Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
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- Objects/016_pear/texture_map.png +3 -0
- Objects/016_pear/textured.dae +0 -0
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- Objects/016_pear/textured.obj +0 -0
- Objects/016_pear/usd/.asset_hash +1 -0
- Objects/016_pear/usd/Props/instanceable_meshes.usd +3 -0
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- Objects/016_pear/usd_decomposition_linux/.asset_hash +1 -0
- Objects/016_pear/usd_decomposition_linux/config.yaml +56 -0
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- Objects/016_pear/usd_decomposition_linux/textures/texture_map.png +3 -0
- Objects/016_pear/usd_sdf_linux/.asset_hash +1 -0
- Objects/016_pear/usd_sdf_linux/config.yaml +54 -0
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- Objects/016_pear/usd_sdf_linux/textures/texture_map.png +3 -0
- Objects/086_clock/01_clock/01/bounding_box.json +1 -0
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- Objects/086_clock/01_clock/01/parts_render/4.txt +1 -0
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Objects/016_pear/kinbody.xml
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<KinBody name="pear">
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<Body type="static" name="pear">
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<Geom type="trimesh">
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<Render>textured.dae</Render>
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<Data>textured.dae</Data>
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</Geom>
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</Body>
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</KinBody>
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Objects/016_pear/nontextured.ply
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Objects/016_pear/nontextured.stl
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version https://git-lfs.github.com/spec/v1
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size 819284
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Objects/016_pear/texture_map.png
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Git LFS Details
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Objects/016_pear/textured.dae
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Objects/016_pear/textured.mtl
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newmtl material_0
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# shader_type beckmann
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map_Kd texture_map.png
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Objects/016_pear/textured.obj
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Objects/016_pear/usd/.asset_hash
ADDED
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1b87cfa1262ba737e272ee286d8963be
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Objects/016_pear/usd/Props/instanceable_meshes.usd
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Objects/016_pear/usd/config.yaml
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asset_path: E:\phd\research\dex\datasets\ycb_models\016_pear\google_16k\textured.obj
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usd_dir: E:\phd\research\dex\datasets\ycb_models\016_pear\google_16k\usd
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usd_file_name: textured.usd
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force_usd_conversion: true
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make_instanceable: true
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mass_props:
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mass: 0.18
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density: null
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rigid_props:
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rigid_body_enabled: null
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kinematic_enabled: null
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disable_gravity: null
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linear_damping: null
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angular_damping: null
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max_linear_velocity: null
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max_angular_velocity: null
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enable_gyroscopic_forces: null
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retain_accelerations: null
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solver_velocity_iteration_count: null
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sleep_threshold: null
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stabilization_threshold: null
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collision_props:
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collision_enabled: true
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contact_offset: null
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rest_offset: null
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torsional_patch_radius: null
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min_torsional_patch_radius: null
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mesh_collision_props:
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usd_func: pxr.UsdPhysics:MeshCollisionAPI
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physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI
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mesh_approximation_name: convexDecomposition
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hull_vertex_limit: null
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max_convex_hulls: null
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min_thickness: null
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voxel_resolution: null
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error_percentage: null
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shrink_wrap: null
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translation: !!python/tuple
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rotation: !!python/tuple
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scale: !!python/tuple
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##
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# Generated by MeshConverter on 2026-03-02 at 11:11:01.
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##
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Objects/016_pear/usd/textured.usd
ADDED
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version https://git-lfs.github.com/spec/v1
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oid sha256:2447386e62d67c8851b8ad03d3d5f8a0a40ee9431c332870277f467a0e54f496
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size 1153333
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Objects/016_pear/usd/textures/texture_map.png
ADDED
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Git LFS Details
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Objects/016_pear/usd_decomposition_linux/.asset_hash
ADDED
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95ff6abfe6ccc910c58b0f91c1d1fa13
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Objects/016_pear/usd_decomposition_linux/config.yaml
ADDED
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asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/016_pear/textured.obj
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usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/016_pear/usd_decomposition_linux
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usd_file_name: textured.usd
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force_usd_conversion: true
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make_instanceable: false
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mass_props:
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mass: 0.18
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density: null
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rigid_props:
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rigid_body_enabled: null
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kinematic_enabled: null
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disable_gravity: null
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linear_damping: null
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angular_damping: null
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max_linear_velocity: null
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max_angular_velocity: null
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max_depenetration_velocity: null
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max_contact_impulse: null
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enable_gyroscopic_forces: null
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retain_accelerations: null
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solver_position_iteration_count: null
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solver_velocity_iteration_count: null
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sleep_threshold: null
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stabilization_threshold: null
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collision_props:
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collision_enabled: true
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contact_offset: null
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rest_offset: null
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torsional_patch_radius: null
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min_torsional_patch_radius: null
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mesh_collision_props:
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usd_func: pxr.UsdPhysics:MeshCollisionAPI
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physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI
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mesh_approximation_name: convexDecomposition
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hull_vertex_limit: null
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max_convex_hulls: null
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min_thickness: null
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voxel_resolution: null
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error_percentage: null
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shrink_wrap: null
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translation: !!python/tuple
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- 0.0
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rotation: !!python/tuple
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scale: !!python/tuple
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##
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# Generated by MeshConverter on 2026-04-25 at 16:41:50.
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##
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Objects/016_pear/usd_decomposition_linux/textured.usd
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version https://git-lfs.github.com/spec/v1
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size 1154124
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Objects/016_pear/usd_decomposition_linux/textures/texture_map.png
ADDED
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Git LFS Details
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Objects/016_pear/usd_sdf_linux/.asset_hash
ADDED
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| 1 |
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5e28324445891d7f4c72edaf0c5a44a8
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Objects/016_pear/usd_sdf_linux/config.yaml
ADDED
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@@ -0,0 +1,54 @@
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asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/016_pear/textured.obj
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| 2 |
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usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/016_pear/usd_sdf_linux
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usd_file_name: textured.usd
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force_usd_conversion: true
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make_instanceable: false
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mass_props:
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mass: 0.18
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density: null
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rigid_props:
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kinematic_enabled: null
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disable_gravity: null
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linear_damping: null
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angular_damping: null
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max_linear_velocity: null
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max_contact_impulse: null
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enable_gyroscopic_forces: null
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retain_accelerations: null
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solver_position_iteration_count: null
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solver_velocity_iteration_count: null
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sleep_threshold: null
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stabilization_threshold: null
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collision_props:
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collision_enabled: true
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contact_offset: null
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rest_offset: null
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torsional_patch_radius: null
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min_torsional_patch_radius: null
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mesh_collision_props:
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usd_func: {}
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| 33 |
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physx_func: pxr.PhysxSchema:PhysxSDFMeshCollisionAPI
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mesh_approximation_name: sdf
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sdf_margin: null
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sdf_narrow_band_thickness: null
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sdf_resolution: null
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sdf_subgrid_resolution: null
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translation: !!python/tuple
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rotation: !!python/tuple
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scale: !!python/tuple
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##
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# Generated by MeshConverter on 2026-04-21 at 18:00:43.
|
| 54 |
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##
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Objects/016_pear/usd_sdf_linux/textured.usd
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2e01557c545ffb328fac34aad133672e4ae7b3691fe062994aca622e1d4ab2ff
|
| 3 |
+
size 1154120
|
Objects/016_pear/usd_sdf_linux/textures/texture_map.png
ADDED
|
Git LFS Details
|
Objects/086_clock/01_clock/01/bounding_box.json
ADDED
|
@@ -0,0 +1 @@
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|
| 1 |
+
{"min": [-0.934781, -0.991658, -0.058595], "max": [0.993789, 0.936912, 0.043845]}
|
Objects/086_clock/01_clock/01/images/texture_0.jpg
ADDED
|
Git LFS Details
|
Objects/086_clock/01_clock/01/images/texture_1.jpg
ADDED
|
Git LFS Details
|
Objects/086_clock/01_clock/01/meta.json
ADDED
|
@@ -0,0 +1 @@
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|
| 1 |
+
{"model_id": "171a6752b9a2dd95651adbce8f1811d5", "anno_id": "5696", "user_id": "zhouwenxian", "time_in_sec": "118", "version": "2", "model_cat": "Clock"}
|
Objects/086_clock/01_clock/01/mobility.urdf
ADDED
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@@ -0,0 +1,615 @@
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|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="partnet_171a6752b9a2dd95651adbce8f1811d5">
|
| 3 |
+
<link name="base"/>
|
| 4 |
+
<link name="link_0">
|
| 5 |
+
<visual name="hand-4">
|
| 6 |
+
<origin xyz="-0.02950384814616 0.027373151853839987 0"/>
|
| 7 |
+
<geometry>
|
| 8 |
+
<mesh filename="textured_objs/original-7.obj"/>
|
| 9 |
+
</geometry>
|
| 10 |
+
</visual>
|
| 11 |
+
<collision>
|
| 12 |
+
<origin xyz="-0.02950384814616 0.027373151853839987 0"/>
|
| 13 |
+
<geometry>
|
| 14 |
+
<mesh filename="textured_objs/original-7.obj"/>
|
| 15 |
+
</geometry>
|
| 16 |
+
</collision>
|
| 17 |
+
</link>
|
| 18 |
+
<joint name="joint_0" type="continuous">
|
| 19 |
+
<origin xyz="0.02950384814616 -0.027373151853839987 0"/>
|
| 20 |
+
<axis xyz="0 0 1"/>
|
| 21 |
+
<child link="link_0"/>
|
| 22 |
+
<parent link="link_2"/>
|
| 23 |
+
</joint>
|
| 24 |
+
<link name="link_1">
|
| 25 |
+
<visual name="hand-5">
|
| 26 |
+
<origin xyz="-0.02950384814616 0.027373151853839987 0"/>
|
| 27 |
+
<geometry>
|
| 28 |
+
<mesh filename="textured_objs/original-6.obj"/>
|
| 29 |
+
</geometry>
|
| 30 |
+
</visual>
|
| 31 |
+
<collision>
|
| 32 |
+
<origin xyz="-0.02950384814616 0.027373151853839987 0"/>
|
| 33 |
+
<geometry>
|
| 34 |
+
<mesh filename="textured_objs/original-6.obj"/>
|
| 35 |
+
</geometry>
|
| 36 |
+
</collision>
|
| 37 |
+
</link>
|
| 38 |
+
<joint name="joint_1" type="continuous">
|
| 39 |
+
<origin xyz="0.02950384814616 -0.027373151853839987 0"/>
|
| 40 |
+
<axis xyz="0 0 1"/>
|
| 41 |
+
<child link="link_1"/>
|
| 42 |
+
<parent link="link_2"/>
|
| 43 |
+
</joint>
|
| 44 |
+
<link name="link_2">
|
| 45 |
+
<visual name="frame-3">
|
| 46 |
+
<origin xyz="0 0 0"/>
|
| 47 |
+
<geometry>
|
| 48 |
+
<mesh filename="textured_objs/original-3.obj"/>
|
| 49 |
+
</geometry>
|
| 50 |
+
</visual>
|
| 51 |
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<visual name="frame-3">
|
| 52 |
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<origin xyz="0 0 0"/>
|
| 53 |
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<geometry>
|
| 54 |
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<mesh filename="textured_objs/original-47.obj"/>
|
| 55 |
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</geometry>
|
| 56 |
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</visual>
|
| 57 |
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<visual name="frame-3">
|
| 58 |
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<origin xyz="0 0 0"/>
|
| 59 |
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<geometry>
|
| 60 |
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<mesh filename="textured_objs/original-35.obj"/>
|
| 61 |
+
</geometry>
|
| 62 |
+
</visual>
|
| 63 |
+
<visual name="frame-3">
|
| 64 |
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<origin xyz="0 0 0"/>
|
| 65 |
+
<geometry>
|
| 66 |
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<mesh filename="textured_objs/original-36.obj"/>
|
| 67 |
+
</geometry>
|
| 68 |
+
</visual>
|
| 69 |
+
<visual name="frame-3">
|
| 70 |
+
<origin xyz="0 0 0"/>
|
| 71 |
+
<geometry>
|
| 72 |
+
<mesh filename="textured_objs/original-37.obj"/>
|
| 73 |
+
</geometry>
|
| 74 |
+
</visual>
|
| 75 |
+
<visual name="frame-3">
|
| 76 |
+
<origin xyz="0 0 0"/>
|
| 77 |
+
<geometry>
|
| 78 |
+
<mesh filename="textured_objs/original-34.obj"/>
|
| 79 |
+
</geometry>
|
| 80 |
+
</visual>
|
| 81 |
+
<visual name="frame-3">
|
| 82 |
+
<origin xyz="0 0 0"/>
|
| 83 |
+
<geometry>
|
| 84 |
+
<mesh filename="textured_objs/original-2.obj"/>
|
| 85 |
+
</geometry>
|
| 86 |
+
</visual>
|
| 87 |
+
<visual name="frame-3">
|
| 88 |
+
<origin xyz="0 0 0"/>
|
| 89 |
+
<geometry>
|
| 90 |
+
<mesh filename="textured_objs/original-33.obj"/>
|
| 91 |
+
</geometry>
|
| 92 |
+
</visual>
|
| 93 |
+
<visual name="frame-3">
|
| 94 |
+
<origin xyz="0 0 0"/>
|
| 95 |
+
<geometry>
|
| 96 |
+
<mesh filename="textured_objs/original-32.obj"/>
|
| 97 |
+
</geometry>
|
| 98 |
+
</visual>
|
| 99 |
+
<visual name="frame-3">
|
| 100 |
+
<origin xyz="0 0 0"/>
|
| 101 |
+
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|
| 516 |
+
<mesh filename="textured_objs/original-42.obj"/>
|
| 517 |
+
</geometry>
|
| 518 |
+
</collision>
|
| 519 |
+
<collision>
|
| 520 |
+
<origin xyz="0 0 0"/>
|
| 521 |
+
<geometry>
|
| 522 |
+
<mesh filename="textured_objs/original-50.obj"/>
|
| 523 |
+
</geometry>
|
| 524 |
+
</collision>
|
| 525 |
+
<collision>
|
| 526 |
+
<origin xyz="0 0 0"/>
|
| 527 |
+
<geometry>
|
| 528 |
+
<mesh filename="textured_objs/original-52.obj"/>
|
| 529 |
+
</geometry>
|
| 530 |
+
</collision>
|
| 531 |
+
<collision>
|
| 532 |
+
<origin xyz="0 0 0"/>
|
| 533 |
+
<geometry>
|
| 534 |
+
<mesh filename="textured_objs/original-51.obj"/>
|
| 535 |
+
</geometry>
|
| 536 |
+
</collision>
|
| 537 |
+
<collision>
|
| 538 |
+
<origin xyz="0 0 0"/>
|
| 539 |
+
<geometry>
|
| 540 |
+
<mesh filename="textured_objs/original-54.obj"/>
|
| 541 |
+
</geometry>
|
| 542 |
+
</collision>
|
| 543 |
+
<collision>
|
| 544 |
+
<origin xyz="0 0 0"/>
|
| 545 |
+
<geometry>
|
| 546 |
+
<mesh filename="textured_objs/original-10.obj"/>
|
| 547 |
+
</geometry>
|
| 548 |
+
</collision>
|
| 549 |
+
<collision>
|
| 550 |
+
<origin xyz="0 0 0"/>
|
| 551 |
+
<geometry>
|
| 552 |
+
<mesh filename="textured_objs/original-12.obj"/>
|
| 553 |
+
</geometry>
|
| 554 |
+
</collision>
|
| 555 |
+
<collision>
|
| 556 |
+
<origin xyz="0 0 0"/>
|
| 557 |
+
<geometry>
|
| 558 |
+
<mesh filename="textured_objs/original-13.obj"/>
|
| 559 |
+
</geometry>
|
| 560 |
+
</collision>
|
| 561 |
+
<collision>
|
| 562 |
+
<origin xyz="0 0 0"/>
|
| 563 |
+
<geometry>
|
| 564 |
+
<mesh filename="textured_objs/original-14.obj"/>
|
| 565 |
+
</geometry>
|
| 566 |
+
</collision>
|
| 567 |
+
<collision>
|
| 568 |
+
<origin xyz="0 0 0"/>
|
| 569 |
+
<geometry>
|
| 570 |
+
<mesh filename="textured_objs/original-15.obj"/>
|
| 571 |
+
</geometry>
|
| 572 |
+
</collision>
|
| 573 |
+
<collision>
|
| 574 |
+
<origin xyz="0 0 0"/>
|
| 575 |
+
<geometry>
|
| 576 |
+
<mesh filename="textured_objs/original-16.obj"/>
|
| 577 |
+
</geometry>
|
| 578 |
+
</collision>
|
| 579 |
+
<collision>
|
| 580 |
+
<origin xyz="0 0 0"/>
|
| 581 |
+
<geometry>
|
| 582 |
+
<mesh filename="textured_objs/original-18.obj"/>
|
| 583 |
+
</geometry>
|
| 584 |
+
</collision>
|
| 585 |
+
<collision>
|
| 586 |
+
<origin xyz="0 0 0"/>
|
| 587 |
+
<geometry>
|
| 588 |
+
<mesh filename="textured_objs/original-17.obj"/>
|
| 589 |
+
</geometry>
|
| 590 |
+
</collision>
|
| 591 |
+
<collision>
|
| 592 |
+
<origin xyz="0 0 0"/>
|
| 593 |
+
<geometry>
|
| 594 |
+
<mesh filename="textured_objs/original-20.obj"/>
|
| 595 |
+
</geometry>
|
| 596 |
+
</collision>
|
| 597 |
+
<collision>
|
| 598 |
+
<origin xyz="0 0 0"/>
|
| 599 |
+
<geometry>
|
| 600 |
+
<mesh filename="textured_objs/original-19.obj"/>
|
| 601 |
+
</geometry>
|
| 602 |
+
</collision>
|
| 603 |
+
<collision>
|
| 604 |
+
<origin xyz="0 0 0"/>
|
| 605 |
+
<geometry>
|
| 606 |
+
<mesh filename="textured_objs/original-4.obj"/>
|
| 607 |
+
</geometry>
|
| 608 |
+
</collision>
|
| 609 |
+
</link>
|
| 610 |
+
<joint name="joint_2" type="fixed">
|
| 611 |
+
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
|
| 612 |
+
<child link="link_2"/>
|
| 613 |
+
<parent link="base"/>
|
| 614 |
+
</joint>
|
| 615 |
+
</robot>
|
Objects/086_clock/01_clock/01/mobility_v2.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id":0,"parent":2,"joint":"hinge","name":"hand","parts":[{"id":4,"name":"hand","children":[]}],"jointData":{"axis":{"origin":[0.02950384814616,-0.027373151853839987,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":2,"joint":"hinge","name":"hand","parts":[{"id":5,"name":"hand","children":[]}],"jointData":{"axis":{"origin":[0.02950384814616,-0.027373151853839987,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":-1,"joint":"free","name":"frame","parts":[{"id":3,"name":"frame","children":[]},{"id":6,"name":"surface","children":[]}],"jointData":{}}]
|
Objects/086_clock/01_clock/01/parts_render/0.png
ADDED
|
Git LFS Details
|
Objects/086_clock/01_clock/01/parts_render/0.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
0 clock Clock
|
Objects/086_clock/01_clock/01/parts_render/1.png
ADDED
|
Git LFS Details
|
Objects/086_clock/01_clock/01/parts_render/1.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
1 normal_clock Normal Clock
|
Objects/086_clock/01_clock/01/parts_render/2.png
ADDED
|
Git LFS Details
|
Objects/086_clock/01_clock/01/parts_render/2.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
2 clock_body Clock Body
|
Objects/086_clock/01_clock/01/parts_render/3.png
ADDED
|
Git LFS Details
|
Objects/086_clock/01_clock/01/parts_render/3.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
3 frame Frame
|
Objects/086_clock/01_clock/01/parts_render/4.png
ADDED
|
Git LFS Details
|
Objects/086_clock/01_clock/01/parts_render/4.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
4 hand Hand
|
Objects/086_clock/01_clock/01/parts_render/5.png
ADDED
|
Git LFS Details
|
Objects/086_clock/01_clock/01/parts_render/5.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
5 hand Hand
|
Objects/086_clock/01_clock/01/parts_render/6.png
ADDED
|
Git LFS Details
|
Objects/086_clock/01_clock/01/parts_render/6.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
6 surface Surface
|
Objects/086_clock/01_clock/01/parts_render_after_merging/0.png
ADDED
|
Git LFS Details
|
Objects/086_clock/01_clock/01/parts_render_after_merging/0.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
0 clock clock
|
Objects/086_clock/01_clock/01/parts_render_after_merging/1.png
ADDED
|
Git LFS Details
|
Objects/086_clock/01_clock/01/parts_render_after_merging/1.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
1 table_clock table_clock
|
Objects/086_clock/01_clock/01/parts_render_after_merging/2.png
ADDED
|
Git LFS Details
|
Objects/086_clock/01_clock/01/parts_render_after_merging/2.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
2 clock_body clock_body
|
Objects/086_clock/01_clock/01/parts_render_after_merging/3.png
ADDED
|
Git LFS Details
|
Objects/086_clock/01_clock/01/parts_render_after_merging/3.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
3 frame frame
|
Objects/086_clock/01_clock/01/parts_render_after_merging/4.png
ADDED
|
Git LFS Details
|
Objects/086_clock/01_clock/01/parts_render_after_merging/4.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
4 surface surface
|