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0000000000000000000000000000000000000000..585f9ad368ac4836d3252589f3c93d0bc5de0ff6 --- /dev/null +++ b/assets/urdf/Mouse/101399/model_data.json @@ -0,0 +1,65 @@ +{ + "scale": 0.07, + "transform_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "init_qpos": [], + "grasp_parts": { + "body": [ + { + "id": 0, + "matrix": [ + [ + -0.9961900115013123, + -0.0, + 0.08715999871492386, + -0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + -0.08715999871492386, + 0.0, + -0.9961900115013123, + 0.28571000695228577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "base": "base", + "description": "" + } + ] + } +} \ No newline at end of file diff --git a/assets/urdf/Mouse/101399/result.json b/assets/urdf/Mouse/101399/result.json new file mode 100644 index 0000000000000000000000000000000000000000..e10a6ffed3df4096553b8c81295bf2ffe1af26ea --- /dev/null +++ b/assets/urdf/Mouse/101399/result.json @@ -0,0 +1 @@ +[{"text": "Mouse", "name": "Mouse", "id": 0, "children": [{"text": "button", "name": "button", "id": 1, "objs": ["original-4"]}, {"text": "button", "name": "button", "id": 2, "objs": ["original-5"]}, {"text": "wheel", "name": "wheel", "id": 3, "objs": ["original-31", "original-32", "original-30"]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-29", "original-21", "original-22", "original-26", "original-3", "original-2", "original-16", "original-8", "original-13", "original-9", "original-27", "original-6", "original-15", "original-23", "original-11", "original-18", "original-25", "original-17", "original-12", "original-24", "original-20", "original-7", "original-1", "original-10", "original-14", "original-19"]}]}] \ No newline at end of file diff --git a/assets/urdf/Mouse/101399/result_original.json b/assets/urdf/Mouse/101399/result_original.json new file mode 100644 index 0000000000000000000000000000000000000000..366cb2b7e1505a6127478276015829fac47db5af --- /dev/null +++ b/assets/urdf/Mouse/101399/result_original.json @@ -0,0 +1 @@ +[{"id": 0, "name": "Mouse", "text": "Mouse", "children": [{"id": 1, "name": "button", "text": "button", "objs": ["original-4"]}, {"id": 2, "name": "button", "text": "button", "objs": ["original-5"]}, {"id": 3, "name": "wheel", "text": "wheel", "objs": ["original-31", "original-32", "original-30"]}]}] \ No newline at end of file diff --git a/assets/urdf/Mouse/101399/semantics.txt b/assets/urdf/Mouse/101399/semantics.txt new file mode 100644 index 0000000000000000000000000000000000000000..1b286f96aeff033bdaec4e96a652dedd668fce5a --- /dev/null +++ b/assets/urdf/Mouse/101399/semantics.txt @@ -0,0 +1,4 @@ +link_0 slider button +link_1 slider button +link_2 hinge wheel +link_3 free mouse_body diff --git a/assets/urdf/Mouse/101399/textured_objs/original-1.mtl b/assets/urdf/Mouse/101399/textured_objs/original-1.mtl new file mode 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+f 13//9 14//10 15//9 +f 14//10 13//9 16//11 +f 17//12 14//10 18//12 +f 14//10 17//12 16//11 diff --git a/assets/urdf/Mouse/101399/textured_objs/original-20.mtl b/assets/urdf/Mouse/101399/textured_objs/original-20.mtl new file mode 100644 index 0000000000000000000000000000000000000000..2d07418a57757845e8b8a0faf113212cd5bdc48b --- /dev/null +++ b/assets/urdf/Mouse/101399/textured_objs/original-20.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 0.5019607843137255 0.5019607843137255 0.5019607843137255 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/assets/urdf/Mouse/101399/textured_objs/original-20.obj b/assets/urdf/Mouse/101399/textured_objs/original-20.obj new file mode 100644 index 0000000000000000000000000000000000000000..1db884decb18c85546f6d8792f29f1460adb43ed --- /dev/null +++ b/assets/urdf/Mouse/101399/textured_objs/original-20.obj @@ -0,0 +1,48 @@ +# SSTK version 0.8.0 +# 20 +mtllib original-20.mtl +o #ID150 +v 0.444967 -0.026869 0.813692 +v 0.475036 -0.046152 0.836762 +v 0.444967 -0.046152 0.836762 +v 0.475036 -0.026869 0.813692 +v 0.444967 0.008415 0.767854 +v 0.475036 -0.026869 0.813692 +v 0.444967 -0.026869 0.813692 +v 0.475036 0.008415 0.767854 +v 0.444967 0.008478 0.767773 +v 0.475036 0.008415 0.767854 +v 0.444967 0.008415 0.767854 +v 0.475036 0.008478 0.767773 +v 0.444967 0.041829 0.720635 +v 0.475036 0.008478 0.767773 +v 0.444967 0.008478 0.767773 +v 0.475036 0.041829 0.720635 +v 0.444967 0.073318 0.672112 +v 0.475036 0.073318 0.672112 +v 0.444967 0.102831 0.622362 +v 0.475036 0.102831 0.622362 +v 0.444967 0.130321 0.571466 +v 0.475036 0.130321 0.571466 +vn 0 -0.7672634048069168 -0.6413321040179553 +vn 0 -0.7924186356082356 -0.6099776274100407 +vn 0 -0.8277585519841242 -0.5610844674531152 +vn 0 -0.8163347166610244 -0.5775791117881299 +vn 0 -0.8496209002234419 -0.5273939001386992 +vn 0 -0.8701304244217727 -0.49282151383192074 +vn 0 -0.8798598832781531 -0.4752331909681339 +usemtl material_0_0 +f 1//1 2//1 3//1 +f 2//1 1//1 4//1 +f 5//2 6//2 7//2 +f 6//2 5//2 8//2 +f 9//2 10//2 11//2 +f 10//2 9//2 12//2 +f 13//3 14//4 15//4 +f 14//4 13//3 16//3 +f 17//5 16//3 13//3 +f 16//3 17//5 18//5 +f 19//6 18//5 17//5 +f 18//5 19//6 20//6 +f 21//7 20//6 19//6 +f 20//6 21//7 22//7 diff --git a/assets/urdf/Mouse/101399/textured_objs/original-21.mtl b/assets/urdf/Mouse/101399/textured_objs/original-21.mtl new file mode 100644 index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a --- /dev/null +++ b/assets/urdf/Mouse/101399/textured_objs/original-21.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/assets/urdf/Mouse/101399/textured_objs/original-21.obj b/assets/urdf/Mouse/101399/textured_objs/original-21.obj new file mode 100644 index 0000000000000000000000000000000000000000..fedc79cc1c9caef032dc8fbf97522aae8cb661e1 --- /dev/null +++ b/assets/urdf/Mouse/101399/textured_objs/original-21.obj @@ -0,0 +1,101 @@ +# SSTK version 0.8.0 +# 21 +mtllib original-21.mtl +o #ID156 +v 0.444967 0.155743 0.519507 +v 0.475036 0.130321 0.571466 +v 0.444967 0.130321 0.571466 +v 0.475036 0.155743 0.519507 +v 0.475036 0.155743 0.519507 +v 0.475035 0.132118 0.571215 +v 0.475036 0.130321 0.571466 +v 0.475035 0.157107 0.520141 +v 0.475036 0.167540 0.492720 +v 0.475035 0.168095 0.495190 +v 0.475035 0.188753 0.511092 +v 0.475035 0.186913 0.511487 +v 0.475035 0.150452 0.593801 +v 0.475035 0.150044 0.591104 +v 0.444967 0.167540 0.492720 +v 0.475036 0.167540 0.492720 +v 0.444967 0.169688 0.487841 +v 0.475036 0.167540 0.492720 +v 0.444967 0.167540 0.492720 +v 0.475036 0.169688 0.487841 +v 0.444967 0.172030 0.482523 +v 0.475036 0.169688 0.487841 +v 0.444967 0.169688 0.487841 +v 0.475036 0.172030 0.482523 +v 0.444967 0.174373 0.477205 +v 0.475036 0.174373 0.477205 +v 0.475036 0.174373 0.477205 +v 0.475035 0.173858 0.482103 +v 0.475036 0.172030 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+f 2//2 1//1 4//1 +f 5//3 6//3 7//3 +f 6//3 5//3 8//3 +f 8//3 5//3 9//3 +f 8//3 9//3 10//3 +f 10//3 9//3 11//3 +f 10//3 11//3 12//3 +f 6//3 13//3 7//3 +f 13//3 6//3 14//3 +f 13//3 14//3 12//3 +f 13//3 12//3 11//3 +f 15//4 4//1 1//1 +f 4//1 15//4 16//4 +f 17//4 18//4 19//4 +f 18//4 17//4 20//4 +f 21//4 22//4 23//4 +f 22//4 21//4 24//4 +f 25//4 24//4 21//4 +f 24//4 25//4 26//4 +f 27//5 28//5 29//5 +f 28//5 27//5 30//5 +f 30//5 27//5 31//5 +f 30//5 31//5 32//5 +f 32//5 31//5 33//5 +f 32//5 33//5 34//5 +f 34//5 33//5 35//5 +f 34//5 35//5 36//5 +f 36//5 35//5 37//5 +f 36//5 37//5 38//5 +f 28//5 39//5 29//5 +f 39//5 28//5 40//5 +f 39//5 40//5 38//5 +f 39//5 38//5 37//5 +f 41//6 42//4 43//4 +f 42//4 41//6 44//6 +f 45//7 44//6 41//6 +f 44//6 45//7 46//7 +f 47//8 46//7 45//7 +f 46//7 47//8 48//8 diff --git a/assets/urdf/Mouse/101399/textured_objs/original-22.mtl b/assets/urdf/Mouse/101399/textured_objs/original-22.mtl new file mode 100644 index 0000000000000000000000000000000000000000..2d07418a57757845e8b8a0faf113212cd5bdc48b --- /dev/null +++ b/assets/urdf/Mouse/101399/textured_objs/original-22.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 0.5019607843137255 0.5019607843137255 0.5019607843137255 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/assets/urdf/Mouse/101399/textured_objs/original-22.obj b/assets/urdf/Mouse/101399/textured_objs/original-22.obj new file mode 100644 index 0000000000000000000000000000000000000000..a1b7eea9f4c651d0d7669b3cf3561699446abc4c --- /dev/null +++ b/assets/urdf/Mouse/101399/textured_objs/original-22.obj @@ -0,0 +1,32 @@ +# SSTK version 0.8.0 +# 22 +mtllib original-22.mtl +o #ID162 +v 0.033030 0.155168 0.652005 +v -0.027106 0.138604 0.679927 +v 0.033030 0.138604 0.679927 +v -0.027106 0.155168 0.652005 +v 0.033030 0.170636 0.623368 +v -0.027106 0.170636 0.623368 +v 0.033030 0.183807 0.598982 +v -0.027106 0.183807 0.598982 +v 0.033030 0.187980 0.590454 +v -0.027106 0.187980 0.590454 +v 0.033030 0.210292 0.544850 +v -0.027106 0.210292 0.544850 +vn 0 0.8701304244217727 0.49282151383192074 +vn 0 0.8600493867221276 0.5102107921231107 +vn 0 0.8798598832781531 0.4752331909681339 +vn 0 0.8892339030513841 0.4574528015697379 +vn 0 0.8982486458305693 0.43948762242359957 +usemtl material_0_0 +f 1//1 2//2 3//2 +f 2//2 1//1 4//1 +f 5//3 4//1 1//1 +f 4//1 5//3 6//3 +f 6//3 5//3 7//4 +f 6//3 7//4 8//4 +f 9//5 8//4 7//4 +f 8//4 9//5 10//5 +f 10//5 9//5 11//5 +f 10//5 11//5 12//5 diff --git a/assets/urdf/Mouse/101399/textured_objs/original-23.mtl b/assets/urdf/Mouse/101399/textured_objs/original-23.mtl new file mode 100644 index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a --- /dev/null +++ b/assets/urdf/Mouse/101399/textured_objs/original-23.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/assets/urdf/Mouse/101399/textured_objs/original-23.obj b/assets/urdf/Mouse/101399/textured_objs/original-23.obj new file mode 100644 index 0000000000000000000000000000000000000000..4f1ea1dc4ba22444f9c7ddb15b5a2d6df76f4dd9 --- /dev/null +++ b/assets/urdf/Mouse/101399/textured_objs/original-23.obj @@ -0,0 +1,62 @@ +# SSTK version 0.8.0 +# 23 +mtllib original-23.mtl +o #ID168 +v 0.474999 0.285486 -0.500673 +v 0.475036 0.289201 -0.489080 +v 0.475036 0.285044 -0.500512 +v 0.474999 0.289644 -0.489239 +v 0.474999 0.285486 -0.500673 +v 0.475036 0.289201 -0.489080 +v 0.475036 0.285044 -0.500512 +v 0.474999 0.289644 -0.489239 +v 0.475036 0.293237 -0.477621 +v 0.474999 0.293682 -0.477775 +v 0.475036 0.297156 -0.466121 +v 0.474999 0.297602 -0.466270 +v 0.475036 0.293237 -0.477621 +v 0.474999 0.293682 -0.477775 +v 0.475036 0.297156 -0.466121 +v 0.474999 0.297602 -0.466270 +v 0.474999 0.297602 -0.466270 +v 0.475036 0.300919 -0.454695 +v 0.475036 0.297156 -0.466121 +v 0.474999 0.301373 -0.454822 +v 0.474999 0.297602 -0.466270 +v 0.475036 0.300919 -0.454695 +v 0.475036 0.297156 -0.466121 +v 0.474999 0.301373 -0.454822 +v 0.475036 0.314519 -0.396188 +v 0.474999 0.314979 -0.396285 +v 0.475036 0.314519 -0.396188 +v 0.474999 0.314979 -0.396285 +vn 0.9969173331879907 0.07373394245464825 -0.026816720892745116 +vn 0.9969174133778976 0.07386893099126665 -0.02643959035479983 +vn 0.9973040304770738 0.06921340211512428 -0.024375720744908895 +vn 0.9969174137675078 0.07413504102381074 -0.02568396035469751 +vn 0.9969173337095857 0.07426616251122282 -0.025305470855674698 +vn 0.9969173333726765 0.0745206824946448 -0.02454584082169341 +vn 0.9969235164428605 0.07547168124479993 -0.0211548503489197 +vn 0.9997897075903445 0.019926420151280204 -0.004845449036786363 +vn 0.9969173336971461 0.07642175258315798 -0.017763600600433582 +usemtl material_0_0 +f 1//1 2//2 3//1 +f 2//2 1//1 4//2 +f 5//3 6//3 7//3 +f 6//3 5//3 8//3 +f 6//3 8//3 9//3 +f 9//3 8//3 10//3 +f 9//3 10//3 11//3 +f 11//3 10//3 12//3 +f 4//2 13//4 2//2 +f 13//4 4//2 14//4 +f 14//4 15//5 13//4 +f 15//5 14//4 16//5 +f 17//6 18//7 19//6 +f 18//7 17//6 20//7 +f 21//8 22//8 23//8 +f 22//8 21//8 24//8 +f 22//8 24//8 25//8 +f 25//8 24//8 26//8 +f 20//7 27//9 18//7 +f 27//9 20//7 28//9 diff --git a/assets/urdf/Mouse/101399/textured_objs/original-24.mtl b/assets/urdf/Mouse/101399/textured_objs/original-24.mtl new file mode 100644 index 0000000000000000000000000000000000000000..d4bf0a02525e98d2cc28c3fb9dad252715b07b19 --- /dev/null +++ b/assets/urdf/Mouse/101399/textured_objs/original-24.mtl @@ -0,0 +1,14 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + +newmtl material_1_0 +illum 3 +d 1 +Ns 30 +Kd 0.5019607843137255 0.5019607843137255 0.5019607843137255 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/assets/urdf/Mouse/101399/textured_objs/original-24.obj b/assets/urdf/Mouse/101399/textured_objs/original-24.obj new file mode 100644 index 0000000000000000000000000000000000000000..7bdd367ab65573616b8f0eba7211b88c46f5e16a --- /dev/null +++ b/assets/urdf/Mouse/101399/textured_objs/original-24.obj @@ -0,0 +1,442 @@ +# SSTK version 0.8.0 +# 24 +mtllib original-24.mtl +o #ID174 +v 0.475035 0.157107 0.520141 +v 0.475506 0.132162 0.571208 +v 0.475035 0.132118 0.571215 +v 0.475506 0.157141 0.520156 +v 0.475506 0.157141 0.520156 +v 0.475035 0.157107 0.520141 +v 0.475506 0.132162 0.571208 +v 0.475035 0.132118 0.571215 +v 0.475965 0.132294 0.571190 +v 0.475965 0.157240 0.520203 +v 0.475965 0.157240 0.520203 +v 0.475965 0.132294 0.571190 +v 0.475035 0.132118 0.571215 +v 0.475505 0.150034 0.591037 +v 0.475035 0.150044 0.591104 +v 0.475035 0.132118 0.571215 +v 0.475505 0.150034 0.591037 +v 0.475035 0.150044 0.591104 +v 0.475506 0.168109 0.495251 +v 0.475035 0.168095 0.495190 +v 0.475035 0.168095 0.495190 +v 0.475506 0.168109 0.495251 +v 0.476401 0.132510 0.571160 +v 0.476401 0.157404 0.520279 +v 0.476401 0.157404 0.520279 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mode 100644 index 0000000000000000000000000000000000000000..2ceabe9f5db553470425bfab33924a8291700a9c --- /dev/null +++ b/assets/urdf/Mouse/101399/textured_objs/original-9.obj @@ -0,0 +1,29 @@ +# SSTK version 0.8.0 +# 9 +mtllib original-9.mtl +o #ID84 +v 0.063099 0.283549 -0.512928 +v -0.057175 0.287869 -0.501540 +v 0.063099 0.287869 -0.501540 +v -0.057175 0.283561 -0.512932 +v 0.063099 0.279194 -0.524302 +v -0.057175 0.283561 -0.512932 +v 0.063099 0.283549 -0.512928 +v -0.057175 0.279194 -0.524302 +v 0.063099 0.279194 -0.524302 +v -0.057175 0.283561 -0.512932 +v 0.063099 0.283549 -0.512928 +v -0.057175 0.279194 -0.524302 +vn 0.00005002219898259174 0.9351617809796183 -0.3542208927954535 +vn 0.00005002220263059591 0.9336953491016996 -0.35806841883030477 +usemtl material_0_0 +f 1//1 2//1 3//1 +f 2//1 1//1 4//1 +f 1//1 2//1 3//1 +f 2//1 1//1 4//1 +f 1//1 2//1 3//1 +f 2//1 1//1 4//1 +f 5//2 6//2 7//2 +f 6//2 5//2 8//2 +f 9//2 10//2 11//2 +f 10//2 9//2 12//2 diff --git a/assets/urdf/Mouse/101416/bounding_box.json b/assets/urdf/Mouse/101416/bounding_box.json new file mode 100644 index 0000000000000000000000000000000000000000..5ab242fcb5881e9e77bb389729ed0ca29923a09f --- /dev/null +++ b/assets/urdf/Mouse/101416/bounding_box.json @@ -0,0 +1 @@ +{"min": [-0.263301, -0.056139, -0.329525], "max": [0.319656, 0.089969, 0.994243]} \ No newline at end of file diff --git a/assets/urdf/Mouse/101416/grasp_poses.json b/assets/urdf/Mouse/101416/grasp_poses.json new file mode 100644 index 0000000000000000000000000000000000000000..6103cbfac0c4326be0dfb41aae90058cc18f3bf2 --- /dev/null +++ b/assets/urdf/Mouse/101416/grasp_poses.json @@ -0,0 +1,39 @@ +{ + "object_name": "101416", + "scale": 0.07, + "grasp_parts": { + "body": [ + { + "id": 0, + "matrix": [ + [ + -0.9659299850463867, + 0.0, + -0.2588199973106384, + 0.17496000230312347 + ], + [ + -0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.2588199973106384, + 0.0, + -0.9659299850463867, + 0.10102000087499619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "base": "base", + "description": "" + } + ] + } +} \ No newline at end of file diff --git a/assets/urdf/Mouse/101416/meta.json b/assets/urdf/Mouse/101416/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cd1933d652d9e26ba9a75d17f099ff9ee74933fb --- /dev/null +++ b/assets/urdf/Mouse/101416/meta.json @@ -0,0 +1 @@ +{"user_id": "ericyi", "model_cat": "Mouse", "model_id": "f44055934a7e8e746cc1d08358ac33f3", "version": "1", "anno_id": "1416", "time_in_sec": "31"} \ No newline at end of file diff --git a/assets/urdf/Mouse/101416/mobility.urdf b/assets/urdf/Mouse/101416/mobility.urdf new file mode 100644 index 0000000000000000000000000000000000000000..39a2a2d4cb34af93c227cd8b8ec4cbae984cc6be --- /dev/null +++ b/assets/urdf/Mouse/101416/mobility.urdf @@ -0,0 +1,253 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+[{"id":0,"parent":3,"joint":"slider","name":"button","parts":[{"id":1,"name":"button"}],"jointData":{"axis":{"origin":[0.04361830526308663,0.04868806601700587,0.08994306557913134],"direction":[0.0026932159241490066,-0.9244234398219765,-0.38135816563394886]},"limit":{"a":0,"b":0.01,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":3,"joint":"hinge","name":"wheel","parts":[{"id":2,"name":"wheel"}],"jointData":{"axis":{"origin":[0,0.027175687594600734,0.09896814030710077],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":3,"joint":"slider","name":"button","parts":[{"id":3,"name":"button"}],"jointData":{"axis":{"origin":[-0.03415239803456849,0.05313426327543075,0.07904651879700281],"direction":[-0.0028403805113862038,-0.9241490797912569,-0.3820214791860837]},"limit":{"a":0,"b":0.01,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":3,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":4,"name":"base_body"}],"jointData":{}}] \ No newline at end of file diff --git a/assets/urdf/Mouse/101416/model_data.json b/assets/urdf/Mouse/101416/model_data.json new file mode 100644 index 0000000000000000000000000000000000000000..aa29f394e8b60984a8a8de4496a859c3c207c8bd --- /dev/null +++ b/assets/urdf/Mouse/101416/model_data.json @@ -0,0 +1,65 @@ +{ + "scale": 0.07, + "transform_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "init_qpos": [], + "grasp_parts": { + "body": [ + { + "id": 0, + "matrix": [ + [ + -0.9659299850463867, + 0.0, + -0.2588199973106384, + 0.17496000230312347 + ], + [ + -0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.2588199973106384, + 0.0, + -0.9659299850463867, + 0.10102000087499619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "base": "base", + "description": "" + } + ] + } +} \ No newline at end of file diff --git a/assets/urdf/Mouse/101416/result.json b/assets/urdf/Mouse/101416/result.json new file mode 100644 index 0000000000000000000000000000000000000000..2685a242d30ced4fc6fc7cf8a52f4f5748b84a3e --- /dev/null +++ b/assets/urdf/Mouse/101416/result.json @@ -0,0 +1 @@ +[{"text": "Mouse", "name": "Mouse", "id": 0, "children": [{"text": "button", "name": "button", "id": 1, "objs": ["original-22"]}, {"text": "wheel", "name": "wheel", "id": 2, "objs": ["original-1"]}, {"text": "button", "name": "button", "id": 3, "objs": ["original-15"]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-21", "original-4", "original-2", "original-16", "original-13", "original-9", "original-11", "original-18", "original-17", "original-12", "original-20", "original-7", "original-10", "original-14", "original-19"]}]}] \ No newline at end of file diff --git a/assets/urdf/Mouse/101416/result_original.json b/assets/urdf/Mouse/101416/result_original.json new file mode 100644 index 0000000000000000000000000000000000000000..c0ac531a2c5b1465b88a135f133a318f0c4f8872 --- /dev/null +++ b/assets/urdf/Mouse/101416/result_original.json @@ -0,0 +1 @@ +[{"id": 0, "name": "Mouse", "text": "Mouse", "children": [{"id": 1, "name": "button", "text": "button", "objs": ["original-22"]}, {"id": 2, "name": "wheel", "text": "wheel", "objs": ["original-1"]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-15"]}]}] \ No newline at end of file diff --git a/assets/urdf/Mouse/101416/semantics.txt b/assets/urdf/Mouse/101416/semantics.txt new file mode 100644 index 0000000000000000000000000000000000000000..b7900dafb2d264e80cfaa2914eec4556ad822e44 --- /dev/null +++ b/assets/urdf/Mouse/101416/semantics.txt @@ -0,0 +1,4 @@ +link_0 slider button +link_1 hinge wheel +link_2 slider button +link_3 free mouse_body diff --git a/assets/urdf/Mouse/101416/textured_objs/original-1.mtl b/assets/urdf/Mouse/101416/textured_objs/original-1.mtl new file mode 100644 index 0000000000000000000000000000000000000000..8b57954f948e78d564b10f3db7e4008ca9101ff0 --- /dev/null +++ b/assets/urdf/Mouse/101416/textured_objs/original-1.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 0.5490196078431373 0 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/assets/urdf/Mouse/101416/textured_objs/original-1.obj b/assets/urdf/Mouse/101416/textured_objs/original-1.obj new file mode 100644 index 0000000000000000000000000000000000000000..e9c83da38228fc39723284c98f5d50e9b4fd9ef5 --- /dev/null +++ b/assets/urdf/Mouse/101416/textured_objs/original-1.obj @@ -0,0 +1,1991 @@ +# SSTK version 0.8.0 +# 1 +mtllib original-1.mtl +o Group1/mesh1/mesh1-geometry#mesh1-geometry +v -0.001715 -0.005187 0.098968 +v -0.004093 -0.004387 0.090511 +v -0.004093 -0.005501 0.098968 +v -0.001715 -0.004085 0.090592 +v -0.006471 -0.004085 0.090592 +v -0.001715 -0.004085 0.107344 +v 0.000501 -0.004270 0.098968 +v -0.004093 -0.001123 0.082630 +v -0.006471 -0.005187 0.098968 +v -0.006471 -0.000852 0.082787 +v -0.004093 -0.004387 0.107425 +v 0.000501 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b/assets/urdf/Mouse/101416/textured_objs/original-11.mtl @@ -0,0 +1,14 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 0 0 0 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + +newmtl material_1_0 +illum 3 +d 1 +Ns 30 +Kd 0.6941176470588235 0.12941176470588237 0.12941176470588237 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/assets/urdf/Mouse/101416/textured_objs/original-11.obj b/assets/urdf/Mouse/101416/textured_objs/original-11.obj new file mode 100644 index 0000000000000000000000000000000000000000..16928538fc1db1178ae2a10a50fe26c2f11f332b --- /dev/null +++ b/assets/urdf/Mouse/101416/textured_objs/original-11.obj @@ -0,0 +1,58 @@ +# SSTK version 0.8.0 +# 11 +mtllib original-11.mtl +o mesh8/mesh8-geometry/material_3#mesh8-geometry +v -0.004141 -0.026304 -0.114589 +v -0.004141 -0.045675 -0.114589 +v -0.015274 -0.026304 -0.114589 +v -0.015274 -0.045675 -0.114589 +v -0.015274 -0.026304 -0.114589 +v -0.004141 -0.045675 -0.114589 +v 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b/assets/urdf/Mouse/101416/textured_objs/original-12.obj new file mode 100644 index 0000000000000000000000000000000000000000..fe1bbb47c8ec7278267e2a3b2db07f324b23900a --- /dev/null +++ b/assets/urdf/Mouse/101416/textured_objs/original-12.obj @@ -0,0 +1,128 @@ +# SSTK version 0.8.0 +# 12 +mtllib original-12.mtl +o mesh8/mesh8-geometry/material_4#mesh8-geometry +v -0.004141 -0.045675 -0.114589 +v -0.004141 -0.045675 -0.169285 +v -0.015274 -0.045675 -0.114589 +v -0.004141 -0.045675 -0.169285 +v -0.023996 -0.045675 -0.159373 +v -0.015274 -0.045675 -0.114589 +v -0.015274 -0.045675 -0.114589 +v -0.023996 -0.045675 -0.159373 +v -0.023996 -0.045675 0.027204 +v -0.023996 -0.045675 0.027204 +v -0.023996 -0.045675 -0.159373 +v -0.041467 -0.045675 0.013520 +v -0.015274 -0.045675 -0.114589 +v -0.023996 -0.045675 0.027204 +v -0.015274 -0.045675 -0.036661 +v -0.023996 -0.045675 -0.159373 +v -0.041467 -0.045675 -0.145690 +v -0.041467 -0.045675 0.013520 +v -0.004141 -0.045675 0.037115 +v -0.015274 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89//2 90//2 diff --git a/assets/urdf/Mouse/101416/textured_objs/original-13.mtl b/assets/urdf/Mouse/101416/textured_objs/original-13.mtl new file mode 100644 index 0000000000000000000000000000000000000000..a5f64ef21136dc4126a212b0bbce8a422a0fe73e --- /dev/null +++ b/assets/urdf/Mouse/101416/textured_objs/original-13.mtl @@ -0,0 +1,14 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 0.8823529411764706 0.8823529411764706 0.7843137254901961 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + +newmtl material_1_0 +illum 3 +d 1 +Ns 30 +Kd 0.5019607843137255 0.5019607843137255 0.5019607843137255 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/assets/urdf/Mouse/101416/textured_objs/original-13.obj b/assets/urdf/Mouse/101416/textured_objs/original-13.obj new file mode 100644 index 0000000000000000000000000000000000000000..be27ec59a273d19b6d56de606390bd970d7075b2 --- /dev/null +++ b/assets/urdf/Mouse/101416/textured_objs/original-13.obj @@ -0,0 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0000000000000000000000000000000000000000..8a3eaf6a451ca34575792ad91f8dd543ef1b61d5 --- /dev/null +++ b/assets/urdf/Mouse/101416/textured_objs/original-2.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 0.6588235294117647 0.6588235294117647 0.6588235294117647 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/assets/urdf/Mouse/101416/textured_objs/original-2.obj b/assets/urdf/Mouse/101416/textured_objs/original-2.obj new file mode 100644 index 0000000000000000000000000000000000000000..277707205e0e5e870daf0f47dbdfb40414309558 --- /dev/null +++ b/assets/urdf/Mouse/101416/textured_objs/original-2.obj @@ -0,0 +1,3361 @@ +# SSTK version 0.8.0 +# 2 +mtllib original-2.mtl +o Group2/mesh3/mesh3-geometry#mesh3-geometry +v 0.308659 -0.046481 0.817602 +v 0.309399 -0.045298 0.842948 +v 0.305872 -0.045298 0.818066 +v 0.312206 -0.046481 0.842619 +v 0.304717 -0.042441 0.818258 +v 0.303911 -0.046481 0.792784 +v 0.311447 -0.045298 0.817138 +v 0.311722 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@@ -0,0 +1,17 @@ +# SSTK version 0.8.0 +# 8 +mtllib original-8.mtl +o #ID4569 +v -0.001164 0.002492 0.337230 +v -0.001555 -0.022649 0.473394 +v -0.001555 0.002492 0.343651 +v -0.001555 0.002492 0.343651 +v -0.001555 -0.022649 0.473394 +v -0.001164 0.002492 0.337230 +vn -0.9522140210749366 -0.29985400568842135 -0.058103643094978265 +vn 0.9522140210749366 0.29985400568842135 0.058103643094978265 +usemtl material_0_0 +f 1//1 2//1 3//1 +f 4//2 5//2 6//2 +f 1//1 2//1 3//1 +f 4//2 5//2 6//2 diff --git a/assets/urdf/Mouse/102273/bounding_box.json b/assets/urdf/Mouse/102273/bounding_box.json new file mode 100644 index 0000000000000000000000000000000000000000..4cbaca3cef5102f014896d280b58154bb1a18b2e --- /dev/null +++ b/assets/urdf/Mouse/102273/bounding_box.json @@ -0,0 +1 @@ +{"min": [-0.496348, -0.243162, -1.027032], "max": [0.544448, 0.298053, 0.905875]} \ No newline at end of file diff --git a/assets/urdf/Mouse/102273/grasp_poses.json b/assets/urdf/Mouse/102273/grasp_poses.json new file mode 100644 index 0000000000000000000000000000000000000000..1bd0aac1ca4a66d19943fbc7ca96ea55005bf788 --- /dev/null +++ b/assets/urdf/Mouse/102273/grasp_poses.json @@ -0,0 +1,39 @@ +{ + "object_name": "102273", + "scale": 0.07, + "grasp_parts": { + "body": [ + { + "id": 0, + "matrix": [ + [ + -0.9848099946975708, + 0.0, + -0.17364999651908875, + 0.19030000269412994 + ], + [ + -0.0, + 1.0, + 0.0, + -0.0 + ], + [ + 0.17364999651908875, + 0.0, + -0.9848099946975708, + 0.2565700113773346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "base": "base", + "description": "" + } + ] + } +} \ No newline at end of file diff --git a/assets/urdf/Mouse/102273/meta.json b/assets/urdf/Mouse/102273/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..da4df2f3dfb90b02ee63b6c0ff6100d24db695e3 --- /dev/null +++ b/assets/urdf/Mouse/102273/meta.json @@ -0,0 +1 @@ +{"user_id": "ericyi", "model_cat": "Mouse", "model_id": "3dde1a38-9ce8-4c22-8fe6-ac71cf952112", "version": "2", "anno_id": "2273", "time_in_sec": "86"} \ No newline at end of file diff --git a/assets/urdf/Mouse/102273/mobility.urdf b/assets/urdf/Mouse/102273/mobility.urdf new file mode 100644 index 0000000000000000000000000000000000000000..4dcfb9c1dff84c187d3c8c44011b88374f3f4ec4 --- /dev/null +++ b/assets/urdf/Mouse/102273/mobility.urdf @@ -0,0 +1,217 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/assets/urdf/Mouse/102273/mobility_v2.json b/assets/urdf/Mouse/102273/mobility_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..926e918e61812b6f8fd44f5f1dfedef3141876ac --- /dev/null +++ b/assets/urdf/Mouse/102273/mobility_v2.json @@ -0,0 +1 @@ +[{"id":0,"parent":7,"joint":"slider","name":"button","parts":[{"id":1,"name":"button"}],"jointData":{"axis":{"origin":[-0.38092173350804126,-0.002039667228516784,-0.019644387272613528],"direction":[-0.9589783384683545,-0.24334912168261763,-0.14540203342722863]},"limit":{"a":0,"b":-0.01,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":7,"joint":"slider","name":"button","parts":[{"id":2,"name":"button"}],"jointData":{"axis":{"origin":[0,0.2396121918442431,0.21362947589859616],"direction":[0,0.9679305676728363,0.22944053872753647]},"limit":{"a":-0.01,"b":0,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":2,"parent":7,"joint":"slider","name":"button","parts":[{"id":3,"name":"button"}],"jointData":{"axis":{"origin":[0.023787126229806176,0.21570179202272954,0.31608044864334994],"direction":[0,0.9720541032892112,0.23475693872302847]},"limit":{"a":-0.01,"b":0,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":3,"parent":7,"joint":"hinge","name":"wheel","parts":[{"id":5,"name":"wheel"}],"jointData":{"axis":{"origin":[0,-0.018128999999999992,0.522979],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":7,"joint":"slider","name":"button","parts":[{"id":6,"name":"button"}],"jointData":{"axis":{"origin":[0.43262918909455883,-0.003733268471951101,0.008694810945375053],"direction":[-0.9578508037730045,0.24840723856951388,0.14427640672569353]},"limit":{"a":0,"b":0.01,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":5,"parent":7,"joint":"slider","name":"button","parts":[{"id":7,"name":"button"}],"jointData":{"axis":{"origin":[0.47033644353104265,-0.03311869692005742,0.202871163532786],"direction":[0.9164508833399712,-0.2624551836101681,-0.30205141122255896]},"limit":{"a":0,"b":-0.01,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":6,"parent":7,"joint":"slider","name":"button","parts":[{"id":8,"name":"button"}],"jointData":{"axis":{"origin":[-0.424965611122639,-0.03648576754514554,0.2138147766732884],"direction":[0.916596845989962,0.2624987988766596,0.30157022815517537]},"limit":{"a":0,"b":-0.01,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":7,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":9,"name":"base_body"}],"jointData":{}}] \ No newline at end of file diff --git a/assets/urdf/Mouse/102273/result.json b/assets/urdf/Mouse/102273/result.json new file mode 100644 index 0000000000000000000000000000000000000000..347efc451f9138012fca7c4931433510ce562083 --- /dev/null +++ b/assets/urdf/Mouse/102273/result.json @@ -0,0 +1 @@ +[{"text": "Mouse", "name": "Mouse", "id": 0, "children": [{"text": "button", "name": "button", "id": 1, "objs": ["original-11"]}, {"text": "button", "name": "button", "id": 2, "objs": ["original-14"]}, {"text": "button", "name": "button", "id": 3, "objs": ["original-13"]}, {"text": "wheel", "name": "wheel", "id": 5, "objs": ["original-6"]}, {"text": "button", "name": "button", "id": 6, "objs": ["original-9"]}, {"text": "button", "name": "button", "id": 7, "objs": ["original-8"]}, {"text": "button", "name": "button", "id": 8, "objs": ["original-10"]}, {"text": "base_body", "name": "base_body", "id": 9, "objs": ["original-4", "original-3", "original-5", "original-15", "original-1"]}]}] \ No newline at end of file diff --git a/assets/urdf/Mouse/102273/result_original.json b/assets/urdf/Mouse/102273/result_original.json new file mode 100644 index 0000000000000000000000000000000000000000..d8237fff90ea8a8b87e529bb33c61eeb01c36d02 --- /dev/null +++ b/assets/urdf/Mouse/102273/result_original.json @@ -0,0 +1 @@ +[{"id": 0, "name": "Mouse", "text": "Mouse", "children": [{"id": 1, "name": "button", "text": "button", "objs": ["original-11"]}, {"id": 2, "name": "button", "text": "button", "objs": ["original-14"]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-13"]}, {"id": 5, "name": "wheel", "text": "wheel", "objs": ["original-6"]}, {"id": 6, "name": "button", "text": "button", "objs": ["original-9"]}, {"id": 7, "name": "button", "text": "button", "objs": ["original-8"]}, {"id": 8, "name": "button", "text": "button", "objs": ["original-10"]}]}] \ No newline at end of file diff --git a/assets/urdf/Mouse/102273/semantics.txt b/assets/urdf/Mouse/102273/semantics.txt new file mode 100644 index 0000000000000000000000000000000000000000..84b6c19fdc742f3f49af01fbc31d9785cc38238c --- /dev/null +++ b/assets/urdf/Mouse/102273/semantics.txt @@ -0,0 +1,8 @@ +link_0 slider button +link_1 slider button +link_2 slider button +link_3 hinge wheel +link_4 slider button +link_5 slider button +link_6 slider button +link_7 free mouse_body diff --git a/assets/urdf/Mouse/102276/bounding_box.json b/assets/urdf/Mouse/102276/bounding_box.json new file mode 100644 index 0000000000000000000000000000000000000000..4eb96f10ccd80ed7c74f4d93628769e3fe7b2040 --- /dev/null +++ b/assets/urdf/Mouse/102276/bounding_box.json @@ -0,0 +1 @@ +{"min": [-0.464969, -0.047658, -0.331586], "max": [0.178635, 0.074108, 0.902446]} \ No newline at end of file diff --git a/assets/urdf/Mouse/102276/grasp_poses.json b/assets/urdf/Mouse/102276/grasp_poses.json new file mode 100644 index 0000000000000000000000000000000000000000..d00045e75cf558945dc97e4c67974aa176d132c1 --- /dev/null +++ b/assets/urdf/Mouse/102276/grasp_poses.json @@ -0,0 +1,39 @@ +{ + "object_name": "102276", + "scale": 0.07, + "grasp_parts": { + "body": [ + { + "id": 0, + "matrix": [ + [ + -1.0, + 0.0, + -0.0, + 0.14285999536514282 + ], + [ + -0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + -1.0, + -0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "base": "base", + "description": "" + } + ] + } +} \ No newline at end of file diff --git a/assets/urdf/Mouse/102276/meta.json b/assets/urdf/Mouse/102276/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6914383ff036f1c3a8a18736a4ac7176613d78bc --- /dev/null +++ b/assets/urdf/Mouse/102276/meta.json @@ -0,0 +1 @@ +{"user_id": "ericyi", "model_cat": "Mouse", "model_id": "42941f4faf298240e0a20fd2b4e95e9c", "version": "2", "anno_id": "2276", "time_in_sec": "51"} \ No newline at end of file diff --git a/assets/urdf/Mouse/102276/mobility.urdf b/assets/urdf/Mouse/102276/mobility.urdf new file mode 100644 index 0000000000000000000000000000000000000000..04d96ca55bbecb6248f97272d021c1a66ef97801 --- /dev/null +++ b/assets/urdf/Mouse/102276/mobility.urdf @@ -0,0 +1,289 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/assets/urdf/Mouse/102276/mobility_v2.json b/assets/urdf/Mouse/102276/mobility_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..4fdefdf6b1134ad8dc1c76f44e06a08fb309713d --- /dev/null +++ b/assets/urdf/Mouse/102276/mobility_v2.json @@ -0,0 +1 @@ +[{"id":0,"parent":7,"joint":"slider","name":"button","parts":[{"id":1,"name":"button","children":[]}],"jointData":{"axis":{"origin":[-0.14791592841565615,0.004741748643349808,-0.07269847236593581],"direction":[1,0,0]},"limit":{"a":0,"b":-0.001,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":7,"joint":"slider","name":"button","parts":[{"id":2,"name":"button","children":[]}],"jointData":{"axis":{"origin":[-2.0913200472867914,-0.0063728641153696355,-0.019364418210973247],"direction":[1,0,0]},"limit":{"a":0,"b":-0.001,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":2,"parent":7,"joint":"slider","name":"button","parts":[{"id":3,"name":"button","children":[]}],"jointData":{"axis":{"origin":[-2.0913200472867914,-0.0063728641153696355,-0.019364418210973247],"direction":[1,0,0]},"limit":{"a":0,"b":0.001,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":3,"parent":7,"joint":"slider","name":"button","parts":[{"id":4,"name":"button","children":[]}],"jointData":{"axis":{"origin":[-2.0789409241561674,0.005074830030328714,-0.07528961435721526],"direction":[1,0,0]},"limit":{"a":0,"b":0.001,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":4,"parent":7,"joint":"slider","name":"button","parts":[{"id":5,"name":"button","children":[]}],"jointData":{"axis":{"origin":[0.034426,0.003178367755277544,-0.01493438046082214],"direction":[0,0.9780947285994384,0.20816027931858466]},"limit":{"a":0,"b":-0.002,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":5,"parent":7,"joint":"slider","name":"button","parts":[{"id":6,"name":"button","children":[]}],"jointData":{"axis":{"origin":[0.034426,0.003178367755277544,-0.01493438046082214],"direction":[0,0.9780947285994384,0.20816027931858466]},"limit":{"a":0,"b":-0.002,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":6,"parent":7,"joint":"hinge","name":"wheel","parts":[{"id":8,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,0.0029800522249720574,0.04785339638835862],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":9,"name":"base_body","children":[]}],"jointData":{}}] \ No newline at end of file diff --git a/assets/urdf/Mouse/102276/model_data.json b/assets/urdf/Mouse/102276/model_data.json new file mode 100644 index 0000000000000000000000000000000000000000..929cd46c3d01fd146b2ab15072cff21f8930b941 --- /dev/null +++ b/assets/urdf/Mouse/102276/model_data.json @@ -0,0 +1,65 @@ +{ + "scale": 0.07, + "transform_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "init_qpos": [], + "grasp_parts": { + "body": [ + { + "id": 0, + "matrix": [ + [ + -1.0, + 0.0, + -0.0, + 0.14285999536514282 + ], + [ + -0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + -1.0, + -0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "base": "base", + "description": "" + } + ] + } +} \ No newline at end of file diff --git a/assets/urdf/Mouse/102276/result.json b/assets/urdf/Mouse/102276/result.json new file mode 100644 index 0000000000000000000000000000000000000000..b6ef32637d58fa38218f71022b50594a47e7fd61 --- /dev/null +++ b/assets/urdf/Mouse/102276/result.json @@ -0,0 +1 @@ +[{"text": "Mouse", "name": "Mouse", "id": 0, "children": [{"text": "button", "name": "button", "id": 1, "objs": ["original-2"]}, {"text": "button", "name": "button", "id": 2, "objs": ["original-1"]}, {"text": "button", "name": "button", "id": 3, "objs": ["original-5"]}, {"text": "button", "name": "button", "id": 4, "objs": ["original-6"]}, {"text": "button", "name": "button", "id": 5, "objs": ["original-3"]}, {"text": "button", "name": "button", "id": 6, "objs": ["original-4"]}, {"text": "wheel", "name": "wheel", "id": 8, "objs": ["original-20"]}, {"text": "base_body", "name": "base_body", "id": 9, "objs": ["original-16", "original-8", "original-9", "original-15", "original-11", "original-18", "original-12", "original-7", "original-10", "original-14", "original-19"]}]}] \ No newline at end of file diff --git a/assets/urdf/Mouse/102276/result_original.json b/assets/urdf/Mouse/102276/result_original.json new file mode 100644 index 0000000000000000000000000000000000000000..28c0d3677e014afc9787df8b08af460c8983d200 --- /dev/null +++ b/assets/urdf/Mouse/102276/result_original.json @@ -0,0 +1 @@ +[{"id": 0, "name": "Mouse", "text": "Mouse", "children": [{"id": 1, "name": "button", "text": "button", "objs": ["original-2"]}, {"id": 2, "name": "button", "text": "button", "objs": ["original-1"]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-5"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-6"]}, {"id": 5, "name": "button", "text": "button", "objs": ["original-3"]}, {"id": 6, "name": "button", "text": "button", "objs": ["original-4"]}, {"id": 8, "name": "wheel", "text": "wheel", "objs": ["original-20"]}]}] \ No newline at end of file diff --git a/assets/urdf/Mouse/102276/semantics.txt b/assets/urdf/Mouse/102276/semantics.txt new file mode 100644 index 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0000000000000000000000000000000000000000..feb5e58afd7ac0b242d6d99f5b2012cc01394a01 --- /dev/null +++ b/assets/urdf/Mouse/102290/textured_objs/original-4.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 0.39215686274509803 0.44313725490196076 0.39215686274509803 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/assets/urdf/Mouse/102290/textured_objs/original-4.obj b/assets/urdf/Mouse/102290/textured_objs/original-4.obj new file mode 100644 index 0000000000000000000000000000000000000000..94886f934b5a41409126800e236ca548b0fe087c --- /dev/null +++ b/assets/urdf/Mouse/102290/textured_objs/original-4.obj @@ -0,0 +1,15 @@ +# SSTK version 0.8.0 +# 4 +mtllib original-4.mtl +o #ID27 +v -0.077152 0.131537 0.519612 +v -0.077152 0.131335 0.520562 +v -0.077131 0.132005 0.519672 +v -0.077131 0.132005 0.519672 +v -0.077152 0.131335 0.520562 +v -0.077152 0.131537 0.519612 +vn -0.9989334160648373 0.04516685072637285 0.00959092615424119 +vn 0.9989334160648373 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material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/assets/urdf/Mouse/102290/textured_objs/original-6.obj b/assets/urdf/Mouse/102290/textured_objs/original-6.obj new file mode 100644 index 0000000000000000000000000000000000000000..a50d710f9de5c1dfc8a68912818cb7ae2bee2bad --- /dev/null +++ b/assets/urdf/Mouse/102290/textured_objs/original-6.obj @@ -0,0 +1,57 @@ +# SSTK version 0.8.0 +# 6 +mtllib original-6.mtl +o #ID41 +v -0.327548 -0.176999 0.643785 +v 0.338184 -0.185284 0.643785 +v -0.327548 -0.185284 0.643785 +v 0.338184 -0.176999 0.643785 +v 0.338184 -0.176999 0.643785 +v -0.327548 -0.176999 0.643785 +v 0.338184 -0.185284 0.643785 +v -0.327548 -0.185284 0.643785 +v 0.338184 -0.185284 0.643785 +v 0.338184 -0.176999 0.740264 +v 0.338184 -0.185284 0.740264 +v 0.338184 -0.176999 0.643785 +v 0.338184 -0.176999 0.643785 +v 0.338184 -0.185284 0.643785 +v 0.338184 -0.176999 0.740264 +v 0.338184 -0.185284 0.740264 +v 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b/assets/urdf/Mouse/102290/textured_objs/original-7.mtl new file mode 100644 index 0000000000000000000000000000000000000000..905723cb72a4e980af249fa03278c4a03d7bfcf1 --- /dev/null +++ b/assets/urdf/Mouse/102290/textured_objs/original-7.mtl @@ -0,0 +1,14 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + +newmtl material_1_0 +illum 3 +d 1 +Ns 30 +Kd 0.9568627450980393 0.9568627450980393 0.9568627450980393 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/assets/urdf/Mouse/102290/textured_objs/original-7.obj b/assets/urdf/Mouse/102290/textured_objs/original-7.obj new file mode 100644 index 0000000000000000000000000000000000000000..f89a32b023facad99d98d0d518b1dbd43b279301 --- /dev/null +++ b/assets/urdf/Mouse/102290/textured_objs/original-7.obj @@ -0,0 +1,20 @@ +# SSTK version 0.8.0 +# 7 +mtllib original-7.mtl +o #ID47 +v -0.327548 -0.185284 0.643785 +v 0.338184 -0.185284 0.740264 +v 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0000000000000000000000000000000000000000..964082b9f635218fb8a6d07cbfaee1055c90c4d1 --- /dev/null +++ b/assets/urdf/Mouse/103020/textured_objs/original-11.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 0.3333333333333333 0.3333333333333333 0.3333333333333333 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/assets/urdf/Mouse/103020/textured_objs/original-11.obj b/assets/urdf/Mouse/103020/textured_objs/original-11.obj new file mode 100644 index 0000000000000000000000000000000000000000..c24662c1bb4e1c521765f05030d637b96069a4d3 --- /dev/null +++ b/assets/urdf/Mouse/103020/textured_objs/original-11.obj @@ -0,0 +1,23 @@ +# SSTK version 0.8.0 +# 11 +mtllib original-11.mtl +o #ID162 +v -0.272393 -0.194084 -0.360793 +v 0.274502 -0.194084 -0.547862 +v 0.274502 -0.194084 -0.360793 +v 0.206140 -0.194084 -0.547862 +v 0.206140 -0.194084 -0.734932 +v -0.204031 -0.194084 -0.547862 +v -0.272393 -0.194084 -0.547862 +v -0.204031 -0.194084 -0.734932 +vn 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a/assets/urdf/Mouse/103020/textured_objs/original-16.mtl b/assets/urdf/Mouse/103020/textured_objs/original-16.mtl new file mode 100644 index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281 --- /dev/null +++ b/assets/urdf/Mouse/103020/textured_objs/original-16.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 0.11764705882352941 0.11764705882352941 0.11764705882352941 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/assets/urdf/Mouse/103020/textured_objs/original-17.obj b/assets/urdf/Mouse/103020/textured_objs/original-17.obj new file mode 100644 index 0000000000000000000000000000000000000000..08acd64213953df52472e40f84376d5fcaae352f --- /dev/null +++ b/assets/urdf/Mouse/103020/textured_objs/original-17.obj @@ -0,0 +1,31 @@ +# SSTK version 0.8.0 +# 17 +mtllib original-17.mtl +o #ID204 +v 0.206140 -0.194084 0.574553 +v 0.274502 -0.200677 0.574553 +v 0.206140 -0.200677 0.574553 +v 0.274502 -0.194084 0.574553 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0000000000000000000000000000000000000000..d92059235e40db39b884e8042a161b27564a6a32 --- /dev/null +++ b/assets/urdf/Mouse/103020/textured_objs/original-7.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 0.44313725490196076 0.44313725490196076 0.44313725490196076 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/assets/urdf/Mouse/103020/textured_objs/original-9.obj b/assets/urdf/Mouse/103020/textured_objs/original-9.obj new file mode 100644 index 0000000000000000000000000000000000000000..27f86afd68c41b867510791ade0f308f3c1c4dcd --- /dev/null +++ b/assets/urdf/Mouse/103020/textured_objs/original-9.obj @@ -0,0 +1,181 @@ +# SSTK version 0.8.0 +# 9 +mtllib original-9.mtl +o #ID148 +v 0.301013 -0.103589 0.013345 +v 0.327383 -0.103589 -0.010867 +v 0.301013 -0.103589 -0.035079 +v 0.301013 -0.181156 0.013345 +v 0.327383 -0.181156 -0.010867 +v 0.301013 -0.181156 -0.035079 +v 0.327383 -0.181156 0.037557 +v 0.327383 -0.103589 0.037557 +v 0.327383 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37//1 41//2 45//1 +f 46//3 42//4 38//3 +f 45//1 42//4 46//3 +f 42//4 45//1 41//2 +f 43//9 47//7 44//10 +f 47//7 43//9 48//8 +f 49//2 46//3 50//4 +f 46//3 49//2 45//1 +f 51//5 48//8 43//9 +f 51//5 47//7 48//8 +f 47//7 51//5 52//11 +f 44//10 47//7 52//11 +f 45//1 49//2 53//1 +f 54//3 50//4 46//3 +f 53//1 50//4 54//3 +f 50//4 53//1 49//2 +f 51//5 55//4 52//11 +f 55//4 51//5 56//2 +f 57//2 54//3 58//4 +f 54//3 57//2 53//1 +f 59//1 56//2 51//5 +f 56//2 60//3 55//4 +f 60//3 56//2 59//1 +f 52//11 55//4 60//3 +f 53//1 57//2 61//12 +f 61//12 58//4 62//13 +f 58//4 61//12 57//2 +f 59//1 63//4 60//3 +f 63//4 59//1 64//2 +f 65//14 64//2 59//1 +f 63//4 65//14 66//15 +f 65//14 63//4 64//2 +f 60//3 63//4 66//15 diff --git a/assets/urdf/Mouse/103022/meta.json b/assets/urdf/Mouse/103022/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dab2b8cd64571fda4d389c1a641de8d2339c86b5 --- /dev/null +++ b/assets/urdf/Mouse/103022/meta.json @@ -0,0 +1 @@ +{"user_id": "ericyi", "model_cat": "Mouse", "model_id": "c4cf54afa3f5600183c8564d7886de04", "version": "1", "anno_id": "3022", "time_in_sec": "32"} \ No newline at end of file diff --git a/assets/urdf/Mouse/103022/result_original.json b/assets/urdf/Mouse/103022/result_original.json new file mode 100644 index 0000000000000000000000000000000000000000..1d94cbccccbde24ada7d704b941cc0a071cd3edf --- /dev/null +++ b/assets/urdf/Mouse/103022/result_original.json @@ -0,0 +1 @@ +[{"id": 0, "name": "Mouse", "text": "Mouse", "children": [{"id": 1, "name": "button", "text": "button", "objs": ["original-5"]}, {"id": 2, "name": "button", "text": "button", "objs": ["original-6"]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-2"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-1"]}, {"id": 5, "name": "button", "text": "button", "objs": ["original-4"]}, {"id": 6, "name": "button", "text": "button", "objs": ["original-3"]}, {"id": 7, "name": "wheel", "text": "wheel", "objs": ["original-20"]}]}] \ No newline at end of file diff --git a/assets/urdf/Mouse/103024/bounding_box.json b/assets/urdf/Mouse/103024/bounding_box.json new file mode 100644 index 0000000000000000000000000000000000000000..6a528a851fa2eafb3431f2debd885474ec96133c --- /dev/null +++ b/assets/urdf/Mouse/103024/bounding_box.json @@ -0,0 +1 @@ +{"min": [-0.477999, -0.156129, -1.022725], "max": [0.498278, 0.299679, 0.804668]} \ No newline at end of file diff --git a/assets/urdf/Mouse/103024/grasp_poses.json b/assets/urdf/Mouse/103024/grasp_poses.json new file mode 100644 index 0000000000000000000000000000000000000000..b80d2d8100689faf390db872f6708eff7ebd3c37 --- /dev/null +++ b/assets/urdf/Mouse/103024/grasp_poses.json @@ -0,0 +1,39 @@ +{ + "object_name": "103024", + "scale": 0.07, + "grasp_parts": { + "body": [ + { + "id": 0, + "matrix": [ + [ + -0.9659299850463867, + 0.0, + -0.2588199973106384, + 0.07395000010728836 + ], + [ + -0.0, + 1.0, + 0.0, + -0.0 + ], + [ + 0.2588199973106384, + 0.0, + -0.9659299850463867, + 0.27597999572753906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "base": "base", + "description": "" + } + ] + } +} \ No newline at end of file diff --git a/assets/urdf/Mouse/103024/meta.json b/assets/urdf/Mouse/103024/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9255499dbc510bc058db2673efdc0c8d1c3bb9ea --- /dev/null +++ b/assets/urdf/Mouse/103024/meta.json @@ -0,0 +1 @@ +{"user_id": "ericyi", "model_cat": "Mouse", "model_id": "e853b9ad6723572bf7fbc7f3e748274f", "version": "1", "anno_id": "3024", "time_in_sec": "12"} \ No newline at end of file diff --git a/assets/urdf/Mouse/103024/mobility.urdf b/assets/urdf/Mouse/103024/mobility.urdf new file mode 100644 index 0000000000000000000000000000000000000000..5093679dd9fcba4edf0648c115c70e41c163b69d --- /dev/null +++ b/assets/urdf/Mouse/103024/mobility.urdf @@ -0,0 +1,175 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/assets/urdf/Mouse/103024/mobility_v2.json b/assets/urdf/Mouse/103024/mobility_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..a08671370a01960f06c849f58daad3eee68519f6 --- /dev/null +++ b/assets/urdf/Mouse/103024/mobility_v2.json @@ -0,0 +1 @@ +[{"id": 0, "parent": 1, "joint": "hinge", "name": "wheel", "parts": [{"id": 1, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0, 0.11387939079496806, 0.556955609205032], "direction": [-1, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}] \ No newline at end of file diff --git a/assets/urdf/Mouse/103024/model_data.json b/assets/urdf/Mouse/103024/model_data.json new file mode 100644 index 0000000000000000000000000000000000000000..e12e5780d5b17719bb774bbb5d18a7a707f9854c --- /dev/null +++ b/assets/urdf/Mouse/103024/model_data.json @@ -0,0 +1,65 @@ +{ + "scale": 0.07, + "transform_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "init_qpos": [], + "grasp_parts": { + "body": [ + { + "id": 0, + "matrix": [ + [ + -0.9659299850463867, + 0.0, + -0.2588199973106384, + 0.07395000010728836 + ], + [ + -0.0, + 1.0, + 0.0, + -0.0 + ], + [ + 0.2588199973106384, + 0.0, + -0.9659299850463867, + 0.27597999572753906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "base": "base", + "description": "" + } + ] + } +} \ No newline at end of file diff --git a/assets/urdf/Mouse/103024/result.json b/assets/urdf/Mouse/103024/result.json new file mode 100644 index 0000000000000000000000000000000000000000..1584b5afa6b767293de67f067399263ea2208f7f --- /dev/null +++ b/assets/urdf/Mouse/103024/result.json @@ -0,0 +1 @@ +[{"text": "Mouse", "name": "Mouse", "id": 0, "children": [{"text": "wheel", "name": "wheel", "id": 1, "objs": ["original-13"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-4", "original-3", "original-2", "original-8", "original-9", "original-5", "original-6", "original-11", "original-12", "original-7", "original-1", "original-10"]}]}] \ No newline at end of file diff --git a/assets/urdf/Mouse/103024/result_original.json b/assets/urdf/Mouse/103024/result_original.json new file mode 100644 index 0000000000000000000000000000000000000000..2ada4699d76380654eb2f82f1e4252000fdd702d --- /dev/null +++ b/assets/urdf/Mouse/103024/result_original.json @@ -0,0 +1 @@ +[{"id": 0, "name": "Mouse", "text": "Mouse", "children": [{"id": 1, "name": "wheel", "text": "wheel", "objs": ["original-13"]}]}] \ No newline at end of file diff --git a/assets/urdf/Mouse/103024/semantics.txt b/assets/urdf/Mouse/103024/semantics.txt new file mode 100644 index 0000000000000000000000000000000000000000..7e03c953e1f47f892faf2f98c4fbf2a5e5bd1acd --- /dev/null +++ b/assets/urdf/Mouse/103024/semantics.txt @@ -0,0 +1,2 @@ +link_0 hinge wheel +link_1 free mouse_body diff --git a/assets/urdf/Mouse/103024/textured_objs/original-1.obj b/assets/urdf/Mouse/103024/textured_objs/original-1.obj new file mode 100644 index 0000000000000000000000000000000000000000..e6ddfd87b5b8bd7d8f118c68b07778b0c96bf86a --- /dev/null +++ b/assets/urdf/Mouse/103024/textured_objs/original-1.obj @@ -0,0 +1,163 @@ +# SSTK version 0.8.0 +# 1 +mtllib original-1.mtl +o #ID15 +v 0.086930 -0.147436 0.039457 +v 0.106129 -0.152979 0.013737 +v 0.109516 -0.152979 0.039457 +v 0.084314 -0.147436 0.019582 +v 0.084314 -0.147436 0.059332 +v 0.106129 -0.152979 0.065178 +v 0.078177 -0.147436 0.065341 +v 0.076642 -0.147436 0.077853 +v 0.076506 -0.147436 0.078030 +v 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25//24 26//24 +f 25//24 28//26 29//27 +f 29//27 28//26 30//28 +f 31//29 30//28 28//26 +f 30//28 31//29 32//30 +f 32//30 31//29 33//31 +f 34//32 33//31 31//29 +f 33//31 34//32 35//33 +f 35//33 34//32 36//33 +f 36//33 34//32 37//34 +f 38//35 37//34 34//32 +f 37//34 38//35 39//36 +f 39//36 38//35 40//37 +f 39//36 40//37 41//38 +f 40//37 42//7 41//38 +f 42//7 40//37 43//39 +f 42//7 43//39 44//40 +f 44//40 43//39 45//41 +f 44//40 45//41 46//42 +f 47//43 40//37 38//35 +f 40//37 47//43 43//39 +f 48//44 44//40 46//42 +f 44//40 48//44 49//45 +f 44//40 49//45 50//46 +f 51//47 43//39 47//43 +f 43//39 51//47 45//41 +f 48//44 45//41 51//47 +f 45//41 48//44 46//42 +f 52//48 50//46 49//45 diff --git a/assets/urdf/Mouse/103024/textured_objs/original-10.mtl b/assets/urdf/Mouse/103024/textured_objs/original-10.mtl new file mode 100644 index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a --- /dev/null +++ b/assets/urdf/Mouse/103024/textured_objs/original-10.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/assets/urdf/Mouse/103024/textured_objs/original-10.obj b/assets/urdf/Mouse/103024/textured_objs/original-10.obj new file mode 100644 index 0000000000000000000000000000000000000000..588b81beffc4db6124c2a974ab131afe0b93b0b5 --- /dev/null +++ b/assets/urdf/Mouse/103024/textured_objs/original-10.obj @@ -0,0 +1,10 @@ +# SSTK version 0.8.0 +# 10 +mtllib original-10.mtl +o #ID77 +v -0.082578 0.014455 0.801782 +v -0.082578 0.013576 0.801737 +v -0.072717 0.013576 0.802048 +vn -0.03147566938229752 -0.05068872900524582 0.998218380410203 +usemtl material_0_0 +f 1//1 2//1 3//1 diff --git a/assets/urdf/Mouse/103024/textured_objs/original-11.mtl b/assets/urdf/Mouse/103024/textured_objs/original-11.mtl new file mode 100644 index 0000000000000000000000000000000000000000..fc0ff4a7d886aa3b1717ee912da130acacb00104 --- /dev/null +++ b/assets/urdf/Mouse/103024/textured_objs/original-11.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 0 0 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/assets/urdf/Mouse/103024/textured_objs/original-11.obj b/assets/urdf/Mouse/103024/textured_objs/original-11.obj new file mode 100644 index 0000000000000000000000000000000000000000..82b7547759ea467955b765847822c23b951cbf15 --- /dev/null +++ b/assets/urdf/Mouse/103024/textured_objs/original-11.obj @@ -0,0 +1,56 @@ +# SSTK version 0.8.0 +# 11 +mtllib original-11.mtl +o #ID83 +v -0.024338 -0.106301 0.266710 +v 0.044617 -0.106301 0.266710 +v 0.010140 -0.106301 0.271249 +v 0.076745 -0.106301 0.253402 +v -0.056466 -0.106301 0.253402 +v 0.104334 -0.106301 0.232232 +v -0.084055 -0.106301 0.232232 +v 0.125504 -0.106301 0.204643 +v -0.105225 -0.106301 0.204643 +v 0.138812 -0.106301 0.172515 +v -0.118533 -0.106301 0.172515 +v 0.143351 -0.106301 0.138038 +v -0.123072 -0.106301 0.138038 +v 0.164665 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b/assets/urdf/Mouse/103024/textured_objs/original-12.mtl new file mode 100644 index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a --- /dev/null +++ b/assets/urdf/Mouse/103024/textured_objs/original-12.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/assets/urdf/Mouse/103024/textured_objs/original-12.obj b/assets/urdf/Mouse/103024/textured_objs/original-12.obj new file mode 100644 index 0000000000000000000000000000000000000000..321ee1db3f5ba987befd10876c5bae737af27ea2 --- /dev/null +++ b/assets/urdf/Mouse/103024/textured_objs/original-12.obj @@ -0,0 +1,10 @@ +# SSTK version 0.8.0 +# 12 +mtllib original-12.mtl +o #ID89 +v 0.092996 0.013576 0.802048 +v 0.102857 0.013576 0.801737 +v 0.102857 0.014455 0.801782 +vn 0.03147566938229752 -0.05068872900524582 0.998218380410203 +usemtl material_0_0 +f 1//1 2//1 3//1 diff --git a/assets/urdf/Mouse/103024/textured_objs/original-13.mtl b/assets/urdf/Mouse/103024/textured_objs/original-13.mtl new file mode 100644 index 0000000000000000000000000000000000000000..fc0ff4a7d886aa3b1717ee912da130acacb00104 --- /dev/null +++ b/assets/urdf/Mouse/103024/textured_objs/original-13.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 0 0 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/assets/urdf/Mouse/103024/textured_objs/original-2.mtl b/assets/urdf/Mouse/103024/textured_objs/original-2.mtl new file mode 100644 index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a --- /dev/null +++ b/assets/urdf/Mouse/103024/textured_objs/original-2.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/assets/urdf/Mouse/103024/textured_objs/original-2.obj b/assets/urdf/Mouse/103024/textured_objs/original-2.obj new 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material_0_0 +illum 3 +d 1 +Ns 30 +Kd 0.11764705882352941 0.11764705882352941 0.11764705882352941 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/assets/urdf/Mouse/103026/bounding_box.json b/assets/urdf/Mouse/103026/bounding_box.json new file mode 100644 index 0000000000000000000000000000000000000000..b5e35dc087f1a745ce463ebbe38089e989b6c0e8 --- /dev/null +++ b/assets/urdf/Mouse/103026/bounding_box.json @@ -0,0 +1 @@ +{"min": [-0.195556, -0.067752, -0.38252], "max": [0.193121, 0.123289, 1.00062]} \ No newline at end of file diff --git a/assets/urdf/Mouse/103026/grasp_poses.json b/assets/urdf/Mouse/103026/grasp_poses.json new file mode 100644 index 0000000000000000000000000000000000000000..2a68f584170dd32b17fd381734c6f3598e7a4b7a --- /dev/null +++ b/assets/urdf/Mouse/103026/grasp_poses.json @@ -0,0 +1,39 @@ +{ + "object_name": "103026", + "scale": 0.07, + "grasp_parts": { + "body": [ + { + "id": 0, + "matrix": [ + [ + -1.0, + 0.0, + 0.0, + -0.0 + ], + [ + 0.0, + 1.0, + -0.0, + 0.0 + ], + [ + -0.0, + -0.0, + -1.0, + 0.14285999536514282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "base": "base", + "description": "" + } + ] + } +} \ No newline at end of file diff --git a/assets/urdf/Mouse/103026/mobility_v2.json b/assets/urdf/Mouse/103026/mobility_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..6344b221134619a4f03282020d75064cfba23afd --- /dev/null +++ b/assets/urdf/Mouse/103026/mobility_v2.json @@ -0,0 +1 @@ +[{"id":0,"parent":3,"joint":"slider","name":"button","parts":[{"id":1,"name":"button"}],"jointData":{"axis":{"origin":[0.05202361188103016,0.04707170734678279,0.19997028526118799],"direction":[0.09752291600231476,0.8864676075720631,0.4523985649622113]},"limit":{"a":0,"b":-0.01,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":3,"joint":"slider","name":"button","parts":[{"id":2,"name":"button"}],"jointData":{"axis":{"origin":[-0.04593352496479697,0.05427640390691546,0.17528380414845612],"direction":[-0.16311603936485708,0.899578177506262,0.40515708096543807]},"limit":{"a":0,"b":-0.01,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":2,"parent":3,"joint":"hinge","name":"wheel","parts":[{"id":3,"name":"wheel"}],"jointData":{"axis":{"origin":[0,0.016667,0.212598],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":4,"name":"base_body"}],"jointData":{}}] \ No newline at end of file diff --git a/assets/urdf/Mouse/103026/result.json b/assets/urdf/Mouse/103026/result.json new file mode 100644 index 0000000000000000000000000000000000000000..513410a081861a899b92f189ccac442f2a78710d --- /dev/null +++ b/assets/urdf/Mouse/103026/result.json @@ -0,0 +1 @@ +[{"text": "Mouse", "name": "Mouse", "id": 0, "children": [{"text": "button", "name": "button", "id": 1, "objs": ["original-12"]}, {"text": "button", "name": "button", "id": 2, "objs": ["original-7"]}, {"text": "wheel", "name": "wheel", "id": 3, "objs": ["original-17"]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-3", "original-2", "original-16", "original-8", "original-13", "original-9", "original-5", "original-6", "original-15", "original-11", "original-1", "original-10", "original-14"]}]}] \ No newline at end of file diff --git a/assets/urdf/Mouse/103026/textured_objs/original-15.obj b/assets/urdf/Mouse/103026/textured_objs/original-15.obj new file mode 100644 index 0000000000000000000000000000000000000000..eeb2969c5c6feb33aaa3e969bd36f48cc1ac76a9 --- /dev/null +++ b/assets/urdf/Mouse/103026/textured_objs/original-15.obj @@ -0,0 +1,19 @@ +# SSTK version 0.8.0 +# 15 +mtllib original-15.mtl +o #ID78 +v -0.177026 0.054251 -0.110779 +v -0.171105 0.061212 -0.111289 +v -0.176875 0.054502 -0.109798 +v -0.171105 0.061273 -0.110465 +v -0.171105 0.061212 -0.111289 +v -0.176875 0.054502 -0.109798 +v -0.171105 0.061273 -0.110465 +v -0.177026 0.054251 -0.110779 +vn 0.7625405830407248 -0.6452085856502459 0.04730475894791905 +vn -0.7625405830407248 0.6452085856502459 -0.04730475894791905 +usemtl material_0_0 +f 3//1 2//1 1//1 +f 2//1 3//1 4//1 +f 7//2 6//2 5//2 +f 8//2 5//2 6//2 diff --git a/assets/urdf/Mouse/103026/textured_objs/original-8.obj b/assets/urdf/Mouse/103026/textured_objs/original-8.obj new file mode 100644 index 0000000000000000000000000000000000000000..26bbcae739479e47c61a141bdfb9fb1d030ba3a7 --- /dev/null +++ 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