name="joint_3" type="prismatic">
|
| 774 |
+
<origin xyz="0.0008504999999999971 0 -0.004366499999999999"/>
|
| 775 |
+
<axis xyz="0 1 0"/>
|
| 776 |
+
<child link="link_2_helper"/>
|
| 777 |
+
<parent link="link_1"/>
|
| 778 |
+
<limit lower="0" upper="0.12"/>
|
| 779 |
+
</joint>
|
| 780 |
+
</robot>
|
assets/urdf/Dispenser/101417/mobility_v2.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id":0,"parent":2,"joint":"hinge","name":"handle","parts":[{"id":1,"name":"handle"}],"jointData":{"axis":{"origin":[0.060232291349398004,0.8545218342536304,0.08214627610414826],"direction":[1,0,0]},"limit":{"a":0,"b":29.880000000000003,"noLimit":false}}},{"id":1,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":8,"name":"base_body"}],"jointData":{}},{"id":2,"parent":1,"joint":"slider","name":"head","parts":[{"id":5,"name":"head"},{"id":7,"name":"nose"}],"jointData":{"axis":{"origin":[0.0008504999999999971,0,-0.004366499999999999],"direction":[0,1,0]},"limit":{"a":0,"b":0.12,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}}]
|
assets/urdf/Dispenser/101417/model_data.json
ADDED
|
@@ -0,0 +1,98 @@
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|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
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|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
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|
|
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|
|
|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
| 1 |
+
{
|
| 2 |
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"scale": 0.1,
|
| 3 |
+
"transform_matrix": [
|
| 4 |
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|
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|
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|
| 11 |
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|
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|
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| 19 |
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|
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|
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| 23 |
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|
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|
| 25 |
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|
| 26 |
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|
| 27 |
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]
|
| 28 |
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],
|
| 29 |
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"init_qpos": [],
|
| 30 |
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"grasp_parts": {
|
| 31 |
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"mouth": [
|
| 32 |
+
{
|
| 33 |
+
"id": 0,
|
| 34 |
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"matrix": [
|
| 35 |
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|
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|
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|
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|
| 44 |
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|
| 45 |
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| 46 |
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| 47 |
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[
|
| 48 |
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|
| 49 |
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|
| 50 |
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| 51 |
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|
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]
|
| 59 |
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],
|
| 60 |
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"base": "base",
|
| 61 |
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"description": ""
|
| 62 |
+
}
|
| 63 |
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],
|
| 64 |
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"body": [
|
| 65 |
+
{
|
| 66 |
+
"id": 0,
|
| 67 |
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"matrix": [
|
| 68 |
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[
|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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[
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| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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| 79 |
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],
|
| 80 |
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[
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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],
|
| 86 |
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[
|
| 87 |
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0.0,
|
| 88 |
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0.0,
|
| 89 |
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0.0,
|
| 90 |
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1.0
|
| 91 |
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]
|
| 92 |
+
],
|
| 93 |
+
"base": "base",
|
| 94 |
+
"description": ""
|
| 95 |
+
}
|
| 96 |
+
]
|
| 97 |
+
}
|
| 98 |
+
}
|
assets/urdf/Dispenser/101417/result.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "handle", "name": "handle", "id": 1, "objs": ["original-12"]}, {"text": "head (other)", "name": "other", "id": 4, "children": [{"text": "other_leaf", "name": "head", "id": 5, "objs": ["original-11", "original-14"]}]}, {"text": "nose (other)", "name": "other", "id": 6, "children": [{"text": "other_leaf", "name": "nose", "id": 7, "objs": ["original-8"]}]}, {"text": "base_body", "name": "base_body", "id": 8, "objs": ["original-29", "original-21", "original-30", "original-36", "original-41", "original-28", "original-64", "original-43", "original-52", "original-22", "original-26", "original-4", "original-3", "original-65", "original-33", "original-2", "original-44", "original-16", "original-45", "original-35", "original-49", "original-61", "original-39", "original-59", "original-54", "original-63", "original-27", "original-51", "original-55", "original-50", "original-6", "original-31", "original-37", "original-48", "original-15", "original-56", "original-62", "original-23", "original-66", "original-58", "original-67", "original-38", "original-68", "original-34", "original-18", "original-25", "original-17", "original-42", "original-24", "original-20", "original-32", "original-47", "original-53", "original-60", "original-19", "original-40", "original-46", "original-57"]}]}]
|
assets/urdf/Dispenser/101417/result_original.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 1, "name": "handle", "text": "handle", "objs": ["original-12"]}, {"id": 4, "name": "other", "text": "head (other)", "children": [{"id": 5, "name": "other_leaf", "text": "other_leaf", "objs": ["original-11", "original-14"]}]}, {"id": 6, "name": "other", "text": "nose (other)", "children": [{"id": 7, "name": "other_leaf", "text": "other_leaf", "objs": ["original-8"]}]}]}]
|
assets/urdf/Dispenser/101417/semantics.txt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
link_0 hinge handle
|
| 2 |
+
link_1 free dispenser_body
|
| 3 |
+
link_2 slider+ lid
|
assets/urdf/Dispenser/101489/bounding_box.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"min": [-0.48418, -0.23101, -0.906958], "max": [0.461523, 0.436771, 0.849348]}
|
assets/urdf/Dispenser/101489/grasp_poses.json
ADDED
|
@@ -0,0 +1,72 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"object_name": "101489",
|
| 3 |
+
"scale": 0.1,
|
| 4 |
+
"grasp_parts": {
|
| 5 |
+
"mouth": [
|
| 6 |
+
{
|
| 7 |
+
"id": 0,
|
| 8 |
+
"matrix": [
|
| 9 |
+
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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| 14 |
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],
|
| 15 |
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[
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| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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| 20 |
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],
|
| 21 |
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| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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| 26 |
+
],
|
| 27 |
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[
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| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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1.0
|
| 32 |
+
]
|
| 33 |
+
],
|
| 34 |
+
"base": "base",
|
| 35 |
+
"description": ""
|
| 36 |
+
}
|
| 37 |
+
],
|
| 38 |
+
"body": [
|
| 39 |
+
{
|
| 40 |
+
"id": 0,
|
| 41 |
+
"matrix": [
|
| 42 |
+
[
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
+
],
|
| 48 |
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[
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| 49 |
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|
| 50 |
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1.0,
|
| 51 |
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0.0,
|
| 52 |
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|
| 53 |
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],
|
| 54 |
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[
|
| 55 |
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|
| 56 |
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0.0,
|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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[
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| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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1.0
|
| 65 |
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]
|
| 66 |
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],
|
| 67 |
+
"base": "base",
|
| 68 |
+
"description": ""
|
| 69 |
+
}
|
| 70 |
+
]
|
| 71 |
+
}
|
| 72 |
+
}
|
assets/urdf/Dispenser/101489/meta.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "5534ce8e-edeb-4f50-bc23-d31b210139e3", "version": "1", "anno_id": "1489", "time_in_sec": "22"}
|
assets/urdf/Dispenser/101489/mobility_v2.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id": 0, "parent": 1, "joint": "slider", "name": "pressing_lid", "parts": [{"id": 1, "name": "pressing_lid", "children": []}], "jointData": {"axis": {"origin": [0.0, 0.0, 0.0], "direction": [0.0, 1.0, 0.0]}, "limit": {"a": 0, "b": -0.07, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 1, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}]
|
assets/urdf/Dispenser/101489/result.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 1, "objs": ["original-2", "original-6", "original-3", "original-5", "original-4"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-8", "original-9", "original-7"]}]}]
|
assets/urdf/Dispenser/101489/result_original.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 1, "name": "pressing_lid", "text": "pressing_lid", "objs": ["original-2", "original-6", "original-3", "original-5", "original-4"]}]}]
|
assets/urdf/Dispenser/101489/semantics.txt
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
link_0 slider pressing_lid
|
| 2 |
+
link_1 free dispenser_body
|
assets/urdf/Dispenser/101546/bounding_box.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"min": [-0.323672, -0.727697, -0.323794], "max": [0.305317, 0.955828, 0.590972]}
|
assets/urdf/Dispenser/101546/grasp_poses.json
ADDED
|
@@ -0,0 +1,72 @@
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"object_name": "101546",
|
| 3 |
+
"scale": 0.1,
|
| 4 |
+
"grasp_parts": {
|
| 5 |
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|
| 6 |
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{
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| 7 |
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|
| 8 |
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|
| 9 |
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| 10 |
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| 12 |
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| 13 |
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| 15 |
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[
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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|
| 27 |
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| 28 |
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| 29 |
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| 30 |
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|
| 31 |
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| 32 |
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|
| 33 |
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],
|
| 34 |
+
"base": "base",
|
| 35 |
+
"description": ""
|
| 36 |
+
}
|
| 37 |
+
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|
| 38 |
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"body": [
|
| 39 |
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{
|
| 40 |
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"id": 0,
|
| 41 |
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|
| 42 |
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| 45 |
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|
| 46 |
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| 47 |
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| 48 |
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| 49 |
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0.0,
|
| 50 |
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1.0,
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| 51 |
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| 52 |
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|
| 54 |
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[
|
| 55 |
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-1.0,
|
| 56 |
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0.0,
|
| 57 |
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| 58 |
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| 59 |
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| 60 |
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| 61 |
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| 62 |
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|
| 66 |
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|
| 67 |
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"base": "base",
|
| 68 |
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|
| 69 |
+
}
|
| 70 |
+
]
|
| 71 |
+
}
|
| 72 |
+
}
|
assets/urdf/Dispenser/101546/meta.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "b8d22469-945b-4863-bc26-078a4bd7f94c", "version": "1", "anno_id": "1546", "time_in_sec": "32"}
|
assets/urdf/Dispenser/101546/mobility_v2.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id":0,"parent":1,"joint":"slider","name":"pressing_lid","parts":[{"id":1,"name":"pressing_lid"}],"jointData":{"axis":{"origin":[-0.009177605014545447,0,-0.00937078675793826],"direction":[0,1,0]},"limit":{"a":0,"b":-0.055,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":1,"parent":2,"joint":"slider","name":"head","parts":[{"id":3,"name":"head"}],"jointData":{"axis":{"origin":[-0.009249382447906046,0,-0.009370831700224971],"direction":[0,1,0]},"limit":{"a":0,"b":0.01,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":2,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":4,"name":"base_body"}],"jointData":{}}]
|
assets/urdf/Dispenser/101546/model_data.json
ADDED
|
@@ -0,0 +1,98 @@
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
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|
| 1 |
+
{
|
| 2 |
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"scale": 0.1,
|
| 3 |
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"transform_matrix": [
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| 4 |
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[
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| 26 |
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| 28 |
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| 29 |
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"init_qpos": [],
|
| 30 |
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"grasp_parts": {
|
| 31 |
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"mouth": [
|
| 32 |
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{
|
| 33 |
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"id": 0,
|
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|
| 60 |
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"base": "base",
|
| 61 |
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"description": ""
|
| 62 |
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}
|
| 63 |
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],
|
| 64 |
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"body": [
|
| 65 |
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{
|
| 66 |
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"id": 0,
|
| 67 |
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"matrix": [
|
| 68 |
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|
| 69 |
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| 80 |
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[
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|
| 82 |
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0.0,
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| 83 |
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| 84 |
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| 86 |
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[
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| 87 |
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0.0,
|
| 88 |
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0.0,
|
| 89 |
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0.0,
|
| 90 |
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1.0
|
| 91 |
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]
|
| 92 |
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],
|
| 93 |
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"base": "base",
|
| 94 |
+
"description": ""
|
| 95 |
+
}
|
| 96 |
+
]
|
| 97 |
+
}
|
| 98 |
+
}
|
assets/urdf/Dispenser/101546/result.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 1, "objs": ["original-54", "original-51", "original-52"]}, {"text": "head (other)", "name": "other", "id": 2, "children": [{"text": "other_leaf", "name": "head", "id": 3, "objs": ["original-46"]}]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-29", "original-30", "original-28", "original-43", "original-22", "original-4", "original-3", "original-33", "original-44", "original-16", "original-8", "original-13", "original-45", "original-35", "original-49", "original-39", "original-5", "original-27", "original-6", "original-31", "original-37", "original-48", "original-15", "original-23", "original-38", "original-34", "original-25", "original-17", "original-12", "original-42", "original-24", "original-20", "original-53", "original-7", "original-10", "original-19", "original-40"]}]}]
|
assets/urdf/Dispenser/101546/result_original.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 1, "name": "pressing_lid", "text": "pressing_lid", "objs": ["original-54", "original-51", "original-52"]}, {"id": 2, "name": "other", "text": "head (other)", "children": [{"id": 3, "name": "other_leaf", "text": "other_leaf", "objs": ["original-46"]}]}]}]
|
assets/urdf/Dispenser/101546/semantics.txt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
link_0 slider+ lid
|
| 2 |
+
link_1 slider+ lid
|
| 3 |
+
link_2 free dispenser_body
|
assets/urdf/Dispenser/101565/bounding_box.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"min": [-0.319752, -0.836111, -0.654617], "max": [0.342657, 0.936865, 0.694636]}
|
assets/urdf/Dispenser/101565/grasp_poses.json
ADDED
|
@@ -0,0 +1,72 @@
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
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|
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|
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|
|
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|
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|
|
|
|
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|
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|
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|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"object_name": "101565",
|
| 3 |
+
"scale": 0.1,
|
| 4 |
+
"grasp_parts": {
|
| 5 |
+
"mouth": [
|
| 6 |
+
{
|
| 7 |
+
"id": 0,
|
| 8 |
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|
| 9 |
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|
| 33 |
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|
| 34 |
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"base": "base",
|
| 35 |
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"description": ""
|
| 36 |
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}
|
| 37 |
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],
|
| 38 |
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"body": [
|
| 39 |
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{
|
| 40 |
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"id": 0,
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
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|
| 60 |
+
[
|
| 61 |
+
0.0,
|
| 62 |
+
0.0,
|
| 63 |
+
0.0,
|
| 64 |
+
1.0
|
| 65 |
+
]
|
| 66 |
+
],
|
| 67 |
+
"base": "base",
|
| 68 |
+
"description": ""
|
| 69 |
+
}
|
| 70 |
+
]
|
| 71 |
+
}
|
| 72 |
+
}
|
assets/urdf/Dispenser/101565/meta.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "dba97c73-17e9-4f08-a08b-4cfef08ba671", "version": "1", "anno_id": "1565", "time_in_sec": "40"}
|
assets/urdf/Dispenser/101565/mobility.urdf
ADDED
|
@@ -0,0 +1,967 @@
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|
| 757 |
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|
| 758 |
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|
| 759 |
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|
| 760 |
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|
| 761 |
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|
| 762 |
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<mesh filename="textured_objs/original-67.obj"/>
|
| 763 |
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|
| 764 |
+
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|
| 765 |
+
<collision>
|
| 766 |
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<origin xyz="0 0 0"/>
|
| 767 |
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<geometry>
|
| 768 |
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<mesh filename="textured_objs/original-69.obj"/>
|
| 769 |
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|
| 770 |
+
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|
| 771 |
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<collision>
|
| 772 |
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<origin xyz="0 0 0"/>
|
| 773 |
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<geometry>
|
| 774 |
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<mesh filename="textured_objs/original-11.obj"/>
|
| 775 |
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|
| 776 |
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|
| 777 |
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<collision>
|
| 778 |
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|
| 779 |
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|
| 780 |
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|
| 781 |
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|
| 782 |
+
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|
| 783 |
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<collision>
|
| 784 |
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|
| 785 |
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|
| 786 |
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<mesh filename="textured_objs/original-80.obj"/>
|
| 787 |
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|
| 788 |
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|
| 789 |
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<collision>
|
| 790 |
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|
| 791 |
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|
| 792 |
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|
| 793 |
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|
| 794 |
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|
| 795 |
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<collision>
|
| 796 |
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<origin xyz="0 0 0"/>
|
| 797 |
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|
| 798 |
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|
| 799 |
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|
| 800 |
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|
| 801 |
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|
| 802 |
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|
| 803 |
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|
| 804 |
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|
| 805 |
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|
| 806 |
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|
| 807 |
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|
| 808 |
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| 809 |
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|
| 810 |
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|
| 811 |
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|
| 812 |
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|
| 813 |
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<collision>
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| 814 |
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| 815 |
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| 816 |
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|
| 817 |
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|
| 818 |
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|
| 819 |
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|
| 820 |
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<origin xyz="0 0 0"/>
|
| 821 |
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<geometry>
|
| 822 |
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|
| 823 |
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|
| 824 |
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|
| 825 |
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<collision>
|
| 826 |
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|
| 827 |
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|
| 828 |
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|
| 829 |
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|
| 830 |
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|
| 831 |
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|
| 832 |
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<origin xyz="0 0 0"/>
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| 833 |
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|
| 834 |
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|
| 835 |
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|
| 836 |
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|
| 837 |
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<collision>
|
| 838 |
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<origin xyz="0 0 0"/>
|
| 839 |
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<geometry>
|
| 840 |
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<mesh filename="textured_objs/original-24.obj"/>
|
| 841 |
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|
| 842 |
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|
| 843 |
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|
| 844 |
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<origin xyz="0 0 0"/>
|
| 845 |
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<geometry>
|
| 846 |
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<mesh filename="textured_objs/original-20.obj"/>
|
| 847 |
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|
| 848 |
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</collision>
|
| 849 |
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<collision>
|
| 850 |
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<origin xyz="0 0 0"/>
|
| 851 |
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<geometry>
|
| 852 |
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<mesh filename="textured_objs/original-32.obj"/>
|
| 853 |
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|
| 854 |
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|
| 855 |
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<collision>
|
| 856 |
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<origin xyz="0 0 0"/>
|
| 857 |
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<geometry>
|
| 858 |
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<mesh filename="textured_objs/original-53.obj"/>
|
| 859 |
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|
| 860 |
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|
| 861 |
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<collision>
|
| 862 |
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<origin xyz="0 0 0"/>
|
| 863 |
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<geometry>
|
| 864 |
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<mesh filename="textured_objs/original-7.obj"/>
|
| 865 |
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|
| 866 |
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|
| 867 |
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<collision>
|
| 868 |
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<origin xyz="0 0 0"/>
|
| 869 |
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<geometry>
|
| 870 |
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<mesh filename="textured_objs/original-101.obj"/>
|
| 871 |
+
</geometry>
|
| 872 |
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</collision>
|
| 873 |
+
<collision>
|
| 874 |
+
<origin xyz="0 0 0"/>
|
| 875 |
+
<geometry>
|
| 876 |
+
<mesh filename="textured_objs/original-1.obj"/>
|
| 877 |
+
</geometry>
|
| 878 |
+
</collision>
|
| 879 |
+
<collision>
|
| 880 |
+
<origin xyz="0 0 0"/>
|
| 881 |
+
<geometry>
|
| 882 |
+
<mesh filename="textured_objs/original-81.obj"/>
|
| 883 |
+
</geometry>
|
| 884 |
+
</collision>
|
| 885 |
+
<collision>
|
| 886 |
+
<origin xyz="0 0 0"/>
|
| 887 |
+
<geometry>
|
| 888 |
+
<mesh filename="textured_objs/original-84.obj"/>
|
| 889 |
+
</geometry>
|
| 890 |
+
</collision>
|
| 891 |
+
<collision>
|
| 892 |
+
<origin xyz="0 0 0"/>
|
| 893 |
+
<geometry>
|
| 894 |
+
<mesh filename="textured_objs/original-78.obj"/>
|
| 895 |
+
</geometry>
|
| 896 |
+
</collision>
|
| 897 |
+
<collision>
|
| 898 |
+
<origin xyz="0 0 0"/>
|
| 899 |
+
<geometry>
|
| 900 |
+
<mesh filename="textured_objs/original-89.obj"/>
|
| 901 |
+
</geometry>
|
| 902 |
+
</collision>
|
| 903 |
+
<collision>
|
| 904 |
+
<origin xyz="0 0 0"/>
|
| 905 |
+
<geometry>
|
| 906 |
+
<mesh filename="textured_objs/original-14.obj"/>
|
| 907 |
+
</geometry>
|
| 908 |
+
</collision>
|
| 909 |
+
<collision>
|
| 910 |
+
<origin xyz="0 0 0"/>
|
| 911 |
+
<geometry>
|
| 912 |
+
<mesh filename="textured_objs/original-82.obj"/>
|
| 913 |
+
</geometry>
|
| 914 |
+
</collision>
|
| 915 |
+
<collision>
|
| 916 |
+
<origin xyz="0 0 0"/>
|
| 917 |
+
<geometry>
|
| 918 |
+
<mesh filename="textured_objs/original-60.obj"/>
|
| 919 |
+
</geometry>
|
| 920 |
+
</collision>
|
| 921 |
+
<collision>
|
| 922 |
+
<origin xyz="0 0 0"/>
|
| 923 |
+
<geometry>
|
| 924 |
+
<mesh filename="textured_objs/original-90.obj"/>
|
| 925 |
+
</geometry>
|
| 926 |
+
</collision>
|
| 927 |
+
<collision>
|
| 928 |
+
<origin xyz="0 0 0"/>
|
| 929 |
+
<geometry>
|
| 930 |
+
<mesh filename="textured_objs/original-40.obj"/>
|
| 931 |
+
</geometry>
|
| 932 |
+
</collision>
|
| 933 |
+
<collision>
|
| 934 |
+
<origin xyz="0 0 0"/>
|
| 935 |
+
<geometry>
|
| 936 |
+
<mesh filename="textured_objs/original-46.obj"/>
|
| 937 |
+
</geometry>
|
| 938 |
+
</collision>
|
| 939 |
+
<collision>
|
| 940 |
+
<origin xyz="0 0 0"/>
|
| 941 |
+
<geometry>
|
| 942 |
+
<mesh filename="textured_objs/original-57.obj"/>
|
| 943 |
+
</geometry>
|
| 944 |
+
</collision>
|
| 945 |
+
</link>
|
| 946 |
+
<joint name="joint_2" type="fixed">
|
| 947 |
+
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
|
| 948 |
+
<child link="link_2"/>
|
| 949 |
+
<parent link="base"/>
|
| 950 |
+
</joint>
|
| 951 |
+
<link name="link_0_helper"/>
|
| 952 |
+
<joint name="joint_3" type="prismatic">
|
| 953 |
+
<origin xyz="7.539621264111146e-05 0 -9.608606747757431e-08"/>
|
| 954 |
+
<axis xyz="0 -1 0"/>
|
| 955 |
+
<child link="link_0_helper"/>
|
| 956 |
+
<parent link="link_1"/>
|
| 957 |
+
<limit lower="0" upper="0.04"/>
|
| 958 |
+
</joint>
|
| 959 |
+
<link name="link_1_helper"/>
|
| 960 |
+
<joint name="joint_4" type="prismatic">
|
| 961 |
+
<origin xyz="0.011377103787358893 0 0.06239510652739849"/>
|
| 962 |
+
<axis xyz="0 1 0"/>
|
| 963 |
+
<child link="link_1_helper"/>
|
| 964 |
+
<parent link="link_2"/>
|
| 965 |
+
<limit lower="0" upper="0.020000000000000018"/>
|
| 966 |
+
</joint>
|
| 967 |
+
</robot>
|
assets/urdf/Dispenser/101565/mobility_v2.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id":0,"parent":1,"joint":"slider","name":"pressing_lid","parts":[{"id":1,"name":"pressing_lid"}],"jointData":{"axis":{"origin":[0.011452500000000004,0,0.062395010441331014],"direction":[0,1,0]},"limit":{"a":0,"b":-0.04,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":1,"parent":2,"joint":"slider","name":"head","parts":[{"id":3,"name":"head"}],"jointData":{"axis":{"origin":[0.011377103787358893,0,0.06239510652739849],"direction":[0,-1,0]},"limit":{"a":0,"b":-0.020000000000000018,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":2,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":4,"name":"base_body"}],"jointData":{}}]
|
assets/urdf/Dispenser/101565/model_data.json
ADDED
|
@@ -0,0 +1,98 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scale": 0.1,
|
| 3 |
+
"transform_matrix": [
|
| 4 |
+
[
|
| 5 |
+
1.0,
|
| 6 |
+
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|
| 7 |
+
0.0,
|
| 8 |
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|
| 9 |
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|
| 10 |
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[
|
| 11 |
+
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|
| 12 |
+
1.0,
|
| 13 |
+
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|
| 14 |
+
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|
| 15 |
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],
|
| 16 |
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[
|
| 17 |
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|
| 18 |
+
0.0,
|
| 19 |
+
1.0,
|
| 20 |
+
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|
| 21 |
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],
|
| 22 |
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[
|
| 23 |
+
0.0,
|
| 24 |
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0.0,
|
| 25 |
+
0.0,
|
| 26 |
+
1.0
|
| 27 |
+
]
|
| 28 |
+
],
|
| 29 |
+
"init_qpos": [],
|
| 30 |
+
"grasp_parts": {
|
| 31 |
+
"mouth": [
|
| 32 |
+
{
|
| 33 |
+
"id": 0,
|
| 34 |
+
"matrix": [
|
| 35 |
+
[
|
| 36 |
+
-1.0,
|
| 37 |
+
0.0,
|
| 38 |
+
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|
| 39 |
+
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|
| 40 |
+
],
|
| 41 |
+
[
|
| 42 |
+
-0.0,
|
| 43 |
+
1.0,
|
| 44 |
+
0.0,
|
| 45 |
+
-0.6000000238418579
|
| 46 |
+
],
|
| 47 |
+
[
|
| 48 |
+
0.0,
|
| 49 |
+
0.0,
|
| 50 |
+
-1.0,
|
| 51 |
+
1.2000000476837158
|
| 52 |
+
],
|
| 53 |
+
[
|
| 54 |
+
0.0,
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"base": "base",
|
| 61 |
+
"description": ""
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"body": [
|
| 65 |
+
{
|
| 66 |
+
"id": 0,
|
| 67 |
+
"matrix": [
|
| 68 |
+
[
|
| 69 |
+
-0.0,
|
| 70 |
+
-0.0,
|
| 71 |
+
1.0,
|
| 72 |
+
-0.4000000059604645
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
1.0,
|
| 77 |
+
0.0,
|
| 78 |
+
-0.0
|
| 79 |
+
],
|
| 80 |
+
[
|
| 81 |
+
-1.0,
|
| 82 |
+
0.0,
|
| 83 |
+
-0.0,
|
| 84 |
+
0.0
|
| 85 |
+
],
|
| 86 |
+
[
|
| 87 |
+
0.0,
|
| 88 |
+
0.0,
|
| 89 |
+
0.0,
|
| 90 |
+
1.0
|
| 91 |
+
]
|
| 92 |
+
],
|
| 93 |
+
"base": "base",
|
| 94 |
+
"description": ""
|
| 95 |
+
}
|
| 96 |
+
]
|
| 97 |
+
}
|
| 98 |
+
}
|
assets/urdf/Dispenser/101565/result.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 1, "objs": ["original-97", "original-94", "original-95"]}, {"text": "head (other)", "name": "other", "id": 2, "children": [{"text": "other_leaf", "name": "head", "id": 3, "objs": ["original-47"]}]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-29", "original-100", "original-21", "original-30", "original-36", "original-41", "original-28", "original-96", "original-64", "original-43", "original-71", "original-52", "original-26", "original-4", "original-44", "original-16", "original-86", "original-8", "original-13", "original-9", "original-45", "original-35", "original-39", "original-59", "original-5", "original-77", "original-54", "original-63", "original-87", "original-51", "original-55", "original-50", "original-6", "original-31", "original-85", "original-76", "original-72", "original-99", "original-62", "original-75", "original-23", "original-66", "original-67", "original-69", "original-11", "original-38", "original-80", "original-34", "original-18", "original-70", "original-74", "original-91", "original-25", "original-17", "original-92", "original-24", "original-20", "original-32", "original-53", "original-7", "original-101", "original-1", "original-81", "original-84", "original-78", "original-89", "original-14", "original-82", "original-60", "original-90", "original-40", "original-46", "original-57"]}]}]
|
assets/urdf/Dispenser/101565/semantics.txt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
link_0 slider+ lid
|
| 2 |
+
link_1 slider+ lid
|
| 3 |
+
link_2 free dispenser_body
|
assets/urdf/Dispenser/103372/grasp_poses.json
ADDED
|
@@ -0,0 +1,72 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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assets/urdf/Dispenser/103372/meta.json
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{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "5a165eb3-f8b2-447e-907e-dd2d08524bca-0", "version": "2", "anno_id": "3372", "time_in_sec": "73"}
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assets/urdf/Dispenser/103379/meta.json
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assets/urdf/Dispenser/103379/mobility.urdf
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| 1 |
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<?xml version="1.0" ?>
|
| 2 |
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| 3 |
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<joint name="joint_2" type="fixed">
|
| 395 |
+
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
|
| 396 |
+
<child link="link_2"/>
|
| 397 |
+
<parent link="base"/>
|
| 398 |
+
</joint>
|
| 399 |
+
<link name="link_0_helper"/>
|
| 400 |
+
<joint name="joint_3" type="prismatic">
|
| 401 |
+
<origin xyz="0.003784500000000003 0 -0.003980913966889321"/>
|
| 402 |
+
<axis xyz="0 -1 0"/>
|
| 403 |
+
<child link="link_0_helper"/>
|
| 404 |
+
<parent link="link_1"/>
|
| 405 |
+
<limit lower="0" upper="0.03"/>
|
| 406 |
+
</joint>
|
| 407 |
+
<link name="link_1_helper"/>
|
| 408 |
+
<joint name="joint_4" type="prismatic">
|
| 409 |
+
<origin xyz="0.004020499999999996 0 -0.006220000000000003"/>
|
| 410 |
+
<axis xyz="0 1 0"/>
|
| 411 |
+
<child link="link_1_helper"/>
|
| 412 |
+
<parent link="link_2"/>
|
| 413 |
+
<limit lower="0" upper="0.052"/>
|
| 414 |
+
</joint>
|
| 415 |
+
</robot>
|
assets/urdf/Dispenser/103379/mobility_v2.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id":0,"parent":1,"joint":"slider","name":"pressing_lid","parts":[{"id":1,"name":"pressing_lid"}],"jointData":{"axis":{"origin":[0.0078049999999999994,0,-0.010200913966889325],"direction":[0,1,0]},"limit":{"a":0,"b":-0.03,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":1,"parent":2,"joint":"slider","name":"head","parts":[{"id":4,"name":"head"}],"jointData":{"axis":{"origin":[0.004020499999999996,0,-0.006220000000000003],"direction":[0,-1,0]},"limit":{"a":0,"b":-0.052,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":2,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":5,"name":"base_body"}],"jointData":{}}]
|
assets/urdf/Dispenser/103379/model_data.json
ADDED
|
@@ -0,0 +1,98 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scale": 0.1,
|
| 3 |
+
"transform_matrix": [
|
| 4 |
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[
|
| 5 |
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1.0,
|
| 6 |
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0.0,
|
| 7 |
+
0.0,
|
| 8 |
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|
| 9 |
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],
|
| 10 |
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[
|
| 11 |
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0.0,
|
| 12 |
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1.0,
|
| 13 |
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0.0,
|
| 14 |
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0.0
|
| 15 |
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],
|
| 16 |
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[
|
| 17 |
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0.0,
|
| 18 |
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0.0,
|
| 19 |
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1.0,
|
| 20 |
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0.0
|
| 21 |
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],
|
| 22 |
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[
|
| 23 |
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0.0,
|
| 24 |
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0.0,
|
| 25 |
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0.0,
|
| 26 |
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1.0
|
| 27 |
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]
|
| 28 |
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],
|
| 29 |
+
"init_qpos": [],
|
| 30 |
+
"grasp_parts": {
|
| 31 |
+
"mouth": [
|
| 32 |
+
{
|
| 33 |
+
"id": 0,
|
| 34 |
+
"matrix": [
|
| 35 |
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[
|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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| 40 |
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],
|
| 41 |
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[
|
| 42 |
+
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|
| 43 |
+
0.9995499849319458,
|
| 44 |
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0.011780000291764736,
|
| 45 |
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|
| 46 |
+
],
|
| 47 |
+
[
|
| 48 |
+
0.01145000010728836,
|
| 49 |
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0.011470000259578228,
|
| 50 |
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-0.9998700022697449,
|
| 51 |
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1.1875
|
| 52 |
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],
|
| 53 |
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[
|
| 54 |
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0.0,
|
| 55 |
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0.0,
|
| 56 |
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0.0,
|
| 57 |
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1.0
|
| 58 |
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]
|
| 59 |
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],
|
| 60 |
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"base": "base",
|
| 61 |
+
"description": ""
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"body": [
|
| 65 |
+
{
|
| 66 |
+
"id": 0,
|
| 67 |
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"matrix": [
|
| 68 |
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[
|
| 69 |
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-0.0,
|
| 70 |
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0.0,
|
| 71 |
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-1.0,
|
| 72 |
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0.20000000298023224
|
| 73 |
+
],
|
| 74 |
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[
|
| 75 |
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-0.0,
|
| 76 |
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1.0,
|
| 77 |
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0.0,
|
| 78 |
+
0.0
|
| 79 |
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],
|
| 80 |
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[
|
| 81 |
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1.0,
|
| 82 |
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0.0,
|
| 83 |
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-0.0,
|
| 84 |
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0.0
|
| 85 |
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],
|
| 86 |
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[
|
| 87 |
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0.0,
|
| 88 |
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0.0,
|
| 89 |
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0.0,
|
| 90 |
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1.0
|
| 91 |
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]
|
| 92 |
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],
|
| 93 |
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"base": "base",
|
| 94 |
+
"description": ""
|
| 95 |
+
}
|
| 96 |
+
]
|
| 97 |
+
}
|
| 98 |
+
}
|
assets/urdf/Dispenser/103379/result.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 1, "objs": ["original-32", "original-35", "original-36", "original-40", "original-34", "original-37", "original-41", "original-38", "original-39", "original-31"]}, {"text": "head (other)", "name": "other", "id": 3, "children": [{"text": "other_leaf", "name": "head", "id": 4, "objs": ["original-26", "original-19", "original-18", "original-20", "original-23", "original-21", "original-22", "original-24", "original-28", "original-27"]}]}, {"text": "base_body", "name": "base_body", "id": 5, "objs": ["original-4", "original-3", "original-8", "original-13", "original-9", "original-5", "original-6", "original-11", "original-17", "original-10", "original-14"]}]}]
|
assets/urdf/Dispenser/103379/result_original.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 1, "name": "pressing_lid", "text": "pressing_lid", "objs": ["original-32", "original-35", "original-36", "original-40", "original-34", "original-37", "original-41", "original-38", "original-39", "original-31"]}, {"id": 3, "name": "other", "text": "head (other)", "children": [{"id": 4, "name": "other_leaf", "text": "other_leaf", "objs": ["original-26", "original-19", "original-18", "original-20", "original-23", "original-21", "original-22", "original-24", "original-28", "original-27"]}]}]}]
|
assets/urdf/Dispenser/103379/semantics.txt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
link_0 slider+ lid
|
| 2 |
+
link_1 slider+ lid
|
| 3 |
+
link_2 free dispenser_body
|
assets/urdf/Dispenser/103394/bounding_box.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"min": [-0.316949, -0.663668, -0.316793], "max": [0.305355, 1.004546, 0.305511]}
|
assets/urdf/Dispenser/103394/grasp_poses.json
ADDED
|
@@ -0,0 +1,72 @@
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
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|
|
|
|
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|
|
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|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"object_name": "103394",
|
| 3 |
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"scale": 0.1,
|
| 4 |
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"grasp_parts": {
|
| 5 |
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"mouth": [
|
| 6 |
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{
|
| 7 |
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"id": 0,
|
| 8 |
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"matrix": [
|
| 9 |
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| 10 |
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|
| 11 |
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| 12 |
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| 13 |
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| 14 |
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],
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| 15 |
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[
|
| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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],
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| 21 |
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[
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| 22 |
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| 23 |
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| 24 |
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|
| 25 |
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| 26 |
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],
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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|
| 31 |
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| 32 |
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]
|
| 33 |
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],
|
| 34 |
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"base": "base",
|
| 35 |
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"description": ""
|
| 36 |
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}
|
| 37 |
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],
|
| 38 |
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"body": [
|
| 39 |
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{
|
| 40 |
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"id": 0,
|
| 41 |
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"matrix": [
|
| 42 |
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[
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| 43 |
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| 44 |
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| 45 |
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1.0,
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| 46 |
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| 47 |
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],
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| 48 |
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[
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| 49 |
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| 50 |
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1.0,
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| 51 |
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0.0,
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| 52 |
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| 53 |
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],
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| 54 |
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[
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| 55 |
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-1.0,
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| 56 |
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0.0,
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| 57 |
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| 58 |
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0.0
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| 59 |
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],
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| 60 |
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[
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| 61 |
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0.0,
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| 62 |
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0.0,
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| 63 |
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0.0,
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| 64 |
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1.0
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| 65 |
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]
|
| 66 |
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],
|
| 67 |
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"base": "base",
|
| 68 |
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"description": ""
|
| 69 |
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}
|
| 70 |
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]
|
| 71 |
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}
|
| 72 |
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}
|
assets/urdf/Dispenser/103402/bounding_box.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"min": [-0.303047, -0.841879, -0.314849], "max": [0.312491, 1.05263, 0.300689]}
|
assets/urdf/Dispenser/103402/grasp_poses.json
ADDED
|
@@ -0,0 +1,72 @@
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
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|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"object_name": "103402",
|
| 3 |
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"scale": 0.1,
|
| 4 |
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"grasp_parts": {
|
| 5 |
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"mouth": [
|
| 6 |
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{
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| 7 |
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"id": 0,
|
| 8 |
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| 9 |
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| 30 |
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| 31 |
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]
|
| 33 |
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],
|
| 34 |
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"base": "base",
|
| 35 |
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"description": ""
|
| 36 |
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}
|
| 37 |
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],
|
| 38 |
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"body": [
|
| 39 |
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{
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| 40 |
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|
| 41 |
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| 42 |
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+
]
|
| 66 |
+
],
|
| 67 |
+
"base": "base",
|
| 68 |
+
"description": ""
|
| 69 |
+
}
|
| 70 |
+
]
|
| 71 |
+
}
|
| 72 |
+
}
|
assets/urdf/Dispenser/103402/meta.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "dd79686f-7fe7-4b1b-b219-148b4f4a463e", "version": "1", "anno_id": "3402", "time_in_sec": "40"}
|
assets/urdf/Dispenser/103402/mobility.urdf
ADDED
|
@@ -0,0 +1,111 @@
|
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|
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|
|
|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="partnet_dd79686f-7fe7-4b1b-b219-148b4f4a463e">
|
| 3 |
+
<link name="base"/>
|
| 4 |
+
<link name="link_0">
|
| 5 |
+
<visual name="pressing_lid-1">
|
| 6 |
+
<origin xyz="0.0015973672393863557 0 -0.012699772895529439"/>
|
| 7 |
+
<geometry>
|
| 8 |
+
<mesh filename="textured_objs/original-6.obj"/>
|
| 9 |
+
</geometry>
|
| 10 |
+
</visual>
|
| 11 |
+
<visual name="pressing_lid-1">
|
| 12 |
+
<origin xyz="0.0015973672393863557 0 -0.012699772895529439"/>
|
| 13 |
+
<geometry>
|
| 14 |
+
<mesh filename="textured_objs/original-5.obj"/>
|
| 15 |
+
</geometry>
|
| 16 |
+
</visual>
|
| 17 |
+
<visual name="pressing_lid-1">
|
| 18 |
+
<origin xyz="0.0015973672393863557 0 -0.012699772895529439"/>
|
| 19 |
+
<geometry>
|
| 20 |
+
<mesh filename="textured_objs/original-7.obj"/>
|
| 21 |
+
</geometry>
|
| 22 |
+
</visual>
|
| 23 |
+
<collision>
|
| 24 |
+
<origin xyz="0.0015973672393863557 0 -0.012699772895529439"/>
|
| 25 |
+
<geometry>
|
| 26 |
+
<mesh filename="textured_objs/original-6.obj"/>
|
| 27 |
+
</geometry>
|
| 28 |
+
</collision>
|
| 29 |
+
<collision>
|
| 30 |
+
<origin xyz="0.0015973672393863557 0 -0.012699772895529439"/>
|
| 31 |
+
<geometry>
|
| 32 |
+
<mesh filename="textured_objs/original-5.obj"/>
|
| 33 |
+
</geometry>
|
| 34 |
+
</collision>
|
| 35 |
+
<collision>
|
| 36 |
+
<origin xyz="0.0015973672393863557 0 -0.012699772895529439"/>
|
| 37 |
+
<geometry>
|
| 38 |
+
<mesh filename="textured_objs/original-7.obj"/>
|
| 39 |
+
</geometry>
|
| 40 |
+
</collision>
|
| 41 |
+
</link>
|
| 42 |
+
<joint name="joint_0" type="continuous">
|
| 43 |
+
<origin xyz="0.0 0 0.0"/>
|
| 44 |
+
<axis xyz="0 1 0"/>
|
| 45 |
+
<child link="link_0"/>
|
| 46 |
+
<parent link="link_0_helper"/>
|
| 47 |
+
</joint>
|
| 48 |
+
<link name="link_1">
|
| 49 |
+
<visual name="base_body-3">
|
| 50 |
+
<origin xyz="0 0 0"/>
|
| 51 |
+
<geometry>
|
| 52 |
+
<mesh filename="textured_objs/original-4.obj"/>
|
| 53 |
+
</geometry>
|
| 54 |
+
</visual>
|
| 55 |
+
<visual name="base_body-3">
|
| 56 |
+
<origin xyz="0 0 0"/>
|
| 57 |
+
<geometry>
|
| 58 |
+
<mesh filename="textured_objs/original-3.obj"/>
|
| 59 |
+
</geometry>
|
| 60 |
+
</visual>
|
| 61 |
+
<visual name="base_body-3">
|
| 62 |
+
<origin xyz="0 0 0"/>
|
| 63 |
+
<geometry>
|
| 64 |
+
<mesh filename="textured_objs/original-2.obj"/>
|
| 65 |
+
</geometry>
|
| 66 |
+
</visual>
|
| 67 |
+
<visual name="base_body-3">
|
| 68 |
+
<origin xyz="0 0 0"/>
|
| 69 |
+
<geometry>
|
| 70 |
+
<mesh filename="textured_objs/original-1.obj"/>
|
| 71 |
+
</geometry>
|
| 72 |
+
</visual>
|
| 73 |
+
<collision>
|
| 74 |
+
<origin xyz="0 0 0"/>
|
| 75 |
+
<geometry>
|
| 76 |
+
<mesh filename="textured_objs/original-4.obj"/>
|
| 77 |
+
</geometry>
|
| 78 |
+
</collision>
|
| 79 |
+
<collision>
|
| 80 |
+
<origin xyz="0 0 0"/>
|
| 81 |
+
<geometry>
|
| 82 |
+
<mesh filename="textured_objs/original-3.obj"/>
|
| 83 |
+
</geometry>
|
| 84 |
+
</collision>
|
| 85 |
+
<collision>
|
| 86 |
+
<origin xyz="0 0 0"/>
|
| 87 |
+
<geometry>
|
| 88 |
+
<mesh filename="textured_objs/original-2.obj"/>
|
| 89 |
+
</geometry>
|
| 90 |
+
</collision>
|
| 91 |
+
<collision>
|
| 92 |
+
<origin xyz="0 0 0"/>
|
| 93 |
+
<geometry>
|
| 94 |
+
<mesh filename="textured_objs/original-1.obj"/>
|
| 95 |
+
</geometry>
|
| 96 |
+
</collision>
|
| 97 |
+
</link>
|
| 98 |
+
<joint name="joint_1" type="fixed">
|
| 99 |
+
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
|
| 100 |
+
<child link="link_1"/>
|
| 101 |
+
<parent link="base"/>
|
| 102 |
+
</joint>
|
| 103 |
+
<link name="link_0_helper"/>
|
| 104 |
+
<joint name="joint_2" type="prismatic">
|
| 105 |
+
<origin xyz="-0.0015973672393863557 0 0.012699772895529439"/>
|
| 106 |
+
<axis xyz="0 -1 0"/>
|
| 107 |
+
<child link="link_0_helper"/>
|
| 108 |
+
<parent link="link_1"/>
|
| 109 |
+
<limit lower="0" upper="0.03"/>
|
| 110 |
+
</joint>
|
| 111 |
+
</robot>
|
assets/urdf/Dispenser/103402/model_data.json
ADDED
|
@@ -0,0 +1,98 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
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|
|
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|
|
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|
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|
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|
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|
| 1 |
+
{
|
| 2 |
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"scale": 0.1,
|
| 3 |
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"transform_matrix": [
|
| 4 |
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[
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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]
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| 28 |
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],
|
| 29 |
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"init_qpos": [],
|
| 30 |
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"grasp_parts": {
|
| 31 |
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"mouth": [
|
| 32 |
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{
|
| 33 |
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"id": 0,
|
| 34 |
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| 35 |
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| 36 |
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| 57 |
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| 59 |
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| 60 |
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| 61 |
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| 62 |
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}
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| 63 |
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],
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| 64 |
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"body": [
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| 65 |
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{
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| 66 |
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"id": 0,
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| 67 |
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"matrix": [
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| 68 |
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| 69 |
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| 74 |
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| 80 |
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| 86 |
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| 93 |
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| 94 |
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| 95 |
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|
| 96 |
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| 97 |
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}
|
| 98 |
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}
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