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usd_func: pxr.UsdPhysics:MeshCollisionAPI
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##
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##
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asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/029_plate/textured.obj
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usd_func: {}
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##
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##
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| 1 |
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| 2 |
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+
<origin xyz="0 0 0"/>
|
| 516 |
+
<geometry>
|
| 517 |
+
<mesh filename="textured_objs/original-51.obj"/>
|
| 518 |
+
</geometry>
|
| 519 |
+
</visual>
|
| 520 |
+
<visual name="control_button-10">
|
| 521 |
+
<origin xyz="0 0 0"/>
|
| 522 |
+
<geometry>
|
| 523 |
+
<mesh filename="textured_objs/original-50.obj"/>
|
| 524 |
+
</geometry>
|
| 525 |
+
</visual>
|
| 526 |
+
<visual name="control_button-11">
|
| 527 |
+
<origin xyz="0 0 0"/>
|
| 528 |
+
<geometry>
|
| 529 |
+
<mesh filename="textured_objs/original-49.obj"/>
|
| 530 |
+
</geometry>
|
| 531 |
+
</visual>
|
| 532 |
+
<visual name="control_button-12">
|
| 533 |
+
<origin xyz="0 0 0"/>
|
| 534 |
+
<geometry>
|
| 535 |
+
<mesh filename="textured_objs/original-48.obj"/>
|
| 536 |
+
</geometry>
|
| 537 |
+
</visual>
|
| 538 |
+
<visual name="control_button-13">
|
| 539 |
+
<origin xyz="0 0 0"/>
|
| 540 |
+
<geometry>
|
| 541 |
+
<mesh filename="textured_objs/original-47.obj"/>
|
| 542 |
+
</geometry>
|
| 543 |
+
</visual>
|
| 544 |
+
<visual name="control_button-14">
|
| 545 |
+
<origin xyz="0 0 0"/>
|
| 546 |
+
<geometry>
|
| 547 |
+
<mesh filename="textured_objs/original-46.obj"/>
|
| 548 |
+
</geometry>
|
| 549 |
+
</visual>
|
| 550 |
+
<visual name="other_leaf-16">
|
| 551 |
+
<origin xyz="0 0 0"/>
|
| 552 |
+
<geometry>
|
| 553 |
+
<mesh filename="textured_objs/original-56.obj"/>
|
| 554 |
+
</geometry>
|
| 555 |
+
</visual>
|
| 556 |
+
<visual name="other_leaf-16">
|
| 557 |
+
<origin xyz="0 0 0"/>
|
| 558 |
+
<geometry>
|
| 559 |
+
<mesh filename="textured_objs/original-58.obj"/>
|
| 560 |
+
</geometry>
|
| 561 |
+
</visual>
|
| 562 |
+
<visual name="other_leaf-16">
|
| 563 |
+
<origin xyz="0 0 0"/>
|
| 564 |
+
<geometry>
|
| 565 |
+
<mesh filename="textured_objs/original-57.obj"/>
|
| 566 |
+
</geometry>
|
| 567 |
+
</visual>
|
| 568 |
+
<visual name="other_leaf-16">
|
| 569 |
+
<origin xyz="0 0 0"/>
|
| 570 |
+
<geometry>
|
| 571 |
+
<mesh filename="textured_objs/original-59.obj"/>
|
| 572 |
+
</geometry>
|
| 573 |
+
</visual>
|
| 574 |
+
<collision>
|
| 575 |
+
<origin xyz="0 0 0"/>
|
| 576 |
+
<geometry>
|
| 577 |
+
<mesh filename="textured_objs/original-6.obj"/>
|
| 578 |
+
</geometry>
|
| 579 |
+
</collision>
|
| 580 |
+
<collision>
|
| 581 |
+
<origin xyz="0 0 0"/>
|
| 582 |
+
<geometry>
|
| 583 |
+
<mesh filename="textured_objs/original-61.obj"/>
|
| 584 |
+
</geometry>
|
| 585 |
+
</collision>
|
| 586 |
+
<collision>
|
| 587 |
+
<origin xyz="0 0 0"/>
|
| 588 |
+
<geometry>
|
| 589 |
+
<mesh filename="textured_objs/original-60.obj"/>
|
| 590 |
+
</geometry>
|
| 591 |
+
</collision>
|
| 592 |
+
<collision>
|
| 593 |
+
<origin xyz="0 0 0"/>
|
| 594 |
+
<geometry>
|
| 595 |
+
<mesh filename="textured_objs/original-54.obj"/>
|
| 596 |
+
</geometry>
|
| 597 |
+
</collision>
|
| 598 |
+
<collision>
|
| 599 |
+
<origin xyz="0 0 0"/>
|
| 600 |
+
<geometry>
|
| 601 |
+
<mesh filename="textured_objs/original-53.obj"/>
|
| 602 |
+
</geometry>
|
| 603 |
+
</collision>
|
| 604 |
+
<collision>
|
| 605 |
+
<origin xyz="0 0 0"/>
|
| 606 |
+
<geometry>
|
| 607 |
+
<mesh filename="textured_objs/original-52.obj"/>
|
| 608 |
+
</geometry>
|
| 609 |
+
</collision>
|
| 610 |
+
<collision>
|
| 611 |
+
<origin xyz="0 0 0"/>
|
| 612 |
+
<geometry>
|
| 613 |
+
<mesh filename="textured_objs/original-51.obj"/>
|
| 614 |
+
</geometry>
|
| 615 |
+
</collision>
|
| 616 |
+
<collision>
|
| 617 |
+
<origin xyz="0 0 0"/>
|
| 618 |
+
<geometry>
|
| 619 |
+
<mesh filename="textured_objs/original-50.obj"/>
|
| 620 |
+
</geometry>
|
| 621 |
+
</collision>
|
| 622 |
+
<collision>
|
| 623 |
+
<origin xyz="0 0 0"/>
|
| 624 |
+
<geometry>
|
| 625 |
+
<mesh filename="textured_objs/original-49.obj"/>
|
| 626 |
+
</geometry>
|
| 627 |
+
</collision>
|
| 628 |
+
<collision>
|
| 629 |
+
<origin xyz="0 0 0"/>
|
| 630 |
+
<geometry>
|
| 631 |
+
<mesh filename="textured_objs/original-48.obj"/>
|
| 632 |
+
</geometry>
|
| 633 |
+
</collision>
|
| 634 |
+
<collision>
|
| 635 |
+
<origin xyz="0 0 0"/>
|
| 636 |
+
<geometry>
|
| 637 |
+
<mesh filename="textured_objs/original-47.obj"/>
|
| 638 |
+
</geometry>
|
| 639 |
+
</collision>
|
| 640 |
+
<collision>
|
| 641 |
+
<origin xyz="0 0 0"/>
|
| 642 |
+
<geometry>
|
| 643 |
+
<mesh filename="textured_objs/original-46.obj"/>
|
| 644 |
+
</geometry>
|
| 645 |
+
</collision>
|
| 646 |
+
<collision>
|
| 647 |
+
<origin xyz="0 0 0"/>
|
| 648 |
+
<geometry>
|
| 649 |
+
<mesh filename="textured_objs/original-56.obj"/>
|
| 650 |
+
</geometry>
|
| 651 |
+
</collision>
|
| 652 |
+
<collision>
|
| 653 |
+
<origin xyz="0 0 0"/>
|
| 654 |
+
<geometry>
|
| 655 |
+
<mesh filename="textured_objs/original-58.obj"/>
|
| 656 |
+
</geometry>
|
| 657 |
+
</collision>
|
| 658 |
+
<collision>
|
| 659 |
+
<origin xyz="0 0 0"/>
|
| 660 |
+
<geometry>
|
| 661 |
+
<mesh filename="textured_objs/original-57.obj"/>
|
| 662 |
+
</geometry>
|
| 663 |
+
</collision>
|
| 664 |
+
<collision>
|
| 665 |
+
<origin xyz="0 0 0"/>
|
| 666 |
+
<geometry>
|
| 667 |
+
<mesh filename="textured_objs/original-59.obj"/>
|
| 668 |
+
</geometry>
|
| 669 |
+
</collision>
|
| 670 |
+
</link>
|
| 671 |
+
<joint name="joint_2" type="fixed">
|
| 672 |
+
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
|
| 673 |
+
<child link="link_2"/>
|
| 674 |
+
<parent link="base"/>
|
| 675 |
+
</joint>
|
| 676 |
+
</robot>
|
Objects/104_microwave/01_microwave/01/mobility_v2.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id":0,"parent":2,"joint":"hinge","name":"door","parts":[{"id":17,"name":"glass","children":[]},{"id":18,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[-0.609389123473717,-0.3639250099658966,0.5162083004578528],"direction":[0,-1,0]},"limit":{"a":0,"b":90,"noLimit":false}}},{"id":1,"parent":2,"joint":"hinge","name":"body_interior","parts":[{"id":20,"name":"tray","children":[]},{"id":22,"name":"other_leaf","children":[]}],"jointData":{"axis":{"origin":[-0.06902066840980137,0.36055201292037964,0.06108543121933008],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":-1,"joint":"heavy","name":"frame","parts":[{"id":2,"name":"frame","children":[]},{"id":5,"name":"control_button","children":[]},{"id":6,"name":"control_button","children":[]},{"id":7,"name":"control_button","children":[]},{"id":8,"name":"control_button","children":[]},{"id":9,"name":"control_button","children":[]},{"id":10,"name":"control_button","children":[]},{"id":11,"name":"control_button","children":[]},{"id":12,"name":"control_button","children":[]},{"id":13,"name":"control_button","children":[]},{"id":14,"name":"control_button","children":[]},{"id":16,"name":"other_leaf","children":[]}],"jointData":{}}]
|
Objects/104_microwave/01_microwave/01/parts_render/0.png
ADDED
|
Git LFS Details
|
Objects/104_microwave/01_microwave/01/parts_render/0.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
0 microwave Microwave
|
Objects/104_microwave/01_microwave/01/parts_render/1.png
ADDED
|
Git LFS Details
|
Objects/104_microwave/01_microwave/01/parts_render/1.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
1 body Body
|
Objects/104_microwave/01_microwave/01/parts_render/10.png
ADDED
|
Git LFS Details
|
Objects/104_microwave/01_microwave/01/parts_render/10.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
10 control_button Control Button
|
Objects/104_microwave/01_microwave/01/parts_render/11.png
ADDED
|
Git LFS Details
|
Objects/104_microwave/01_microwave/01/parts_render/11.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
11 control_button Control Button
|
Objects/104_microwave/01_microwave/01/parts_render/12.png
ADDED
|
Git LFS Details
|
Objects/104_microwave/01_microwave/01/parts_render/12.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
12 control_button Control Button
|