Upload folder using huggingface_hub (part 58)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +18 -0
- data/UPB_00000808/plys/3.ply +3 -0
- data/UPB_00000808/plys/4.ply +3 -0
- data/UPB_00000808/plys/model.ply +3 -0
- data/UPB_00000809/annotations/object.json +10 -0
- data/UPB_00000809/annotations/part_1.json +51 -0
- data/UPB_00000809/annotations/part_2.json +51 -0
- data/UPB_00000809/annotations/part_3.json +51 -0
- data/UPB_00000809/annotations/part_4.json +30 -0
- data/UPB_00000809/full_model/material.mtl +8 -0
- data/UPB_00000809/full_model/material_0.png +3 -0
- data/UPB_00000809/full_model/model.obj +0 -0
- data/UPB_00000809/meta_data.json +22 -0
- data/UPB_00000809/model.urdf +96 -0
- data/UPB_00000809/parts/4.mtl +8 -0
- data/UPB_00000809/parts/4.png +3 -0
- data/UPB_00000809/parts/TrashCan_ZIHOSPJVAII6MPTUK4888888_P1tly.mtl +13 -0
- data/UPB_00000809/parts/part_1.obj +0 -0
- data/UPB_00000809/parts/part_2.obj +0 -0
- data/UPB_00000809/parts/part_3.obj +0 -0
- data/UPB_00000809/parts/part_4.obj +0 -0
- data/UPB_00000809/plys/1.ply +3 -0
- data/UPB_00000809/plys/2.ply +3 -0
- data/UPB_00000809/plys/3.ply +3 -0
- data/UPB_00000809/plys/4.ply +3 -0
- data/UPB_00000809/plys/model.ply +3 -0
- data/UPB_00000810/annotations/object.json +10 -0
- data/UPB_00000810/annotations/part_1.json +51 -0
- data/UPB_00000810/annotations/part_2.json +51 -0
- data/UPB_00000810/annotations/part_3.json +30 -0
- data/UPB_00000810/annotations/part_4.json +30 -0
- data/UPB_00000810/annotations/part_5.json +30 -0
- data/UPB_00000810/full_model/material.mtl +8 -0
- data/UPB_00000810/full_model/material_0.png +3 -0
- data/UPB_00000810/full_model/model.obj +0 -0
- data/UPB_00000810/meta_data.json +22 -0
- data/UPB_00000810/model.urdf +105 -0
- data/UPB_00000810/parts/2.mtl +8 -0
- data/UPB_00000810/parts/2.png +3 -0
- data/UPB_00000810/parts/TrashCan_ZMFS3XRVAIJNSPTULI888888_xiQ69.mtl +25 -0
- data/UPB_00000810/parts/part_1.obj +1840 -0
- data/UPB_00000810/parts/part_2.obj +0 -0
- data/UPB_00000810/parts/part_3.obj +1391 -0
- data/UPB_00000810/parts/part_4.obj +0 -0
- data/UPB_00000810/parts/part_5.obj +0 -0
- data/UPB_00000810/plys/1.ply +3 -0
- data/UPB_00000810/plys/2.ply +3 -0
- data/UPB_00000810/plys/3.ply +3 -0
- data/UPB_00000810/plys/4.ply +3 -0
- data/UPB_00000810/plys/5.ply +3 -0
.gitattributes
CHANGED
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data/UPB_00000807/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00000808/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00000808/plys/2.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00000807/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00000808/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00000808/plys/2.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00000808/plys/3.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00000808/plys/4.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00000808/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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| 3356 |
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data/UPB_00000809/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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| 3357 |
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data/UPB_00000809/plys/2.ply filter=lfs diff=lfs merge=lfs -text
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| 3358 |
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data/UPB_00000809/plys/3.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00000809/plys/4.ply filter=lfs diff=lfs merge=lfs -text
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| 3360 |
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data/UPB_00000809/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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| 3361 |
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data/UPB_00000810/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00000810/plys/2.ply filter=lfs diff=lfs merge=lfs -text
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| 3363 |
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data/UPB_00000810/plys/3.ply filter=lfs diff=lfs merge=lfs -text
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| 3364 |
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data/UPB_00000810/plys/4.ply filter=lfs diff=lfs merge=lfs -text
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| 3365 |
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data/UPB_00000810/plys/5.ply filter=lfs diff=lfs merge=lfs -text
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| 3366 |
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data/UPB_00000810/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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| 3367 |
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data/UPB_00000811/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00000811/plys/2.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00000811/plys/3.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00000811/plys/4.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00000808/plys/3.ply
ADDED
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version https://git-lfs.github.com/spec/v1
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oid sha256:4f4effe885837a96d3e136bc7aa170e2dbe399fcf0ee08dfb100878ce2e5f4d7
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size 160242
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data/UPB_00000808/plys/4.ply
ADDED
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version https://git-lfs.github.com/spec/v1
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oid sha256:f0261f75517e435a162f5a352b66b84f990b43df8c93330398abc1c42f10ffc4
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size 160242
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data/UPB_00000808/plys/model.ply
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:9da73bfcc190286098dfa0811a0160e7158cce66937e1b4be3348e840293358f
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| 3 |
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size 1600243
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data/UPB_00000809/annotations/object.json
ADDED
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@@ -0,0 +1,10 @@
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{
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| 2 |
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"object_name": "Egg-Pod Desktop Trash Bin",
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| 3 |
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"category": "ContainersStorage/WasteRecyclingContainer",
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| 4 |
+
"volume": [
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| 5 |
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30.0,
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| 6 |
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20.0,
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| 7 |
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20.0
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| 8 |
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],
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| 9 |
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"mass": 0.9
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| 10 |
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}
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data/UPB_00000809/annotations/part_1.json
ADDED
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@@ -0,0 +1,51 @@
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{
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"index": {
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| 3 |
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"type_name": "default",
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| 4 |
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"entity": "UPB_00000809",
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| 5 |
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"label": "1"
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| 6 |
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},
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| 7 |
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"part_level": {
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| 8 |
+
"part_name": "Right Door Pull / Latch Strip",
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| 9 |
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"affordance": 1,
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| 10 |
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"graspable": true,
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| 11 |
+
"basic_description": "Narrow curved ABS plastic strip, approx. 12*3*1 cm, mounted along the right side of the front opening.",
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| 12 |
+
"functional_description": "Acts as the pull/latch for the right door panel, giving leverage to open/close the bin\u2019s front access.",
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| 13 |
+
"movement_description": "This strip is rigidly fixed to the right door panel; it does not move independently.",
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| 14 |
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"grasp_description": "Users grasp this handle with thumb and fingers to pull the right door open."
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| 15 |
+
},
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| 16 |
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"basic_info": {
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| 17 |
+
"material": "plastic/ABS_Plastic",
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| 18 |
+
"density": 1.04,
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| 19 |
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"young": 2.1,
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| 20 |
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"hardness": 10,
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| 21 |
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"poisson": 0.35,
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| 22 |
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"friction": 0.55
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| 23 |
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},
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| 24 |
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"kinematic_info": {
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| 25 |
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"motion_types": [
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"C"
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| 27 |
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],
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| 28 |
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"motion_info": {
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| 29 |
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"dependency": [
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1
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| 31 |
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],
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| 32 |
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"C": {
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| 33 |
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"axis": [
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| 34 |
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-0.49999998653882616,
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| 35 |
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0.8660254115562509,
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| 36 |
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0.0
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| 37 |
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],
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| 38 |
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"pos": [
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| 39 |
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0.10536161810159683,
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| 40 |
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0.09261932224035263,
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-0.18701952695846558
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],
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"range": [
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0.0,
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1.5707963267948966
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| 46 |
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],
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"damping": 0.03
|
| 48 |
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}
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| 49 |
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}
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| 50 |
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}
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| 51 |
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}
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data/UPB_00000809/annotations/part_2.json
ADDED
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@@ -0,0 +1,51 @@
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{
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| 2 |
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"index": {
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| 3 |
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"type_name": "default",
|
| 4 |
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"entity": "UPB_00000809",
|
| 5 |
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"label": "2"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Left Front Door Panel",
|
| 9 |
+
"affordance": 2,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Curved ABS plastic panel, approx. 16*12*1.5 cm, covers the left side of the front opening.",
|
| 12 |
+
"functional_description": "Serves as the left access door to the bin opening; helps retain contents and aesthetics when closed.",
|
| 13 |
+
"movement_description": "Rotates about a vertical hinge line relative to the main shell; softly damped to prevent slamming.",
|
| 14 |
+
"grasp_description": "Users pull on the edge or tab to swing the door open for depositing or removing contents."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/ABS_Plastic",
|
| 18 |
+
"density": 1.04,
|
| 19 |
+
"young": 2.0,
|
| 20 |
+
"hardness": 10,
|
| 21 |
+
"poisson": 0.35,
|
| 22 |
+
"friction": 0.45
|
| 23 |
+
},
|
| 24 |
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"kinematic_info": {
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| 25 |
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"motion_types": [
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| 26 |
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"C"
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| 27 |
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],
|
| 28 |
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"motion_info": {
|
| 29 |
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"dependency": [
|
| 30 |
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2
|
| 31 |
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],
|
| 32 |
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"C": {
|
| 33 |
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"axis": [
|
| 34 |
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1.0,
|
| 35 |
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0.0,
|
| 36 |
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0.0
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| 37 |
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],
|
| 38 |
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"pos": [
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| 39 |
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0.0,
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| 40 |
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-0.15599891543388367,
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| 41 |
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-0.18626946210861206
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| 42 |
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],
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| 43 |
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"range": [
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| 44 |
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0.0,
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| 45 |
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1.5707963267948966
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| 46 |
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],
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| 47 |
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"damping": 0.05
|
| 48 |
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}
|
| 49 |
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}
|
| 50 |
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}
|
| 51 |
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}
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data/UPB_00000809/annotations/part_3.json
ADDED
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@@ -0,0 +1,51 @@
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{
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"index": {
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| 3 |
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"type_name": "default",
|
| 4 |
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"entity": "UPB_00000809",
|
| 5 |
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"label": "3"
|
| 6 |
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},
|
| 7 |
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"part_level": {
|
| 8 |
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"part_name": "Right Front Door Panel",
|
| 9 |
+
"affordance": 3,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Curved ABS panel on the right side of the front opening, approx. 16*12*1.5 cm; integrates the pull/latch strip.",
|
| 12 |
+
"functional_description": "Provides the right side closure and works with the latch strip for easy opening.",
|
| 13 |
+
"movement_description": "Rotates about a vertical hinge relative to the main shell; motion is damped for smooth operation.",
|
| 14 |
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"grasp_description": "Often opened via the attached pull strip; users swing this panel to access the bin cavity."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/ABS_Plastic",
|
| 18 |
+
"density": 1.04,
|
| 19 |
+
"young": 2.0,
|
| 20 |
+
"hardness": 10,
|
| 21 |
+
"poisson": 0.35,
|
| 22 |
+
"friction": 0.46
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
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"C"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
3
|
| 31 |
+
],
|
| 32 |
+
"C": {
|
| 33 |
+
"axis": [
|
| 34 |
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-0.484809621739966,
|
| 35 |
+
-0.8746197063114637,
|
| 36 |
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0.0
|
| 37 |
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],
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| 38 |
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"pos": [
|
| 39 |
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-0.13123707473278046,
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| 40 |
+
0.07261520624160767,
|
| 41 |
+
-0.18877896666526794
|
| 42 |
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],
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| 43 |
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"range": [
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| 44 |
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0.0,
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| 45 |
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| 46 |
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],
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| 47 |
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"damping": 0.05
|
| 48 |
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}
|
| 49 |
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}
|
| 50 |
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}
|
| 51 |
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}
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data/UPB_00000809/annotations/part_4.json
ADDED
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@@ -0,0 +1,30 @@
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{
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"index": {
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"type_name": "default",
|
| 4 |
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"entity": "UPB_00000809",
|
| 5 |
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"label": "4"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Main Shell with Stand",
|
| 9 |
+
"affordance": 6,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Egg-shaped ABS housing with integrated round pedestal base; overall size matches object dimensions.",
|
| 12 |
+
"functional_description": "Provides structural support, houses the bin cavity, and carries the hinges for both front doors.",
|
| 13 |
+
"movement_description": "Stationary reference frame; both door panels rotate relative to this shell.",
|
| 14 |
+
"grasp_description": "Occasionally grasped at the sides or base to reposition the bin on a desk."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/ABS_Plastic",
|
| 18 |
+
"density": 1.04,
|
| 19 |
+
"young": 2.1,
|
| 20 |
+
"hardness": 10,
|
| 21 |
+
"poisson": 0.35,
|
| 22 |
+
"friction": 0.35
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00000809/full_model/material.mtl
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
|
| 3 |
+
newmtl material_0
|
| 4 |
+
Ka 0.40000000 0.40000000 0.40000000
|
| 5 |
+
Kd 0.40000000 0.40000000 0.40000000
|
| 6 |
+
Ks 0.40000000 0.40000000 0.40000000
|
| 7 |
+
Ns 1.00000000
|
| 8 |
+
map_Kd material_0.png
|
data/UPB_00000809/full_model/material_0.png
ADDED
|
Git LFS Details
|
data/UPB_00000809/full_model/model.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/UPB_00000809/meta_data.json
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"id": "UPB_00000809",
|
| 3 |
+
"source": [
|
| 4 |
+
{
|
| 5 |
+
"dataset": "UniPhys-Bench",
|
| 6 |
+
"organization": "Manycore Tech Inc.",
|
| 7 |
+
"license_ref": "UniPhys-Bench"
|
| 8 |
+
}
|
| 9 |
+
],
|
| 10 |
+
"object": {
|
| 11 |
+
"category": "ContainersStorage/WasteRecyclingContainer",
|
| 12 |
+
"object_name": "Egg-Pod Desktop Trash Bin"
|
| 13 |
+
},
|
| 14 |
+
"geometry": {
|
| 15 |
+
"asset_type": "decomposed_parts",
|
| 16 |
+
"num_parts": 4,
|
| 17 |
+
"format": "obj"
|
| 18 |
+
},
|
| 19 |
+
"annotation": {
|
| 20 |
+
"version": "v1.0"
|
| 21 |
+
}
|
| 22 |
+
}
|
data/UPB_00000809/model.urdf
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="robot">
|
| 3 |
+
<link name="base_link"/>
|
| 4 |
+
<link name="helper_link_0"/>
|
| 5 |
+
<link name="helper_link_1"/>
|
| 6 |
+
<link name="helper_link_2"/>
|
| 7 |
+
<link name="link_1">
|
| 8 |
+
<visual>
|
| 9 |
+
<geometry>
|
| 10 |
+
<mesh filename="parts/part_1.obj" scale="0.347222 0.347222 0.347222"/>
|
| 11 |
+
</geometry>
|
| 12 |
+
</visual>
|
| 13 |
+
<collision>
|
| 14 |
+
<geometry>
|
| 15 |
+
<mesh filename="parts/part_1.obj" scale="0.347222 0.347222 0.347222"/>
|
| 16 |
+
</geometry>
|
| 17 |
+
</collision>
|
| 18 |
+
</link>
|
| 19 |
+
<link name="link_2">
|
| 20 |
+
<visual>
|
| 21 |
+
<geometry>
|
| 22 |
+
<mesh filename="parts/part_2.obj" scale="0.347222 0.347222 0.347222"/>
|
| 23 |
+
</geometry>
|
| 24 |
+
</visual>
|
| 25 |
+
<collision>
|
| 26 |
+
<geometry>
|
| 27 |
+
<mesh filename="parts/part_2.obj" scale="0.347222 0.347222 0.347222"/>
|
| 28 |
+
</geometry>
|
| 29 |
+
</collision>
|
| 30 |
+
</link>
|
| 31 |
+
<link name="link_3">
|
| 32 |
+
<visual>
|
| 33 |
+
<geometry>
|
| 34 |
+
<mesh filename="parts/part_3.obj" scale="0.347222 0.347222 0.347222"/>
|
| 35 |
+
</geometry>
|
| 36 |
+
</visual>
|
| 37 |
+
<collision>
|
| 38 |
+
<geometry>
|
| 39 |
+
<mesh filename="parts/part_3.obj" scale="0.347222 0.347222 0.347222"/>
|
| 40 |
+
</geometry>
|
| 41 |
+
</collision>
|
| 42 |
+
</link>
|
| 43 |
+
<link name="link_4">
|
| 44 |
+
<visual>
|
| 45 |
+
<geometry>
|
| 46 |
+
<mesh filename="parts/part_4.obj" scale="0.347222 0.347222 0.347222"/>
|
| 47 |
+
</geometry>
|
| 48 |
+
</visual>
|
| 49 |
+
<collision>
|
| 50 |
+
<geometry>
|
| 51 |
+
<mesh filename="parts/part_4.obj" scale="0.347222 0.347222 0.347222"/>
|
| 52 |
+
</geometry>
|
| 53 |
+
</collision>
|
| 54 |
+
</link>
|
| 55 |
+
<joint name="joint_0" type="revolute">
|
| 56 |
+
<parent link="base_link"/>
|
| 57 |
+
<child link="helper_link_0"/>
|
| 58 |
+
<origin xyz="0.036584 0.032159 -0.064937" rpy="0 0 0"/>
|
| 59 |
+
<axis xyz="-0.49999998653882616 0.8660254115562509 0.0"/>
|
| 60 |
+
<limit lower="0.0" upper="1.5707963267948966"/>
|
| 61 |
+
</joint>
|
| 62 |
+
<joint name="joint_1" type="fixed">
|
| 63 |
+
<parent link="helper_link_0"/>
|
| 64 |
+
<child link="link_1"/>
|
| 65 |
+
<origin xyz="-0.036584 -0.032159 0.064937" rpy="0 0 0"/>
|
| 66 |
+
</joint>
|
| 67 |
+
<joint name="joint_2" type="revolute">
|
| 68 |
+
<parent link="link_4"/>
|
| 69 |
+
<child link="helper_link_1"/>
|
| 70 |
+
<origin xyz="0.000000 -0.054166 -0.064677" rpy="0 0 0"/>
|
| 71 |
+
<axis xyz="1.0 0.0 0.0"/>
|
| 72 |
+
<limit lower="0.0" upper="1.5707963267948966"/>
|
| 73 |
+
</joint>
|
| 74 |
+
<joint name="joint_3" type="fixed">
|
| 75 |
+
<parent link="helper_link_1"/>
|
| 76 |
+
<child link="link_2"/>
|
| 77 |
+
<origin xyz="-0.000000 0.054166 0.064677" rpy="0 0 0"/>
|
| 78 |
+
</joint>
|
| 79 |
+
<joint name="joint_4" type="revolute">
|
| 80 |
+
<parent link="link_4"/>
|
| 81 |
+
<child link="helper_link_2"/>
|
| 82 |
+
<origin xyz="-0.045568 0.025214 -0.065548" rpy="0 0 0"/>
|
| 83 |
+
<axis xyz="-0.484809621739966 -0.8746197063114637 0.0"/>
|
| 84 |
+
<limit lower="0.0" upper="1.5707963267948966"/>
|
| 85 |
+
</joint>
|
| 86 |
+
<joint name="joint_5" type="fixed">
|
| 87 |
+
<parent link="helper_link_2"/>
|
| 88 |
+
<child link="link_3"/>
|
| 89 |
+
<origin xyz="0.045568 -0.025214 0.065548" rpy="0 0 0"/>
|
| 90 |
+
</joint>
|
| 91 |
+
<joint name="joint_6" type="fixed">
|
| 92 |
+
<parent link="base_link"/>
|
| 93 |
+
<child link="link_4"/>
|
| 94 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 95 |
+
</joint>
|
| 96 |
+
</robot>
|
data/UPB_00000809/parts/4.mtl
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
|
| 3 |
+
newmtl material_0
|
| 4 |
+
Ka 0.40000000 0.40000000 0.40000000
|
| 5 |
+
Kd 0.40000000 0.40000000 0.40000000
|
| 6 |
+
Ks 0.40000000 0.40000000 0.40000000
|
| 7 |
+
Ns 1.00000000
|
| 8 |
+
map_Kd 4.png
|
data/UPB_00000809/parts/4.png
ADDED
|
Git LFS Details
|
data/UPB_00000809/parts/TrashCan_ZIHOSPJVAII6MPTUK4888888_P1tly.mtl
ADDED
|
@@ -0,0 +1,13 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# File produced by Open Asset Import Library (http://www.assimp.sf.net)
|
| 2 |
+
# (assimp v5.4.0)
|
| 3 |
+
|
| 4 |
+
newmtl MI_6630749af1af2c0001bd3c27
|
| 5 |
+
Kd 0.215700001 0 0
|
| 6 |
+
illum 1
|
| 7 |
+
|
| 8 |
+
newmtl MI_6630749aff8aa400013b552a
|
| 9 |
+
Kd 0.970899999 0.970899999 0.970899999
|
| 10 |
+
Ks 0.100000001 0.100000001 0.100000001
|
| 11 |
+
d 1
|
| 12 |
+
illum 1
|
| 13 |
+
|
data/UPB_00000809/parts/part_1.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/UPB_00000809/parts/part_2.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/UPB_00000809/parts/part_3.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/UPB_00000809/parts/part_4.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/UPB_00000809/plys/1.ply
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2212764b11491fba3e2d226cd9583059b124839fc05cfd9edb6e026c00a99586
|
| 3 |
+
size 214914
|
data/UPB_00000809/plys/2.ply
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:051954fd2eada72164bf98dc034fe838135dee02cec69e29b4743330828f8dee
|
| 3 |
+
size 214914
|
data/UPB_00000809/plys/3.ply
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8fc3478430dc13f47cb38ae1b375514deb91e5dff52dc7813e9c3753e423f4dc
|
| 3 |
+
size 214914
|
data/UPB_00000809/plys/4.ply
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:22a2c14a443baf35789dbcfc9509fb96dddbf24e12a9a2070ed06b2f4ff28ec5
|
| 3 |
+
size 956194
|
data/UPB_00000809/plys/model.ply
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ada977ccbb49002b9043e71385ff160aa149be9cfba4a18bc3d8a2b5f61afe6f
|
| 3 |
+
size 1600243
|
data/UPB_00000810/annotations/object.json
ADDED
|
@@ -0,0 +1,10 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"object_name": "Smart Trash Can",
|
| 3 |
+
"category": "ContainersStorage/WasteRecyclingContainer",
|
| 4 |
+
"volume": [
|
| 5 |
+
30.0,
|
| 6 |
+
25.0,
|
| 7 |
+
45.0
|
| 8 |
+
],
|
| 9 |
+
"mass": 2.8
|
| 10 |
+
}
|
data/UPB_00000810/annotations/part_1.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00000810",
|
| 5 |
+
"label": "1"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "IR Sensor Window / Indicator Lens",
|
| 9 |
+
"affordance": 3,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Small circular smoked PC lens embedded on the front of the lid assembly.",
|
| 12 |
+
"functional_description": "Allows infrared proximity sensing and/or status indication while protecting the electronics.",
|
| 13 |
+
"movement_description": "Rigidly fixed to the lid; no relative motion to the lid or body during use.",
|
| 14 |
+
"grasp_description": "Not intended to be touched; users typically avoid pressing or covering the sensor window."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/Polycarbonate_IR-Transmissive",
|
| 18 |
+
"density": 1.2,
|
| 19 |
+
"young": 2.4,
|
| 20 |
+
"hardness": 18,
|
| 21 |
+
"poisson": 0.37,
|
| 22 |
+
"friction": 0.4
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"B"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
1
|
| 31 |
+
],
|
| 32 |
+
"B": {
|
| 33 |
+
"axis": [
|
| 34 |
+
0.0,
|
| 35 |
+
1.0,
|
| 36 |
+
0.0
|
| 37 |
+
],
|
| 38 |
+
"pos": [
|
| 39 |
+
0.0,
|
| 40 |
+
-0.14071506261825562,
|
| 41 |
+
0.17374731600284576
|
| 42 |
+
],
|
| 43 |
+
"range": [
|
| 44 |
+
-0.0,
|
| 45 |
+
0.0010000000474974513
|
| 46 |
+
],
|
| 47 |
+
"damping": 0.03
|
| 48 |
+
}
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
data/UPB_00000810/annotations/part_2.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00000810",
|
| 5 |
+
"label": "2"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Hinged Lid Assembly",
|
| 9 |
+
"affordance": 1,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Rectangular, rounded ABS lid with a thin front fascia that houses a sensor lens and control markings.",
|
| 12 |
+
"functional_description": "Covers the bin opening to contain odors and conceal waste; opens automatically via sensor actuation or can be lifted manually.",
|
| 13 |
+
"movement_description": "Rotates about a rear hinge relative to the body; motion is lightly damped for smooth opening/closing.",
|
| 14 |
+
"grasp_description": "Users may lift the front edge for manual opening or remove the lid when emptying the bin."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/ABS_Plastic",
|
| 18 |
+
"density": 1.04,
|
| 19 |
+
"young": 2.1,
|
| 20 |
+
"hardness": 10,
|
| 21 |
+
"poisson": 0.35,
|
| 22 |
+
"friction": 0.45
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"C"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
2
|
| 31 |
+
],
|
| 32 |
+
"C": {
|
| 33 |
+
"axis": [
|
| 34 |
+
-1.0,
|
| 35 |
+
0.0,
|
| 36 |
+
-1.2246468525851679e-16
|
| 37 |
+
],
|
| 38 |
+
"pos": [
|
| 39 |
+
0.0,
|
| 40 |
+
0.13989637792110443,
|
| 41 |
+
0.131731778383255
|
| 42 |
+
],
|
| 43 |
+
"range": [
|
| 44 |
+
0.0,
|
| 45 |
+
1.9198621771937625
|
| 46 |
+
],
|
| 47 |
+
"damping": 0.05
|
| 48 |
+
}
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
data/UPB_00000810/annotations/part_3.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00000810",
|
| 5 |
+
"label": "3"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Front Logo Badge",
|
| 9 |
+
"affordance": 6,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Small metallic emblem mounted on the front face of the bin body.",
|
| 12 |
+
"functional_description": "Brand identification; purely decorative and provides no structural function.",
|
| 13 |
+
"movement_description": "Rigidly adhered to the body; no motion relative to the bin.",
|
| 14 |
+
"grasp_description": "Not intended for grasping; may be touched incidentally during cleaning."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/PP_Plastic",
|
| 18 |
+
"density": 0.9,
|
| 19 |
+
"young": 1.5,
|
| 20 |
+
"hardness": 5,
|
| 21 |
+
"poisson": 0.42,
|
| 22 |
+
"friction": 0.4
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00000810/annotations/part_4.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00000810",
|
| 5 |
+
"label": "4"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Main Bin Body",
|
| 9 |
+
"affordance": 2,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Tapered rectangular PP container with rounded corners forming the structural shell and waste volume.",
|
| 12 |
+
"functional_description": "Houses waste bag, supports the lid mechanism, and provides overall structural stability.",
|
| 13 |
+
"movement_description": "Stationary base structure; serves as the hinge parent for the lid and mounting surface for logo and feet.",
|
| 14 |
+
"grasp_description": "Users grasp the side walls or rim to move or empty the bin."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/PP_Plastic",
|
| 18 |
+
"density": 0.9,
|
| 19 |
+
"young": 1.5,
|
| 20 |
+
"hardness": 5,
|
| 21 |
+
"poisson": 0.42,
|
| 22 |
+
"friction": 0.4
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00000810/annotations/part_5.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00000810",
|
| 5 |
+
"label": "5"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Anti-slip Feet Set",
|
| 9 |
+
"affordance": 5,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Five small circular silicone pads attached to the bottom of the bin.",
|
| 12 |
+
"functional_description": "Increase ground friction, prevent slipping, and damp floor vibrations and noise when the lid operates.",
|
| 13 |
+
"movement_description": "Rigidly fixed to the bin body; elastically deforms under load but exhibits no relative rigid-body motion.",
|
| 14 |
+
"grasp_description": "Not touched during normal use; only contacted when cleaning the bottom."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "rubber/Silicone_Rubber",
|
| 18 |
+
"density": 1.1,
|
| 19 |
+
"young": 0.005,
|
| 20 |
+
"hardness": 2,
|
| 21 |
+
"poisson": 0.49,
|
| 22 |
+
"friction": 0.75
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00000810/full_model/material.mtl
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
|
| 3 |
+
newmtl material_0
|
| 4 |
+
Ka 0.40000000 0.40000000 0.40000000
|
| 5 |
+
Kd 0.40000000 0.40000000 0.40000000
|
| 6 |
+
Ks 0.40000000 0.40000000 0.40000000
|
| 7 |
+
Ns 1.00000000
|
| 8 |
+
map_Kd material_0.png
|
data/UPB_00000810/full_model/material_0.png
ADDED
|
Git LFS Details
|
data/UPB_00000810/full_model/model.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/UPB_00000810/meta_data.json
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"id": "UPB_00000810",
|
| 3 |
+
"source": [
|
| 4 |
+
{
|
| 5 |
+
"dataset": "UniPhys-Bench",
|
| 6 |
+
"organization": "Manycore Tech Inc.",
|
| 7 |
+
"license_ref": "UniPhys-Bench"
|
| 8 |
+
}
|
| 9 |
+
],
|
| 10 |
+
"object": {
|
| 11 |
+
"category": "ContainersStorage/WasteRecyclingContainer",
|
| 12 |
+
"object_name": "Smart Trash Can"
|
| 13 |
+
},
|
| 14 |
+
"geometry": {
|
| 15 |
+
"asset_type": "decomposed_parts",
|
| 16 |
+
"num_parts": 5,
|
| 17 |
+
"format": "obj"
|
| 18 |
+
},
|
| 19 |
+
"annotation": {
|
| 20 |
+
"version": "v1.0"
|
| 21 |
+
}
|
| 22 |
+
}
|
data/UPB_00000810/model.urdf
ADDED
|
@@ -0,0 +1,105 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="robot">
|
| 3 |
+
<link name="base_link"/>
|
| 4 |
+
<link name="helper_link_0"/>
|
| 5 |
+
<link name="helper_link_1"/>
|
| 6 |
+
<link name="link_1">
|
| 7 |
+
<visual>
|
| 8 |
+
<geometry>
|
| 9 |
+
<mesh filename="parts/part_1.obj" scale="1.039354 1.039354 1.039354"/>
|
| 10 |
+
</geometry>
|
| 11 |
+
</visual>
|
| 12 |
+
<collision>
|
| 13 |
+
<geometry>
|
| 14 |
+
<mesh filename="parts/part_1.obj" scale="1.039354 1.039354 1.039354"/>
|
| 15 |
+
</geometry>
|
| 16 |
+
</collision>
|
| 17 |
+
</link>
|
| 18 |
+
<link name="link_2">
|
| 19 |
+
<visual>
|
| 20 |
+
<geometry>
|
| 21 |
+
<mesh filename="parts/part_2.obj" scale="1.039354 1.039354 1.039354"/>
|
| 22 |
+
</geometry>
|
| 23 |
+
</visual>
|
| 24 |
+
<collision>
|
| 25 |
+
<geometry>
|
| 26 |
+
<mesh filename="parts/part_2.obj" scale="1.039354 1.039354 1.039354"/>
|
| 27 |
+
</geometry>
|
| 28 |
+
</collision>
|
| 29 |
+
</link>
|
| 30 |
+
<link name="link_3">
|
| 31 |
+
<visual>
|
| 32 |
+
<geometry>
|
| 33 |
+
<mesh filename="parts/part_3.obj" scale="1.039354 1.039354 1.039354"/>
|
| 34 |
+
</geometry>
|
| 35 |
+
</visual>
|
| 36 |
+
<collision>
|
| 37 |
+
<geometry>
|
| 38 |
+
<mesh filename="parts/part_3.obj" scale="1.039354 1.039354 1.039354"/>
|
| 39 |
+
</geometry>
|
| 40 |
+
</collision>
|
| 41 |
+
</link>
|
| 42 |
+
<link name="link_4">
|
| 43 |
+
<visual>
|
| 44 |
+
<geometry>
|
| 45 |
+
<mesh filename="parts/part_4.obj" scale="1.039354 1.039354 1.039354"/>
|
| 46 |
+
</geometry>
|
| 47 |
+
</visual>
|
| 48 |
+
<collision>
|
| 49 |
+
<geometry>
|
| 50 |
+
<mesh filename="parts/part_4.obj" scale="1.039354 1.039354 1.039354"/>
|
| 51 |
+
</geometry>
|
| 52 |
+
</collision>
|
| 53 |
+
</link>
|
| 54 |
+
<link name="link_5">
|
| 55 |
+
<visual>
|
| 56 |
+
<geometry>
|
| 57 |
+
<mesh filename="parts/part_5.obj" scale="1.039354 1.039354 1.039354"/>
|
| 58 |
+
</geometry>
|
| 59 |
+
</visual>
|
| 60 |
+
<collision>
|
| 61 |
+
<geometry>
|
| 62 |
+
<mesh filename="parts/part_5.obj" scale="1.039354 1.039354 1.039354"/>
|
| 63 |
+
</geometry>
|
| 64 |
+
</collision>
|
| 65 |
+
</link>
|
| 66 |
+
<joint name="joint_0" type="prismatic">
|
| 67 |
+
<parent link="base_link"/>
|
| 68 |
+
<child link="helper_link_0"/>
|
| 69 |
+
<origin xyz="0.000000 -0.146253 0.180585" rpy="0 0 0"/>
|
| 70 |
+
<axis xyz="0.0 1.0 0.0"/>
|
| 71 |
+
<limit lower="-0.0" upper="0.0010393542419735535"/>
|
| 72 |
+
</joint>
|
| 73 |
+
<joint name="joint_1" type="fixed">
|
| 74 |
+
<parent link="helper_link_0"/>
|
| 75 |
+
<child link="link_1"/>
|
| 76 |
+
<origin xyz="-0.000000 0.146253 -0.180585" rpy="0 0 0"/>
|
| 77 |
+
</joint>
|
| 78 |
+
<joint name="joint_2" type="revolute">
|
| 79 |
+
<parent link="link_4"/>
|
| 80 |
+
<child link="helper_link_1"/>
|
| 81 |
+
<origin xyz="0.000000 0.145402 0.136916" rpy="0 0 0"/>
|
| 82 |
+
<axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
|
| 83 |
+
<limit lower="0.0" upper="1.9198621771937625"/>
|
| 84 |
+
</joint>
|
| 85 |
+
<joint name="joint_3" type="fixed">
|
| 86 |
+
<parent link="helper_link_1"/>
|
| 87 |
+
<child link="link_2"/>
|
| 88 |
+
<origin xyz="-0.000000 -0.145402 -0.136916" rpy="0 0 0"/>
|
| 89 |
+
</joint>
|
| 90 |
+
<joint name="joint_4" type="fixed">
|
| 91 |
+
<parent link="base_link"/>
|
| 92 |
+
<child link="link_3"/>
|
| 93 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 94 |
+
</joint>
|
| 95 |
+
<joint name="joint_5" type="fixed">
|
| 96 |
+
<parent link="base_link"/>
|
| 97 |
+
<child link="link_4"/>
|
| 98 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 99 |
+
</joint>
|
| 100 |
+
<joint name="joint_6" type="fixed">
|
| 101 |
+
<parent link="base_link"/>
|
| 102 |
+
<child link="link_5"/>
|
| 103 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 104 |
+
</joint>
|
| 105 |
+
</robot>
|
data/UPB_00000810/parts/2.mtl
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
|
| 3 |
+
newmtl material_0
|
| 4 |
+
Ka 0.40000000 0.40000000 0.40000000
|
| 5 |
+
Kd 0.40000000 0.40000000 0.40000000
|
| 6 |
+
Ks 0.40000000 0.40000000 0.40000000
|
| 7 |
+
Ns 1.00000000
|
| 8 |
+
map_Kd 2.png
|
data/UPB_00000810/parts/2.png
ADDED
|
Git LFS Details
|
data/UPB_00000810/parts/TrashCan_ZMFS3XRVAIJNSPTULI888888_xiQ69.mtl
ADDED
|
@@ -0,0 +1,25 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# File produced by Open Asset Import Library (http://www.assimp.sf.net)
|
| 2 |
+
# (assimp v5.4.0)
|
| 3 |
+
|
| 4 |
+
newmtl MI_6735b7759f61db000130a751
|
| 5 |
+
Kd 0.0519615971 0.0519615971 0.0519615971
|
| 6 |
+
illum 1
|
| 7 |
+
|
| 8 |
+
newmtl MI_6735b77581b8290001ad08dd
|
| 9 |
+
Kd 0.847100019 0.847100019 0.847100019
|
| 10 |
+
illum 1
|
| 11 |
+
|
| 12 |
+
newmtl MI_6735b77553413200019ff097
|
| 13 |
+
Kd 0.478399992 0.478399992 0.478399992
|
| 14 |
+
illum 1
|
| 15 |
+
|
| 16 |
+
newmtl MI_6735b775f96ae20001b9de26
|
| 17 |
+
Kd 0 0 0
|
| 18 |
+
Ke 1 1 1
|
| 19 |
+
illum 1
|
| 20 |
+
|
| 21 |
+
newmtl MI_6735b7754bb1960001c2cb6e
|
| 22 |
+
Kd 0 0 0
|
| 23 |
+
Ke 0.189500004 1 0.455599993
|
| 24 |
+
illum 1
|
| 25 |
+
|
data/UPB_00000810/parts/part_1.obj
ADDED
|
@@ -0,0 +1,1840 @@
|
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|
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|
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