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1875 3850 11552 2159 2159 3851 11553 1807 1807 3851 11554 1815 1815 3851 11555 1807 1807 3852 11556 1811 1811 3852 11557 1815 1815 3852 11558 2230 2230 3853 11559 2103 2103 3853 11560 2231 2231 3853 11561 1674 1674 3854 11562 1987 1987 3854 11563 1574 1574 3854 11564 1815 1815 3855 11565 2158 2158 3855 11566 2159 2159 3855 11567 2001 2001 3856 11568 2000 2000 3856 11569 2232 2232 3856 11570 2233 2233 3857 11571 2232 2232 3857 11572 2234 2234 3857 11573 2021 2021 3858 11574 2235 2235 3858 11575 1514 1514 3858 11576 2235 2235 3859 11577 2021 2021 3859 11578 2236 2236 3859 11579 2232 2232 3860 11580 2237 2237 3860 11581 2238 2238 3860 11582 1514 1514 3861 11583 1517 1517 3861 11584 2021 2021 3861 11585 1490 1490 3862 11586 1984 1984 3862 11587 1484 1484 3862 11588 2232 2232 3863 11589 2233 2233 3863 11590 2237 2237 3863 11591 1858 1858 3864 11592 1917 1917 3864 11593 1860 1860 3864 11594 1484 1484 3865 11595 1984 1984 3865 11596 1487 1487 3865 11597 1896 1896 3866 11598 1917 1917 3866 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2025 3882 11647 2028 2028 3882 11648 2247 2247 3883 11649 1984 1984 3883 11650 1490 1490 3883 11651 2249 2249 3884 11652 2219 2219 3884 11653 2220 2220 3884 11654 1964 1964 3885 11655 1984 1984 3885 11656 2247 2247 3885 11657 2028 2028 3886 11658 2024 2024 3886 11659 2029 2029 3886 11660 2054 2054 3887 11661 2051 2051 3887 11662 2147 2147 3887 11663 2220 2220 3888 11664 2072 2072 3888 11665 2092 2092 3888 11666 2028 2028 3889 11667 2235 2235 3889 11668 2236 2236 3889 11669 2244 2244 3890 11670 2235 2235 3890 11671 2028 2028 3890 11672 2220 2220 3891 11673 2092 2092 3891 11674 2250 2250 3891 11675 2251 2251 3892 11676 2250 2250 3892 11677 2092 2092 3892 11678 1558 1558 3893 11679 1491 1491 3893 11680 1546 1546 3893 11681 2226 2226 3894 11682 2219 2219 3894 11683 2249 2249 3894 11684 2252 2252 3895 11685 2253 2253 3895 11686 2254 2254 3895 11687 1558 1558 3896 11688 2241 2241 3896 11689 1491 1491 3896 11690 2255 2255 3897 11691 2245 2245 3897 11692 2244 2244 3897 11693 1514 1514 3898 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1860 3914 11742 1917 1917 3914 11743 2262 2262 3914 11744 1665 1665 3915 11745 2251 2251 3915 11746 2261 2261 3915 11747 2247 2247 3916 11748 2258 2258 3916 11749 2055 2055 3916 11750 2255 2255 3917 11751 2244 2244 3917 11752 2263 2263 3917 11753 2056 2056 3918 11754 2055 2055 3918 11755 2121 2121 3918 11756 2256 2256 3919 11757 2250 2250 3919 11758 2264 2264 3919 11759 2055 2055 3920 11760 2265 2265 3920 11761 2121 2121 3920 11762 2256 2256 3921 11763 2264 2264 3921 11764 2266 2266 3921 11765 2244 2244 3922 11766 2028 2028 3922 11767 2267 2267 3922 11768 2264 2264 3923 11769 2250 2250 3923 11770 2251 2251 3923 11771 2263 2263 3924 11772 2244 2244 3924 11773 2267 2267 3924 11774 2262 2262 3925 11775 1861 1861 3925 11776 1860 1860 3925 11777 2267 2267 3926 11778 2028 2028 3926 11779 2029 2029 3926 11780 2268 2268 3927 11781 2264 2264 3927 11782 2251 2251 3927 11783 2264 2264 3928 11784 2268 2268 3928 11785 2266 2266 3928 11786 2251 2251 3929 11787 1665 1665 3929 11788 2268 2268 3929 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11979 2262 2262 3993 11980 1885 1885 3993 11981 2285 2285 3994 11982 2271 2271 3994 11983 2281 2281 3994 11984 2285 2285 3995 11985 2201 2201 3995 11986 2271 2271 3995 11987 2201 2201 3996 11988 2285 2285 3996 11989 2206 2206 3996 11990 2221 2221 3997 11991 2206 2206 3997 11992 2285 2285 3997 11993 1258 1258 3998 11994 1315 1315 3998 11995 1255 1255 3998 11996 1480 1480 3999 11997 1477 1477 3999 11998 1471 1471 3999 11999 2285 2285 4000 12000 2284 2284 4000 12001 2221 2221 4000 12002 2222 2222 4001 12003 2221 2221 4001 12004 2284 2284 4001 12005 1255 1255 4002 12006 1257 1257 4002 12007 1259 1259 4002 12008 1442 1442 4003 12009 1477 1477 4003 12010 2279 2279 4003 12011 2279 2279 4004 12012 1477 1477 4004 12013 1480 1480 4004 12014 1885 1885 4005 12015 2262 2262 4005 12016 2273 2273 4005 12017 2285 2285 4006 12018 2281 2281 4006 12019 2284 2284 4006 12020 1535 1535 4007 12021 1480 1480 4007 12022 1542 1542 4007 12023 2286 2286 4008 12024 2287 2287 4008 12025 2130 2130 4008 12026 1885 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b/Objects/050_medium_clamp/usd/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_models\050_medium_clamp\google_16k\textured.obj +usd_dir: E:\phd\research\dex\datasets\ycb_models\050_medium_clamp\google_16k\usd +usd_file_name: textured.usd +force_usd_conversion: true +make_instanceable: true +mass_props: + mass: 0.3 + density: null +rigid_props: + rigid_body_enabled: null + kinematic_enabled: null + disable_gravity: null + linear_damping: null + angular_damping: null + max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: null + max_contact_impulse: null + enable_gyroscopic_forces: null + retain_accelerations: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null +collision_props: + collision_enabled: true + contact_offset: null + rest_offset: null + torsional_patch_radius: null + min_torsional_patch_radius: null +mesh_collision_props: + usd_func: pxr.UsdPhysics:MeshCollisionAPI + physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI + mesh_approximation_name: convexDecomposition + hull_vertex_limit: null + max_convex_hulls: null + min_thickness: null + voxel_resolution: null + error_percentage: null + shrink_wrap: null +translation: !!python/tuple +- 0.0 +- 0.0 +- 0.0 +rotation: !!python/tuple +- 1.0 +- 0.0 +- 0.0 +- 0.0 +scale: !!python/tuple +- 1.0 +- 1.0 +- 1.0 +## +# Generated by MeshConverter on 2026-03-02 at 11:16:05. +## diff --git a/Objects/050_medium_clamp/usd_decomposition_linux/.asset_hash b/Objects/050_medium_clamp/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..0027b791f926854189f6a897a6271194be5e29c9 --- /dev/null +++ b/Objects/050_medium_clamp/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +014e1a48b16a42686b86459b4f276784 \ No newline at end of file diff --git a/Objects/050_medium_clamp/usd_decomposition_linux/config.yaml b/Objects/050_medium_clamp/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b07c831d90f8d4f457ad60ae18f1ee4b3e0f4ec1 --- /dev/null +++ b/Objects/050_medium_clamp/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/050_medium_clamp/textured.obj +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/050_medium_clamp/usd_decomposition_linux +usd_file_name: textured.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.3 + density: null +rigid_props: + rigid_body_enabled: null + kinematic_enabled: null + disable_gravity: null + linear_damping: null + angular_damping: null + max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: null + max_contact_impulse: null + enable_gyroscopic_forces: null + retain_accelerations: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null +collision_props: + collision_enabled: true + contact_offset: null + rest_offset: null + torsional_patch_radius: null + min_torsional_patch_radius: null +mesh_collision_props: + usd_func: pxr.UsdPhysics:MeshCollisionAPI + physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI + mesh_approximation_name: convexDecomposition + hull_vertex_limit: null + max_convex_hulls: null + min_thickness: null + voxel_resolution: null + error_percentage: null + shrink_wrap: null +translation: !!python/tuple +- 0.0 +- 0.0 +- 0.0 +rotation: !!python/tuple +- 1.0 +- 0.0 +- 0.0 +- 0.0 +scale: !!python/tuple +- 1.0 +- 1.0 +- 1.0 +## +# Generated by MeshConverter on 2026-04-25 at 16:44:22. +## diff --git a/Objects/050_medium_clamp/usd_sdf_linux/.asset_hash b/Objects/050_medium_clamp/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..44c4d234d62dd3eeeb67581966bc9c7222cc798d --- /dev/null +++ b/Objects/050_medium_clamp/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +00b04d8c03d10d070e2dc9efad71090d \ No newline at end of file diff --git a/Objects/050_medium_clamp/usd_sdf_linux/config.yaml b/Objects/050_medium_clamp/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4fa01aa2eba53a060a23b13ea3e84131c78b92b0 --- /dev/null +++ b/Objects/050_medium_clamp/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/050_medium_clamp/textured.obj +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/050_medium_clamp/usd_sdf_linux +usd_file_name: textured.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.3 + density: null +rigid_props: + rigid_body_enabled: null + kinematic_enabled: null + disable_gravity: null + linear_damping: null + angular_damping: null + max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: null + max_contact_impulse: null + enable_gyroscopic_forces: null + retain_accelerations: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null +collision_props: + collision_enabled: true + contact_offset: null + rest_offset: null + torsional_patch_radius: null + min_torsional_patch_radius: null +mesh_collision_props: + usd_func: {} + physx_func: pxr.PhysxSchema:PhysxSDFMeshCollisionAPI + mesh_approximation_name: sdf + sdf_margin: null + sdf_narrow_band_thickness: null + sdf_resolution: null + sdf_subgrid_resolution: null +translation: !!python/tuple +- 0.0 +- 0.0 +- 0.0 +rotation: !!python/tuple +- 1.0 +- 0.0 +- 0.0 +- 0.0 +scale: !!python/tuple +- 1.0 +- 1.0 +- 1.0 +## +# Generated by MeshConverter on 2026-04-21 at 18:04:50. +## diff --git a/Objects/056_tennis_ball/kinbody.xml b/Objects/056_tennis_ball/kinbody.xml new file mode 100644 index 0000000000000000000000000000000000000000..9d5524a0bdb367971c948224bf1c60216ac763d6 --- 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0000000000000000000000000000000000000000..4ec79bcd7af758d7df3d499186779ee8c66576d3 --- /dev/null +++ b/Objects/056_tennis_ball/usd/.asset_hash @@ -0,0 +1 @@ +d94c9daf9173d8baff81f594fad6dc85 \ No newline at end of file diff --git a/Objects/056_tennis_ball/usd/config.yaml b/Objects/056_tennis_ball/usd/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ea95e117258266c3e8941a51075a6afa7d46e012 --- /dev/null +++ b/Objects/056_tennis_ball/usd/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_models\056_tennis_ball\google_16k\textured.obj +usd_dir: E:\phd\research\dex\datasets\ycb_models\056_tennis_ball\google_16k\usd +usd_file_name: textured.usd +force_usd_conversion: true +make_instanceable: true +mass_props: + mass: 0.058 + density: null +rigid_props: + rigid_body_enabled: null + kinematic_enabled: null + disable_gravity: null + linear_damping: null + angular_damping: null + max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: null + max_contact_impulse: null + enable_gyroscopic_forces: null + retain_accelerations: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null +collision_props: + collision_enabled: true + contact_offset: null + rest_offset: null + torsional_patch_radius: null + min_torsional_patch_radius: null +mesh_collision_props: + usd_func: pxr.UsdPhysics:MeshCollisionAPI + physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI + mesh_approximation_name: convexDecomposition + hull_vertex_limit: null + max_convex_hulls: null + min_thickness: null + voxel_resolution: null + error_percentage: null + shrink_wrap: null +translation: !!python/tuple +- 0.0 +- 0.0 +- 0.0 +rotation: !!python/tuple +- 1.0 +- 0.0 +- 0.0 +- 0.0 +scale: !!python/tuple +- 1.0 +- 1.0 +- 1.0 +## +# Generated by MeshConverter on 2026-03-02 at 11:17:11. +## diff --git a/Objects/056_tennis_ball/usd_decomposition_linux/.asset_hash b/Objects/056_tennis_ball/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..fed2d05de12588b834fe85f87e7d22a6f1dbea03 --- /dev/null +++ b/Objects/056_tennis_ball/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +742b902ef0c0c8e729a12e51242cba8f \ No newline at end of file diff --git a/Objects/056_tennis_ball/usd_decomposition_linux/config.yaml b/Objects/056_tennis_ball/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d73f28ec04a15ff71db6a89b9934e2c2b687ca41 --- /dev/null +++ b/Objects/056_tennis_ball/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/056_tennis_ball/textured.obj +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/056_tennis_ball/usd_decomposition_linux +usd_file_name: textured.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.058 + density: null +rigid_props: + rigid_body_enabled: null + kinematic_enabled: null + disable_gravity: null + linear_damping: null + angular_damping: null + max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: null + max_contact_impulse: null + enable_gyroscopic_forces: null + retain_accelerations: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null +collision_props: + collision_enabled: true + contact_offset: null + rest_offset: null + torsional_patch_radius: null + min_torsional_patch_radius: null +mesh_collision_props: + usd_func: pxr.UsdPhysics:MeshCollisionAPI + physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI + mesh_approximation_name: convexDecomposition + hull_vertex_limit: null + max_convex_hulls: null + min_thickness: null + voxel_resolution: null + error_percentage: null + shrink_wrap: null +translation: 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0000000000000000000000000000000000000000..38d1a8a95c1356c57f35c3bb1d67b73fd942c57a --- /dev/null +++ b/Objects/065-j_cups/google_16k/usd/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_models\065-j_cups\google_16k\textured.obj +usd_dir: E:\phd\research\dex\datasets\ycb_models\065-j_cups\google_16k\usd +usd_file_name: textured.usd +force_usd_conversion: true +make_instanceable: true +mass_props: + mass: 0.06 + density: null +rigid_props: + rigid_body_enabled: null + kinematic_enabled: null + disable_gravity: null + linear_damping: null + angular_damping: null + max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: null + max_contact_impulse: null + enable_gyroscopic_forces: null + retain_accelerations: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null +collision_props: + collision_enabled: true + contact_offset: null + rest_offset: null + torsional_patch_radius: null + min_torsional_patch_radius: null +mesh_collision_props: + usd_func: pxr.UsdPhysics:MeshCollisionAPI + physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI + mesh_approximation_name: convexDecomposition + hull_vertex_limit: null + max_convex_hulls: null + min_thickness: null + voxel_resolution: null + error_percentage: null + shrink_wrap: null +translation: !!python/tuple +- 0.0 +- 0.0 +- 0.0 +rotation: !!python/tuple +- 1.0 +- 0.0 +- 0.0 +- 0.0 +scale: !!python/tuple +- 1.0 +- 1.0 +- 1.0 +## +# Generated by MeshConverter on 2026-03-02 at 11:20:15. +## diff --git a/Objects/065-j_cups/google_16k/usd_decomposition_linux/.asset_hash b/Objects/065-j_cups/google_16k/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..f5a399a8068e98eb50c0fbb1ff9df4f7d5f8dfe3 --- /dev/null +++ b/Objects/065-j_cups/google_16k/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +f944cbd2ada3ea701150f9da68c96010 \ No newline at end of file diff --git a/Objects/065-j_cups/google_16k/usd_decomposition_linux/config.yaml b/Objects/065-j_cups/google_16k/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..40109c34f9967dd00c01f2781604e2bea0f9a7bb --- /dev/null +++ b/Objects/065-j_cups/google_16k/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/065-j_cups/google_16k/textured.obj +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/065-j_cups/google_16k/usd_decomposition_linux +usd_file_name: textured.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.06 + density: null +rigid_props: + rigid_body_enabled: null + kinematic_enabled: null + disable_gravity: null + linear_damping: null + angular_damping: null + max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: null + max_contact_impulse: null + enable_gyroscopic_forces: null + retain_accelerations: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null +collision_props: + collision_enabled: true + contact_offset: null + rest_offset: null + torsional_patch_radius: null + min_torsional_patch_radius: null +mesh_collision_props: + usd_func: pxr.UsdPhysics:MeshCollisionAPI + physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI + mesh_approximation_name: convexDecomposition + hull_vertex_limit: null + max_convex_hulls: null + min_thickness: null + voxel_resolution: null + error_percentage: null + shrink_wrap: null +translation: !!python/tuple +- 0.0 +- 0.0 +- 0.0 +rotation: !!python/tuple +- 1.0 +- 0.0 +- 0.0 +- 0.0 +scale: !!python/tuple +- 1.0 +- 1.0 +- 1.0 +## +# Generated by MeshConverter on 2026-04-25 at 16:46:27. +## diff --git a/Objects/065-j_cups/google_16k/usd_sdf_linux/.asset_hash b/Objects/065-j_cups/google_16k/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..e09bf5012e4dd347ada187dde95078ee7b195de6 --- /dev/null +++ b/Objects/065-j_cups/google_16k/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +b124fadcf6d73206e104974afdc70659 \ No newline at end of file diff --git a/Objects/065-j_cups/google_16k/usd_sdf_linux/config.yaml b/Objects/065-j_cups/google_16k/usd_sdf_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3d8760248ee9000dfe054724275c97079f5711b8 --- /dev/null +++ b/Objects/065-j_cups/google_16k/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/065-j_cups/google_16k/textured.obj +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/065-j_cups/google_16k/usd_sdf_linux +usd_file_name: textured.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.06 + density: null +rigid_props: + rigid_body_enabled: null + kinematic_enabled: null + disable_gravity: null + linear_damping: null + angular_damping: null + max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: null + max_contact_impulse: null + enable_gyroscopic_forces: null + retain_accelerations: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null +collision_props: + collision_enabled: true + contact_offset: null + rest_offset: null + torsional_patch_radius: null + min_torsional_patch_radius: null +mesh_collision_props: + usd_func: {} + physx_func: pxr.PhysxSchema:PhysxSDFMeshCollisionAPI + mesh_approximation_name: sdf + sdf_margin: null + sdf_narrow_band_thickness: null + sdf_resolution: null + sdf_subgrid_resolution: null +translation: !!python/tuple +- 0.0 +- 0.0 +- 0.0 +rotation: !!python/tuple +- 1.0 +- 0.0 +- 0.0 +- 0.0 +scale: !!python/tuple +- 1.0 +- 1.0 +- 1.0 +## +# Generated by MeshConverter on 2026-04-21 at 18:08:21. +## diff --git a/Objects/072-b_toy_airplane/google_16k/kinbody.xml 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11255 2016 2016 3752 11256 1943 1943 3752 11257 2015 2015 3752 11258 1980 1980 3753 11259 1985 1985 3753 11260 1978 1978 3753 11261 1943 1943 3754 11262 2016 2016 3754 11263 2017 2017 3754 11264 2005 2005 3755 11265 2013 2013 3755 11266 2014 2014 3755 11267 2018 2018 3756 11268 2017 2017 3756 11269 2016 2016 3756 11270 2019 2019 3757 11271 2014 2014 3757 11272 2013 2013 3757 11273 2011 2011 3758 11274 1942 1942 3758 11275 2017 2017 3758 11276 1959 1959 3759 11277 2020 2020 3759 11278 1989 1989 3759 11279 1943 1943 3760 11280 2017 2017 3760 11281 1942 1942 3760 11282 1999 1999 3761 11283 1981 1981 3761 11284 1997 1997 3761 11285 1103 1103 3762 11286 1105 1105 3762 11287 2013 2013 3762 11288 1989 1989 3763 11289 2020 2020 3763 11290 2021 2021 3763 11291 2011 2011 3764 11292 2017 2017 3764 11293 2022 2022 3764 11294 1989 1989 3765 11295 2021 2021 3765 11296 1990 1990 3765 11297 2023 2023 3766 11298 2000 2000 3766 11299 1999 1999 3766 11300 1866 1866 3767 11301 2014 2014 3767 11302 1864 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a/Objects/072-b_toy_airplane/google_16k/usd/.asset_hash b/Objects/072-b_toy_airplane/google_16k/usd/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..c1a4f45c776adbd35e809a87e26e90535f0d2826 --- /dev/null +++ b/Objects/072-b_toy_airplane/google_16k/usd/.asset_hash @@ -0,0 +1 @@ +e38933fbf1c2b0f7a14c6e93d0e744d7 \ No newline at end of file diff --git a/Objects/072-b_toy_airplane/google_16k/usd/config.yaml b/Objects/072-b_toy_airplane/google_16k/usd/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f020d5223f1c9b89e2d98ec4f89062d5d1a177d2 --- /dev/null +++ b/Objects/072-b_toy_airplane/google_16k/usd/config.yaml @@ -0,0 +1,56 @@ +asset_path: E:\phd\research\dex\datasets\ycb_models\072-b_toy_airplane\google_16k\textured.obj +usd_dir: E:\phd\research\dex\datasets\ycb_models\072-b_toy_airplane\google_16k\usd +usd_file_name: textured.usd +force_usd_conversion: true +make_instanceable: true +mass_props: + mass: 0.09 + density: null 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9856 1792 1792 3285 9857 1836 1836 3286 9858 1840 1840 3286 9859 1830 1830 3286 9860 1840 1840 3287 9861 1836 1836 3287 9862 1841 1841 3287 9863 1842 1842 3288 9864 1841 1841 3288 9865 1839 1839 3288 9866 1839 1839 3289 9867 1841 1841 3289 9868 1836 1836 3289 9869 1840 1840 3290 9870 1841 1841 3290 9871 1800 1800 3290 9872 1843 1843 3291 9873 1800 1800 3291 9874 1841 1841 3291 9875 1844 1844 3292 9876 1841 1841 3292 9877 1842 1842 3292 9878 1844 1844 3293 9879 1843 1843 3293 9880 1841 1841 3293 9881 1843 1843 3294 9882 1844 1844 3294 9883 1845 1845 3294 9884 358 358 3295 9885 1174 1174 3295 9886 1832 1832 3295 9887 1832 1832 3296 9888 1174 1174 3296 9889 1837 1837 3296 9890 1322 1322 3297 9891 1323 1323 3297 9892 1174 1174 3297 9893 1846 1846 3298 9894 1837 1837 3298 9895 1174 1174 3298 9896 1846 1846 3299 9897 1174 1174 3299 9898 1323 1323 3299 9899 1793 1793 3300 9900 1800 1800 3300 9901 1819 1819 3300 9902 1800 1800 3301 9903 1847 1847 3301 9904 1819 1819 3301 9905 1819 1819 3302 9906 1847 1847 3302 9907 1315 1315 3302 9908 1316 1316 3303 9909 1315 1315 3303 9910 1847 1847 3303 9911 1800 1800 3304 9912 1843 1843 3304 9913 1847 1847 3304 9914 1848 1848 3305 9915 1847 1847 3305 9916 1843 1843 3305 9917 1845 1845 3306 9918 1848 1848 3306 9919 1843 1843 3306 9920 1332 1332 3307 9921 526 526 3307 9922 1313 1313 3307 9923 1849 1849 3308 9924 1314 1314 3308 9925 1316 1316 3308 9926 1849 1849 3309 9927 1316 1316 3309 9928 1850 1850 3309 9929 1314 1314 3310 9930 1849 1849 3310 9931 1331 1331 3310 9932 1849 1849 3311 9933 1337 1337 3311 9934 1331 1331 3311 9935 1338 1338 3312 9936 1332 1332 3312 9937 1336 1336 3312 9938 1850 1850 3313 9939 1316 1316 3313 9940 1847 1847 3313 9941 1848 1848 3314 9942 1850 1850 3314 9943 1847 1847 3314 9944 1850 1850 3315 9945 1848 1848 3315 9946 1851 1851 3315 9947 1850 1850 3316 9948 1851 1851 3316 9949 1849 1849 3316 9950 1852 1852 3317 9951 1337 1337 3317 9952 1849 1849 3317 9953 1341 1341 3318 9954 1338 1338 3318 9955 1336 1336 3318 9956 1343 1343 3319 9957 1337 1337 3319 9958 1852 1852 3319 9959 1341 1341 3320 9960 1343 1343 3320 9961 1362 1362 3320 9962 1332 1332 3321 9963 1339 1339 3321 9964 526 526 3321 9965 1348 1348 3322 9966 1351 1351 3322 9967 1349 1349 3322 9968 1341 1341 3323 9969 1351 1351 3323 9970 1338 1338 3323 9971 1369 1369 3324 9972 1349 1349 3324 9973 1351 1351 3324 9974 1361 1361 3325 9975 1351 1351 3325 9976 1341 1341 3325 9977 1361 1361 3326 9978 1341 1341 3326 9979 1362 1362 3326 9980 1361 1361 3327 9981 1369 1369 3327 9982 1351 1351 3327 9983 1531 1531 3328 9984 634 634 3328 9985 1349 1349 3328 9986 1369 1369 3329 9987 1531 1531 3329 9988 1349 1349 3329 9989 1853 1853 3330 9990 1839 1839 3330 9991 1838 1838 3330 9992 1853 1853 3331 9993 1838 1838 3331 9994 1854 1854 3331 9995 1853 1853 3332 9996 1855 1855 3332 9997 1839 1839 3332 9998 1842 1842 3333 9999 1839 1839 3333 10000 1855 1855 3333 10001 1856 1856 3334 10002 1846 1846 3334 10003 1323 1323 3334 10004 1857 1857 3335 10005 1846 1846 3335 10006 1856 1856 3335 10007 1854 1854 3336 10008 1838 1838 3336 10009 1837 1837 3336 10010 1855 1855 3337 10011 1853 1853 3337 10012 1858 1858 3337 10013 1858 1858 3338 10014 1853 1853 3338 10015 1854 1854 3338 10016 1854 1854 3339 10017 1837 1837 3339 10018 1846 1846 3339 10019 1859 1859 3340 10020 1854 1854 3340 10021 1846 1846 3340 10022 1858 1858 3341 10023 1854 1854 3341 10024 1859 1859 3341 10025 1846 1846 3342 10026 1857 1857 3342 10027 1859 1859 3342 10028 1860 1860 3343 10029 1324 1324 3343 10030 1219 1219 3343 10031 1240 1240 3344 10032 1860 1860 3344 10033 1219 1219 3344 10034 1856 1856 3345 10035 1323 1323 3345 10036 1324 1324 3345 10037 1860 1860 3346 10038 1856 1856 3346 10039 1324 1324 3346 10040 1861 1861 3347 10041 1860 1860 3347 10042 1240 1240 3347 10043 1857 1857 3348 10044 1856 1856 3348 10045 1860 1860 3348 10046 1862 1862 3349 10047 1859 1859 3349 10048 1857 1857 3349 10049 1863 1863 3350 10050 1858 1858 3350 10051 1859 1859 3350 10052 1859 1859 3351 10053 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5809 17427 2923 2923 5809 17428 3115 3115 5809 17429 3115 3115 5810 17430 2923 2923 5810 17431 3117 3117 5810 17432 3118 3118 5811 17433 3116 3116 5811 17434 2903 2903 5811 17435 3119 3119 5812 17436 3118 3118 5812 17437 2903 2903 5812 17438 3115 3115 5813 17439 3120 3120 5813 17440 3121 3121 5813 17441 3122 3122 5814 17442 3123 3123 5814 17443 3124 3124 5814 17444 3117 3117 5815 17445 3120 3120 5815 17446 3115 3115 5815 17447 3125 3125 5816 17448 3126 3126 5816 17449 3127 3127 5816 17450 3127 3127 5817 17451 3128 3128 5817 17452 3125 3125 5817 17453 3119 3119 5818 17454 3129 3129 5818 17455 3118 3118 5818 17456 3128 3128 5819 17457 3130 3130 5819 17458 3123 3123 5819 17459 2924 2924 5820 17460 3117 3117 5820 17461 3131 3131 5820 17462 3117 3117 5821 17463 2923 2923 5821 17464 3131 3131 5821 17465 2923 2923 5822 17466 2922 2922 5822 17467 3131 3131 5822 17468 2922 2922 5823 17469 2924 2924 5823 17470 3131 3131 5823 17471 2922 2922 5824 17472 2910 2910 5824 17473 2924 2924 5824 17474 3128 3128 5825 17475 3127 3127 5825 17476 3130 3130 5825 17477 3117 3117 5826 17478 2924 2924 5826 17479 2914 2914 5826 17480 3132 3132 5827 17481 3128 3128 5827 17482 3123 3123 5827 17483 3133 3133 5828 17484 3128 3128 5828 17485 3132 3132 5828 17486 3126 3126 5829 17487 3117 3117 5829 17488 2914 2914 5829 17489 3119 3119 5830 17490 3134 3134 5830 17491 3135 3135 5830 17492 3136 3136 5831 17493 2915 2915 5831 17494 2916 2916 5831 17495 3122 3122 5832 17496 3132 3132 5832 17497 3123 3123 5832 17498 3122 3122 5833 17499 3137 3137 5833 17500 3132 3132 5833 17501 3138 3138 5834 17502 3120 3120 5834 17503 3117 3117 5834 17504 3139 3139 5835 17505 3133 3133 5835 17506 3132 3132 5835 17507 3120 3120 5836 17508 3138 3138 5836 17509 3121 3121 5836 17510 3139 3139 5837 17511 3140 3140 5837 17512 3133 3133 5837 17513 3141 3141 5838 17514 3140 3140 5838 17515 3139 3139 5838 17516 3139 3139 5839 17517 3132 3132 5839 17518 3137 3137 5839 17519 3137 3137 5840 17520 3122 3122 5840 17521 3142 3142 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5904 17712 3124 3124 5904 17713 3164 3164 5904 17714 3173 3173 5905 17715 2936 2936 5905 17716 3174 3174 5905 17717 3164 3164 5906 17718 3170 3170 5906 17719 3122 3122 5906 17720 3174 3174 5907 17721 2936 2936 5907 17722 2937 2937 5907 17723 3174 3174 5908 17724 3175 3175 5908 17725 3173 3173 5908 17726 3176 3176 5909 17727 3177 3177 5909 17728 2971 2971 5909 17729 2971 2971 5910 17730 3177 3177 5910 17731 3109 3109 5910 17732 3167 3167 5911 17733 2974 2974 5911 17734 3178 3178 5911 17735 2952 2952 5912 17736 2954 2954 5912 17737 2859 2859 5912 17738 3173 3173 5913 17739 2954 2954 5913 17740 2952 2952 5913 17741 3173 3173 5914 17742 2952 2952 5914 17743 2936 2936 5914 17744 3179 3179 5915 17745 3180 3180 5915 17746 3181 3181 5915 17747 3179 3179 5916 17748 3181 3181 5916 17749 3182 3182 5916 17750 3183 3183 5917 17751 3176 3176 5917 17752 3184 3184 5917 17753 2811 2811 5918 17754 2954 2954 5918 17755 2911 2911 5918 17756 3185 3185 5919 17757 3179 3179 5919 17758 3182 3182 5919 17759 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true +make_instanceable: true +mass_props: + mass: 0.025 + density: null +rigid_props: + rigid_body_enabled: null + kinematic_enabled: null + disable_gravity: null + linear_damping: null + angular_damping: null + max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: null + max_contact_impulse: null + enable_gyroscopic_forces: null + retain_accelerations: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null +collision_props: + collision_enabled: true + contact_offset: null + rest_offset: null + torsional_patch_radius: null + min_torsional_patch_radius: null +mesh_collision_props: + usd_func: pxr.UsdPhysics:MeshCollisionAPI + physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI + mesh_approximation_name: convexDecomposition + hull_vertex_limit: null + max_convex_hulls: null + min_thickness: null + voxel_resolution: null + error_percentage: null + shrink_wrap: 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2977 5450 16351 3103 3103 5450 16352 3246 3246 5451 16353 3195 3195 5451 16354 3248 3248 5451 16355 3248 3248 5452 16356 3196 3196 5452 16357 3249 3249 5452 16358 780 780 5453 16359 3153 3153 5453 16360 3246 3246 5453 16361 780 780 5454 16362 3246 3246 5454 16363 3248 3248 5454 16364 3250 3250 5455 16365 780 780 5455 16366 3248 3248 5455 16367 1935 1935 5456 16368 3188 3188 5456 16369 3148 3148 5456 16370 3155 3155 5457 16371 3208 3208 5457 16372 3162 3162 5457 16373 3149 3149 5458 16374 3251 3251 5458 16375 3158 3158 5458 16376 3207 3207 5459 16377 3162 3162 5459 16378 3208 3208 5459 16379 3252 3252 5460 16380 3207 3207 5460 16381 3208 3208 5460 16382 3252 3252 5461 16383 3198 3198 5461 16384 3207 3207 5461 16385 3252 3252 5462 16386 3208 3208 5462 16387 3213 3213 5462 16388 3194 3194 5463 16389 3176 3176 5463 16390 3253 3253 5463 16391 3251 3251 5464 16392 3157 3157 5464 16393 3254 3254 5464 16394 3225 3225 5465 16395 3242 3242 5465 16396 3219 3219 5465 16397 3249 3249 5466 16398 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3223 5482 16447 3238 3238 5482 16448 3260 3260 5483 16449 3255 3255 5483 16450 3157 3157 5483 16451 3261 3261 5484 16452 3238 3238 5484 16453 3256 3256 5484 16454 3255 3255 5485 16455 3262 3262 5485 16456 3257 3257 5485 16457 3227 3227 5486 16458 3256 3256 5486 16459 3238 3238 5486 16460 3263 3263 5487 16461 3240 3240 5487 16462 3264 3264 5487 16463 3265 3265 5488 16464 3243 3243 5488 16465 3242 3242 5488 16466 3157 3157 5489 16467 3251 3251 5489 16468 3149 3149 5489 16469 3248 3248 5490 16470 3249 3249 5490 16471 3250 3250 5490 16472 57 57 5491 16473 38 38 5491 16474 37 37 5491 16475 3249 3249 5492 16476 3261 3261 5492 16477 3250 3250 5492 16478 3256 3256 5493 16479 3250 3250 5493 16480 3261 3261 5493 16481 3223 3223 5494 16482 3198 3198 5494 16483 3252 3252 5494 16484 3224 3224 5495 16485 3240 3240 5495 16486 3173 3173 5495 16487 3213 3213 5496 16488 3238 3238 5496 16489 3223 3223 5496 16490 3252 3252 5497 16491 3213 3213 5497 16492 3223 3223 5497 16493 3258 3258 5498 16494 3158 3158 5498 16495 3251 3251 5498 16496 2978 2978 5499 16497 2977 2977 5499 16498 3243 3243 5499 16499 3266 3266 5500 16500 3070 3070 5500 16501 3267 3267 5500 16502 3266 3266 5501 16503 3268 3268 5501 16504 3269 3269 5501 16505 3267 3267 5502 16506 3070 3070 5502 16507 3088 3088 5502 16508 3270 3270 5503 16509 3271 3271 5503 16510 3174 3174 5503 16511 3272 3272 5504 16512 3271 3271 5504 16513 3270 3270 5504 16514 3229 3229 5505 16515 3222 3222 5505 16516 3273 3273 5505 16517 3271 3271 5506 16518 3272 3272 5506 16519 3274 3274 5506 16520 3274 3274 5507 16521 3272 3272 5507 16522 3275 3275 5507 16523 3267 3267 5508 16524 3098 3098 5508 16525 3276 3276 5508 16526 3276 3276 5509 16527 3277 3277 5509 16528 3267 3267 5509 16529 3267 3267 5510 16530 3088 3088 5510 16531 3098 3098 5510 16532 3268 3268 5511 16533 3266 3266 5511 16534 3267 3267 5511 16535 3277 3277 5512 16536 3268 3268 5512 16537 3267 3267 5512 16538 3177 3177 5513 16539 3270 3270 5513 16540 3174 3174 5513 16541 3068 3068 5514 16542 3091 3091 5514 16543 3234 3234 5514 16544 3212 3212 5515 16545 3278 3278 5515 16546 3224 3224 5515 16547 3279 3279 5516 16548 3270 3270 5516 16549 3280 3280 5516 16550 3269 3269 5517 16551 3234 3234 5517 16552 3091 3091 5517 16553 3279 3279 5518 16554 3272 3272 5518 16555 3270 3270 5518 16556 3279 3279 5519 16557 3275 3275 5519 16558 3272 3272 5519 16559 3247 3247 5520 16560 3130 3130 5520 16561 3158 3158 5520 16562 3281 3281 5521 16563 3275 3275 5521 16564 3279 3279 5521 16565 3274 3274 5522 16566 3275 3275 5522 16567 3281 3281 5522 16568 3264 3264 5523 16569 3224 3224 5523 16570 3282 3282 5523 16571 3283 3283 5524 16572 3274 3274 5524 16573 3284 3284 5524 16574 3224 3224 5525 16575 3278 3278 5525 16576 3282 3282 5525 16577 3266 3266 5526 16578 3091 3091 5526 16579 3070 3070 5526 16580 3284 3284 5527 16581 3274 3274 5527 16582 3281 3281 5527 16583 3281 3281 5528 16584 3285 3285 5528 16585 3284 3284 5528 16586 3268 3268 5529 16587 3286 3286 5529 16588 3287 3287 5529 16589 1425 1425 5530 16590 3055 3055 5530 16591 3057 3057 5530 16592 3288 3288 5531 16593 3289 3289 5531 16594 3284 3284 5531 16595 3179 3179 5532 16596 3290 3290 5532 16597 3177 3177 5532 16598 3291 3291 5533 16599 3280 3280 5533 16600 3177 3177 5533 16601 3291 3291 5534 16602 3177 3177 5534 16603 3290 3290 5534 16604 1307 1307 5535 16605 3234 3234 5535 16606 1445 1445 5535 16607 3292 3292 5536 16608 3254 3254 5536 16609 3257 3257 5536 16610 3293 3293 5537 16611 3294 3294 5537 16612 3291 3291 5537 16613 3287 3287 5538 16614 3286 3286 5538 16615 1431 1431 5538 16616 3280 3280 5539 16617 3270 3270 5539 16618 3177 3177 5539 16619 3101 3101 5540 16620 1431 1431 5540 16621 3286 3286 5540 16622 3264 3264 5541 16623 3240 3240 5541 16624 3224 3224 5541 16625 3101 3101 5542 16626 1460 1460 5542 16627 1431 1431 5542 16628 1460 1460 5543 16629 1429 1429 5543 16630 1431 1431 5543 16631 3254 3254 5544 16632 3295 3295 5544 16633 3258 3258 5544 16634 3296 3296 5545 16635 3258 3258 5545 16636 3295 3295 5545 16637 3297 3297 5546 16638 3273 3273 5546 16639 3222 3222 5546 16640 1454 1454 5547 16641 3234 3234 5547 16642 3269 3269 5547 16643 3298 3298 5548 16644 3292 3292 5548 16645 3257 3257 5548 16646 3280 3280 5549 16647 3299 3299 5549 16648 3279 3279 5549 16649 3229 3229 5550 16650 3273 3273 5550 16651 3231 3231 5550 16652 3266 3266 5551 16653 3269 3269 5551 16654 3091 3091 5551 16655 3279 3279 5552 16656 3299 3299 5552 16657 3281 3281 5552 16658 3268 3268 5553 16659 1454 1454 5553 16660 3269 3269 5553 16661 1450 1450 5554 16662 1454 1454 5554 16663 3268 3268 5554 16664 3300 3300 5555 16665 3231 3231 5555 16666 3273 3273 5555 16667 3301 3301 5556 16668 3285 3285 5556 16669 3281 3281 5556 16670 3292 3292 5557 16671 3302 3302 5557 16672 3295 3295 5557 16673 3303 3303 5558 16674 3302 3302 5558 16675 3292 3292 5558 16676 1454 1454 5559 16677 1445 1445 5559 16678 3234 3234 5559 16679 3304 3304 5560 16680 2345 2345 5560 16681 1946 1946 5560 16682 3299 3299 5561 16683 3280 3280 5561 16684 3294 3294 5561 16685 3305 3305 5562 16686 3281 3281 5562 16687 3299 3299 5562 16688 3292 3292 5563 16689 3295 3295 5563 16690 3254 3254 5563 16691 3299 3299 5564 16692 3294 3294 5564 16693 3305 3305 5564 16694 1450 1450 5565 16695 3287 3287 5565 16696 1431 1431 5565 16697 3268 3268 5566 16698 3287 3287 5566 16699 1450 1450 5566 16700 3294 3294 5567 16701 3280 3280 5567 16702 3291 3291 5567 16703 1450 1450 5568 16704 1431 1431 5568 16705 1430 1430 5568 16706 3304 3304 5569 16707 3306 3306 5569 16708 2345 2345 5569 16709 3306 3306 5570 16710 2346 2346 5570 16711 2345 2345 5570 16712 3281 3281 5571 16713 3305 3305 5571 16714 3301 3301 5571 16715 3304 3304 5572 16716 3307 3307 5572 16717 3306 3306 5572 16718 3288 3288 5573 16719 3284 3284 5573 16720 3285 3285 5573 16721 1454 1454 5574 16722 1450 1450 5574 16723 1456 1456 5574 16724 2355 2355 5575 16725 1946 1946 5575 16726 3193 3193 5575 16727 3308 3308 5576 16728 3285 3285 5576 16729 3301 3301 5576 16730 3309 3309 5577 16731 3102 3102 5577 16732 3101 3101 5577 16733 3310 3310 5578 16734 3304 3304 5578 16735 1946 1946 5578 16736 3277 3277 5579 16737 3286 3286 5579 16738 3268 3268 5579 16739 3288 3288 5580 16740 3285 3285 5580 16741 3308 3308 5580 16742 3277 3277 5581 16743 3101 3101 5581 16744 3286 3286 5581 16745 3277 3277 5582 16746 3309 3309 5582 16747 3101 3101 5582 16748 2354 2354 5583 16749 3310 3310 5583 16750 1946 1946 5583 16751 3296 3296 5584 16752 3158 3158 5584 16753 3258 3258 5584 16754 3311 3311 5585 16755 3305 3305 5585 16756 3294 3294 5585 16757 3309 3309 5586 16758 3277 3277 5586 16759 3276 3276 5586 16760 3309 3309 5587 16761 3276 3276 5587 16762 1485 1485 5587 16763 3312 3312 5588 16764 3158 3158 5588 16765 3296 3296 5588 16766 3306 3306 5589 16767 1486 1486 5589 16768 2346 2346 5589 16769 3098 3098 5590 16770 3099 3099 5590 16771 3276 3276 5590 16772 3099 3099 5591 16773 1485 1485 5591 16774 3276 3276 5591 16775 3305 3305 5592 16776 3311 3311 5592 16777 3301 3301 5592 16778 3306 3306 5593 16779 1960 1960 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max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: null + max_contact_impulse: null + enable_gyroscopic_forces: null + retain_accelerations: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null +collision_props: + collision_enabled: true + contact_offset: null + rest_offset: null + torsional_patch_radius: null + min_torsional_patch_radius: null +mesh_collision_props: + usd_func: pxr.UsdPhysics:MeshCollisionAPI + physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI + mesh_approximation_name: convexDecomposition + hull_vertex_limit: null + max_convex_hulls: null + min_thickness: null + voxel_resolution: null + error_percentage: null + shrink_wrap: null +translation: !!python/tuple +- 0.0 +- 0.0 +- 0.0 +rotation: !!python/tuple +- 1.0 +- 0.0 +- 0.0 +- 0.0 +scale: !!python/tuple +- 1.0 +- 1.0 +- 1.0 +## +# Generated by MeshConverter on 2026-03-02 at 11:23:17. +## diff --git a/Objects/073-g_lego_duplo/google_16k/usd_decomposition_linux/.asset_hash b/Objects/073-g_lego_duplo/google_16k/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..cf30b851506beffd21f7f93414afcd5c6b4511f3 --- /dev/null +++ b/Objects/073-g_lego_duplo/google_16k/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +07742c2e9a868cd90b81bd0f574c81ad \ No newline at end of file diff --git a/Objects/073-g_lego_duplo/google_16k/usd_decomposition_linux/config.yaml b/Objects/073-g_lego_duplo/google_16k/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f63965f21cfe702ed0303e3f5e45f612809c1572 --- /dev/null +++ b/Objects/073-g_lego_duplo/google_16k/usd_decomposition_linux/config.yaml @@ -0,0 +1,56 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/073-g_lego_duplo/google_16k/textured.obj +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/073-g_lego_duplo/google_16k/usd_decomposition_linux +usd_file_name: textured.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.025 + density: null +rigid_props: + rigid_body_enabled: null + kinematic_enabled: null + disable_gravity: null + linear_damping: null + angular_damping: null + max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: null + max_contact_impulse: null + enable_gyroscopic_forces: null + retain_accelerations: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null +collision_props: + collision_enabled: true + contact_offset: null + rest_offset: null + torsional_patch_radius: null + min_torsional_patch_radius: null +mesh_collision_props: + usd_func: pxr.UsdPhysics:MeshCollisionAPI + physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI + mesh_approximation_name: 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0000000000000000000000000000000000000000..1a3994dd222036e333332000cf23deb2c561b632 --- /dev/null +++ b/Objects/073-g_lego_duplo/google_16k/usd_sdf_linux/config.yaml @@ -0,0 +1,54 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/073-g_lego_duplo/google_16k/textured.obj +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/073-g_lego_duplo/google_16k/usd_sdf_linux +usd_file_name: textured.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.025 + density: null +rigid_props: + rigid_body_enabled: null + kinematic_enabled: null + disable_gravity: null + linear_damping: null + angular_damping: null + max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: null + max_contact_impulse: null + enable_gyroscopic_forces: null + retain_accelerations: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null +collision_props: + collision_enabled: true + contact_offset: null + rest_offset: null + torsional_patch_radius: null + min_torsional_patch_radius: null +mesh_collision_props: + usd_func: {} + physx_func: pxr.PhysxSchema:PhysxSDFMeshCollisionAPI + mesh_approximation_name: sdf + sdf_margin: null + sdf_narrow_band_thickness: null + sdf_resolution: null + sdf_subgrid_resolution: null +translation: !!python/tuple +- 0.0 +- 0.0 +- 0.0 +rotation: !!python/tuple +- 1.0 +- 0.0 +- 0.0 +- 0.0 +scale: !!python/tuple +- 1.0 +- 1.0 +- 1.0 +## +# Generated by MeshConverter on 2026-04-21 at 18:10:58. +## diff --git a/Objects/082_bucket/01_bucket/01/bounding_box.json b/Objects/082_bucket/01_bucket/01/bounding_box.json new file mode 100644 index 0000000000000000000000000000000000000000..d346f5f4b082eefdc4477d135b85bb4738627733 --- /dev/null +++ b/Objects/082_bucket/01_bucket/01/bounding_box.json @@ -0,0 +1 @@ +{"min": [-0.544077, -0.464955, -0.521212], "max": [0.503939, 0.886999, 0.510524]} \ No newline at end of file diff --git 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a/Objects/082_bucket/01_bucket/01/usd/config.yaml b/Objects/082_bucket/01_bucket/01/usd/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a8f1d31f0e8782f136cb56650c4463ac59e31045 --- /dev/null +++ b/Objects/082_bucket/01_bucket/01/usd/config.yaml @@ -0,0 +1,23 @@ +asset_path: E:\phd\research\dex\ActiveDex2Bench\ycb_spaien\082_bucket\01_bucket\01\usd\.isaaclab_urdf_sanitize_25608\01\mobility_sanitized.urdf +usd_dir: E:\phd\research\dex\ActiveDex2Bench\ycb_spaien\082_bucket\01_bucket\01\usd +usd_file_name: mobility.usd +force_usd_conversion: true +make_instanceable: true +fix_base: false +root_link_name: null +link_density: 0.0 +merge_fixed_joints: true +convert_mimic_joints_to_normal_joints: false +joint_drive: + drive_type: force + target_type: position + gains: + stiffness: 100.0 + damping: 1.0 +collider_type: convex_hull +self_collision: false +replace_cylinders_with_capsules: false +collision_from_visuals: false +## +# Generated by UrdfConverter on 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a/Objects/099_kitchenpot/01_kitchenpot/01/usd_decomposition_linux/.asset_hash b/Objects/099_kitchenpot/01_kitchenpot/01/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..7c538f183159cf2ddadbe4f157419ac8743ffa41 --- /dev/null +++ b/Objects/099_kitchenpot/01_kitchenpot/01/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +2484980e54c81bf0385689c9fc042069 \ No newline at end of file diff --git a/Objects/099_kitchenpot/01_kitchenpot/01/usd_decomposition_linux/config.yaml b/Objects/099_kitchenpot/01_kitchenpot/01/usd_decomposition_linux/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8e59aec8df21b27401173118e99c65c3b41fc22b --- /dev/null +++ b/Objects/099_kitchenpot/01_kitchenpot/01/usd_decomposition_linux/config.yaml @@ -0,0 +1,23 @@ +asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/099_kitchenpot/01_kitchenpot/01/usd_decomposition_linux/.isaaclab_urdf_sanitize_699114/01/mobility_sanitized.urdf +usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/099_kitchenpot/01_kitchenpot/01/usd_decomposition_linux +usd_file_name: mobility.usd +force_usd_conversion: true +make_instanceable: false +fix_base: false +root_link_name: null +link_density: 0.0 +merge_fixed_joints: false +convert_mimic_joints_to_normal_joints: false +joint_drive: + drive_type: force + target_type: position + gains: + stiffness: 100.0 + damping: 1.0 +collider_type: convex_decomposition +self_collision: false +replace_cylinders_with_capsules: false +collision_from_visuals: false +## +# Generated by UrdfConverter on 2026-04-25 at 16:58:46. +## diff --git a/Objects/099_kitchenpot/01_kitchenpot/01/usd_decomposition_linux/configuration/mobility_physics.usd b/Objects/099_kitchenpot/01_kitchenpot/01/usd_decomposition_linux/configuration/mobility_physics.usd new file mode 100644 index 0000000000000000000000000000000000000000..5a1f8097ce74f96e8ee7e50a8383c764353af41f Binary files /dev/null and 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b/Objects/099_kitchenpot/01_kitchenpot/01/usd_decomposition_linux/configuration/mobility_sensor.usd differ diff --git a/Objects/099_kitchenpot/01_kitchenpot/01/usd_decomposition_linux/mobility.usd b/Objects/099_kitchenpot/01_kitchenpot/01/usd_decomposition_linux/mobility.usd new file mode 100644 index 0000000000000000000000000000000000000000..04952f1ef42183351ebf8e45cc98eaf87e8ba455 Binary files /dev/null and b/Objects/099_kitchenpot/01_kitchenpot/01/usd_decomposition_linux/mobility.usd differ diff --git a/Objects/099_kitchenpot/01_kitchenpot/01/usd_sdf_linux/.asset_hash b/Objects/099_kitchenpot/01_kitchenpot/01/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..a2b706403b44b8d1f3eb1e59725e001e00f7fdeb --- /dev/null +++ b/Objects/099_kitchenpot/01_kitchenpot/01/usd_sdf_linux/.asset_hash @@ -0,0 +1 @@ +64eb61a1a3c3763b03f0aca923bd5970 \ No newline at end of file diff --git a/Objects/099_kitchenpot/01_kitchenpot/01/usd_sdf_linux/config.yaml 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UrdfConverter on 2026-04-21 at 18:13:04. +## diff --git a/Objects/099_kitchenpot/01_kitchenpot/01/usd_sdf_linux/configuration/mobility_physics.usd b/Objects/099_kitchenpot/01_kitchenpot/01/usd_sdf_linux/configuration/mobility_physics.usd new file mode 100644 index 0000000000000000000000000000000000000000..91e89aadea0679cc148d2f5362c0d040372a3cf7 Binary files /dev/null and b/Objects/099_kitchenpot/01_kitchenpot/01/usd_sdf_linux/configuration/mobility_physics.usd differ diff --git a/Objects/099_kitchenpot/01_kitchenpot/01/usd_sdf_linux/configuration/mobility_robot.usd b/Objects/099_kitchenpot/01_kitchenpot/01/usd_sdf_linux/configuration/mobility_robot.usd new file mode 100644 index 0000000000000000000000000000000000000000..30fef8c20d91d0d3bbc58fd61788873b85ac632a Binary files /dev/null and b/Objects/099_kitchenpot/01_kitchenpot/01/usd_sdf_linux/configuration/mobility_robot.usd differ diff --git a/Objects/099_kitchenpot/01_kitchenpot/01/usd_sdf_linux/configuration/mobility_sensor.usd 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[-0.494674, -0.722266, -0.552729], "max": [0.560486, 0.65041, 0.922432]} \ No newline at end of file diff --git a/Objects/113_safe/01_safe/01/meta.json b/Objects/113_safe/01_safe/01/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ae60ea813199750a8122b4f5c77bb263d2965d5a --- /dev/null +++ b/Objects/113_safe/01_safe/01/meta.json @@ -0,0 +1 @@ +{"user_id": "KeplerSN", "model_cat": "Safe", "model_id": "81870769-92a2-4bd0-887b-17eedd92a74b", "version": "1", "anno_id": "1605", "time_in_sec": "60"} \ No newline at end of file diff --git a/Objects/113_safe/01_safe/01/mobility.urdf b/Objects/113_safe/01_safe/01/mobility.urdf new file mode 100644 index 0000000000000000000000000000000000000000..0377b6065e6b115cccfe75d63ca87785a5ad9e8c --- /dev/null +++ b/Objects/113_safe/01_safe/01/mobility.urdf @@ -0,0 +1,148 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+[{"id":0,"parent":2,"joint":"hinge","name":"door","parts":[{"id":1,"name":"door"}],"jointData":{"axis":{"origin":[-0.36811388417845015,0.5543369999999999,0.223970844835233],"direction":[0,-0.9999999999999999,0]},"limit":{"a":-53.64,"b":104.76,"noLimit":false}}},{"id":1,"parent":0,"joint":"hinge","name":"knob","parts":[{"id":2,"name":"switch"}],"jointData":{"axis":{"origin":[0.2811879906619675,-0.027450766936155398,0.40308899835174045],"direction":[0.8201628013612267,0.000018756457952501192,-0.5721302115004072]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":-1,"joint":"heavy","name":"base_body","parts":[{"id":3,"name":"base_body"}],"jointData":{}}] \ No newline at end of file diff --git a/Objects/113_safe/01_safe/01/result.json b/Objects/113_safe/01_safe/01/result.json new file mode 100644 index 0000000000000000000000000000000000000000..2dde04e2086df2af48982df15783364b75636e2b --- /dev/null +++ b/Objects/113_safe/01_safe/01/result.json @@ -0,0 +1 @@ +[{"text": "Safe", "name": "Safe", "id": 0, "children": [{"text": "door", "name": "door", "id": 1, "objs": ["original-6", "original-1", "original-2"]}, {"text": "switch", "name": "switch", "id": 2, "objs": ["original-9", "original-8"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-4", "original-5", "original-11", "original-12", "original-10"]}]}] \ No newline at end of file diff --git a/Objects/113_safe/01_safe/01/result_original.json b/Objects/113_safe/01_safe/01/result_original.json new file mode 100644 index 0000000000000000000000000000000000000000..efa4d1ae9762df265d02321fd2b54b81c5546074 --- /dev/null +++ b/Objects/113_safe/01_safe/01/result_original.json @@ -0,0 +1 @@ +[{"id": 0, "name": "Safe", "text": "Safe", "children": [{"id": 1, "name": "door", "text": "door", "objs": ["original-6", "original-1", "original-2"]}, {"id": 2, "name": "switch", "text": "switch", "objs": ["original-9", "original-8"]}]}] \ No newline at end of file diff --git a/Objects/113_safe/01_safe/01/semantics.txt b/Objects/113_safe/01_safe/01/semantics.txt new file mode 100644 index 0000000000000000000000000000000000000000..279944eb969d9f30f9b74820c5e1c89ddba0056f --- /dev/null +++ b/Objects/113_safe/01_safe/01/semantics.txt @@ -0,0 +1,3 @@ +link_0 hinge door +link_1 hinge knob +link_2 heavy safe_body diff --git a/Objects/113_safe/01_safe/01/textured_objs/original-1.mtl b/Objects/113_safe/01_safe/01/textured_objs/original-1.mtl new file mode 100644 index 0000000000000000000000000000000000000000..f1e329c161ff16cb79c90a256d348f79034975bb --- /dev/null +++ b/Objects/113_safe/01_safe/01/textured_objs/original-1.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/Objects/113_safe/01_safe/01/textured_objs/original-1.obj b/Objects/113_safe/01_safe/01/textured_objs/original-1.obj new file mode 100644 index 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pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI + mesh_approximation_name: convexDecomposition + hull_vertex_limit: null + max_convex_hulls: null + min_thickness: null + voxel_resolution: null + error_percentage: null + shrink_wrap: null +translation: !!python/tuple +- 0.0 +- 0.0 +- 0.0 +rotation: !!python/tuple +- 1.0 +- 0.0 +- 0.0 +- 0.0 +scale: !!python/tuple +- 1.0 +- 1.0 +- 1.0 +## +# Generated by MeshConverter on 2026-03-05 at 02:07:11. +## diff --git a/Objects/164_small-speaker/usd_decomposition_linux/.asset_hash b/Objects/164_small-speaker/usd_decomposition_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..7716af2b385255a9e0aa845142db6593401edf2d --- /dev/null +++ b/Objects/164_small-speaker/usd_decomposition_linux/.asset_hash @@ -0,0 +1 @@ +5aae5970bc03d342911d62e9867aae1a \ No newline at end of file diff --git a/Objects/164_small-speaker/usd_decomposition_linux/config.yaml 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stabilization_threshold: null +collision_props: + collision_enabled: true + contact_offset: null + rest_offset: null + torsional_patch_radius: null + min_torsional_patch_radius: null +mesh_collision_props: + usd_func: pxr.UsdPhysics:MeshCollisionAPI + physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI + mesh_approximation_name: convexDecomposition + hull_vertex_limit: null + max_convex_hulls: null + min_thickness: null + voxel_resolution: null + error_percentage: null + shrink_wrap: null +translation: !!python/tuple +- 0.0 +- 0.0 +- 0.0 +rotation: !!python/tuple +- 1.0 +- 0.0 +- 0.0 +- 0.0 +scale: !!python/tuple +- 1.0 +- 1.0 +- 1.0 +## +# Generated by MeshConverter on 2026-04-25 at 16:51:44. +## diff --git a/Objects/164_small-speaker/usd_sdf_linux/.asset_hash b/Objects/164_small-speaker/usd_sdf_linux/.asset_hash new file mode 100644 index 0000000000000000000000000000000000000000..cb5dfe5e02c46e2d3dd16b03b2b1415f49da8d86 --- /dev/null +++ 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dispenser.", + "obj": [ + "original-1" + ] + } + ], + "group_info": { + "1": [ + [ + 0, + 1 + ], + "0", + [ + 0.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.3183098861837907 + ], + "C" + ], + "0": [ + 2 + ] + } +} \ No newline at end of file diff --git a/Objects/302_soap_dispenser/01_soap_dispenser/01/textured_objs/original-1.mtl b/Objects/302_soap_dispenser/01_soap_dispenser/01/textured_objs/original-1.mtl new file mode 100644 index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860 --- /dev/null +++ b/Objects/302_soap_dispenser/01_soap_dispenser/01/textured_objs/original-1.mtl @@ -0,0 +1,8 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 +map_Kd ../images/texture_0.jpg + diff --git a/Objects/302_soap_dispenser/01_soap_dispenser/01/textured_objs/original-1.obj b/Objects/302_soap_dispenser/01_soap_dispenser/01/textured_objs/original-1.obj new file mode 100644 index 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new file mode 100644 index 0000000000000000000000000000000000000000..5a82016ddaf3c8012c5e8a3d08f95609f144932d --- /dev/null +++ b/Objects/317_laptop/01_laptop/01/textured_objs/original-24.obj.convex.stl @@ -0,0 +1,130 @@ +solid AssimpScene + facet normal 0 0 0 + outer loop + vertex 0.413632005 0.448854029 -0.685892999 + vertex 0.413632005 0.45095402 -0.68799299 + vertex 0.419369012 0.459903002 -0.696941972 + endloop + endfacet + + facet normal 0 0 0 + outer loop + vertex 0.413632005 0.448854029 -0.685892999 + vertex 0.419369012 0.459903002 -0.696941972 + vertex 0.424055994 0.459903002 -0.696941972 + endloop + endfacet + + facet normal 0 0 0 + outer loop + vertex 0.413632005 0.448854029 -0.685892999 + vertex 0.424055994 0.459903002 -0.696941972 + vertex 0.424055994 0.448854029 -0.685892999 + endloop + endfacet + + facet normal 0 0 0 + outer loop + vertex 0.424055994 0.463037044 -0.693806946 + vertex 0.424055994 0.451989025 -0.682758987 + vertex 0.424055994 0.448854029 -0.685892999 + 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2026-06-06 at 16:10:17. +## diff --git a/Objects/317_laptop/01_laptop/01/usd_decomposition_linux/configuration/mobility_physics.usd b/Objects/317_laptop/01_laptop/01/usd_decomposition_linux/configuration/mobility_physics.usd new file mode 100644 index 0000000000000000000000000000000000000000..7ce39cea7410a2187d445141e51570de57dd11bc Binary files /dev/null and b/Objects/317_laptop/01_laptop/01/usd_decomposition_linux/configuration/mobility_physics.usd differ diff --git a/Objects/317_laptop/01_laptop/01/usd_decomposition_linux/configuration/mobility_robot.usd b/Objects/317_laptop/01_laptop/01/usd_decomposition_linux/configuration/mobility_robot.usd new file mode 100644 index 0000000000000000000000000000000000000000..6595699f0bb4099d32c8d21de2eed93f5b652b45 Binary files /dev/null and b/Objects/317_laptop/01_laptop/01/usd_decomposition_linux/configuration/mobility_robot.usd differ diff --git a/Objects/317_laptop/01_laptop/01/usd_decomposition_linux/configuration/mobility_sensor.usd 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"source": "PhysX_mobility", + "source_id": "101612", + "task_object_number": 323, + "usd_collision_approximation": "convex_decomposition" +} diff --git a/Objects/323_safe/01_safe/01/mobility.urdf b/Objects/323_safe/01_safe/01/mobility.urdf new file mode 100644 index 0000000000000000000000000000000000000000..2c097415c677598f72b4a5752968fd07a32a5ae5 --- /dev/null +++ b/Objects/323_safe/01_safe/01/mobility.urdf @@ -0,0 +1,214 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/Objects/323_safe/01_safe/01/mobility_v2.json b/Objects/323_safe/01_safe/01/mobility_v2.json new file 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rotates or turns to actuate the lock and can be pulled to open the door.", + "obj": [ + "original-11", + "original-15" + ] + }, + { + "label": 3, + "name": "Base Body", + "material": "Steel", + "density": "7.85 g/cm^3", + "Young's Modulus (GPa)": 200.0, + "Poisson's Ratio": 0.3, + "priority_rank": 4, + "Basic_description": "The base body is the main steel enclosure forming the structure of the safe.", + "Functional_description": "It provides the structural integrity and protection for the contents, supporting the door and lock assembly.", + "Movement_description": "It remains stationary and does not move during operation.", + "obj": [ + "original-3", + "original-2", + "original-8", + "original-9", + "original-5", + "original-6", + "original-7", + "original-1", + "original-14" + ] + } + ], + "group_info": { + "0": [ + 3 + ], + "1": [ + [ + 0 + ], + "0", + [ + 0.0, + -1.0, + 0.0, + -0.455246, + 0.0, + 0.5473470114575845, + 0.0, + 1.0 + ], + "C" + ], + "2": [ + [ + 1 + ], + "1", + [ + 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13/1/1 14/1/1 15/1/1 +f 16/1/2 17/1/2 18/1/2 +f 19/1/1 20/1/1 21/1/1 +f 22/1/2 23/1/2 24/1/2 diff --git a/Objects/323_safe/01_safe/01/textured_objs/original-6.obj.convex.stl b/Objects/323_safe/01_safe/01/textured_objs/original-6.obj.convex.stl new file mode 100644 index 0000000000000000000000000000000000000000..fe187639f425cd9a0269372d7b64adbbdb8f5a15 --- /dev/null +++ b/Objects/323_safe/01_safe/01/textured_objs/original-6.obj.convex.stl @@ -0,0 +1,98 @@ +solid AssimpScene + facet normal 0 0 0 + outer loop + vertex 0.546329975 -0.555811286 0.547345996 + vertex 0.546329975 -0.555811286 0.436060011 + vertex 0.546329975 -0.544682741 0.436060011 + endloop + endfacet + + facet normal 0 0 0 + outer loop + vertex 0.546329975 -0.555811286 0.547345996 + vertex 0.546329975 -0.544682741 0.436060011 + vertex 0.546329975 -0.544682741 0.547345996 + endloop + endfacet + + facet normal 0 0 0 + outer loop + vertex 0.435043991 -0.555811286 0.547345996 + vertex 0.435043991 -0.555811286 0.436060011 + 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index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a --- /dev/null +++ b/Objects/323_safe/01_safe/01/textured_objs/original-7.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/Objects/323_safe/01_safe/01/textured_objs/original-7.obj b/Objects/323_safe/01_safe/01/textured_objs/original-7.obj new file mode 100644 index 0000000000000000000000000000000000000000..f4f1f317b5ccb069214ab4dc83536f34b7a47893 --- /dev/null +++ b/Objects/323_safe/01_safe/01/textured_objs/original-7.obj @@ -0,0 +1,40 @@ +# SSTK version 0.8.0 +# 7 +mtllib original-7.mtl +o 3dw.976cf96169945398af7f76800034f73/Model/Safe1/Safe/mesh1/mesh1-geometry/material_1/component_1#mesh1-geometry +v 0.535202 -0.550247 -0.554388 +v 0.435044 -0.550247 -0.565517 +v 0.435044 -0.550247 -0.554388 +v 0.435044 -0.550247 -0.554388 +v 0.435044 -0.550247 -0.565517 +v 0.535202 -0.550247 -0.554388 +v 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0000000000000000000000000000000000000000..ac6adb8133b0dc842e69961c2923a3a3541090ed --- /dev/null +++ b/Objects/323_safe/01_safe/01/textured_objs/original-7.obj.convex.stl @@ -0,0 +1,98 @@ +solid AssimpScene + facet normal 0 0 0 + outer loop + vertex 0.435043991 -0.544682741 -0.565517008 + vertex 0.546329975 -0.544682741 -0.565517008 + vertex 0.546329975 -0.555811286 -0.565517008 + endloop + endfacet + + facet normal 0 0 0 + outer loop + vertex 0.435043991 -0.544682741 -0.565517008 + vertex 0.546329975 -0.555811286 -0.565517008 + vertex 0.435043991 -0.555811286 -0.565517008 + endloop + endfacet + + facet normal 0 0 0 + outer loop + vertex 0.435043991 -0.544682741 -0.454230964 + vertex 0.546329975 -0.544682741 -0.454230964 + vertex 0.546329975 -0.544682741 -0.565517008 + endloop + endfacet + + facet normal 0 0 0 + outer loop + vertex 0.435043991 -0.544682741 -0.454230964 + vertex 0.546329975 -0.544682741 -0.565517008 + vertex 0.435043991 -0.544682741 -0.565517008 + endloop + endfacet + + 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/home/ubuntu/jiangchenyu/Bench2Dex/Objects/346_hangers_shirt/01_hangers_shirt/01/346_hangers_shirt_unit05.glb +usd_dir: /home/ubuntu/jiangchenyu/Bench2Dex/Objects/346_hangers_shirt/01_hangers_shirt/01/usd_decomposition_linux +usd_file_name: 346_hangers_shirt_unit05.usd +force_usd_conversion: true +make_instanceable: false +mass_props: + mass: 0.15 + density: null +rigid_props: + rigid_body_enabled: null + kinematic_enabled: null + disable_gravity: null + linear_damping: null + angular_damping: null + max_linear_velocity: null + max_angular_velocity: null + max_depenetration_velocity: null + max_contact_impulse: null + enable_gyroscopic_forces: null + retain_accelerations: null + solver_position_iteration_count: null + solver_velocity_iteration_count: null + sleep_threshold: null + stabilization_threshold: null +collision_props: + collision_enabled: true + contact_offset: null + rest_offset: null + torsional_patch_radius: null + min_torsional_patch_radius: null +mesh_collision_props: + 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