Upload folder using huggingface_hub (part 57)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +33 -0
- data/UPB_00001368/parts/part_9.obj +0 -0
- data/UPB_00001368/parts/wardrobe_YVIO2EZVAIIPGPTULQ888888_7wOPi.mtl +22 -0
- data/UPB_00001368/plys/1.ply +3 -0
- data/UPB_00001368/plys/10.ply +3 -0
- data/UPB_00001368/plys/11.ply +3 -0
- data/UPB_00001368/plys/12.ply +3 -0
- data/UPB_00001368/plys/13.ply +3 -0
- data/UPB_00001368/plys/14.ply +3 -0
- data/UPB_00001368/plys/2.ply +3 -0
- data/UPB_00001368/plys/3.ply +3 -0
- data/UPB_00001368/plys/4.ply +3 -0
- data/UPB_00001368/plys/5.ply +3 -0
- data/UPB_00001368/plys/6.ply +3 -0
- data/UPB_00001368/plys/7.ply +3 -0
- data/UPB_00001368/plys/8.ply +3 -0
- data/UPB_00001368/plys/9.ply +3 -0
- data/UPB_00001368/plys/model.ply +3 -0
- data/UPB_00001369/annotations/object.json +10 -0
- data/UPB_00001369/annotations/part_1.json +52 -0
- data/UPB_00001369/annotations/part_10.json +30 -0
- data/UPB_00001369/annotations/part_11.json +30 -0
- data/UPB_00001369/annotations/part_12.json +30 -0
- data/UPB_00001369/annotations/part_13.json +30 -0
- data/UPB_00001369/annotations/part_2.json +52 -0
- data/UPB_00001369/annotations/part_3.json +51 -0
- data/UPB_00001369/annotations/part_4.json +52 -0
- data/UPB_00001369/annotations/part_5.json +52 -0
- data/UPB_00001369/annotations/part_6.json +52 -0
- data/UPB_00001369/annotations/part_7.json +30 -0
- data/UPB_00001369/annotations/part_8.json +30 -0
- data/UPB_00001369/annotations/part_9.json +30 -0
- data/UPB_00001369/full_model/material.mtl +8 -0
- data/UPB_00001369/full_model/material_0.png +3 -0
- data/UPB_00001369/full_model/model.obj +0 -0
- data/UPB_00001369/meta_data.json +22 -0
- data/UPB_00001369/model.urdf +273 -0
- data/UPB_00001369/parts/part_1.obj +225 -0
- data/UPB_00001369/parts/part_10.obj +0 -0
- data/UPB_00001369/parts/part_11.obj +0 -0
- data/UPB_00001369/parts/part_12.obj +0 -0
- data/UPB_00001369/parts/part_13.obj +2298 -0
- data/UPB_00001369/parts/part_2.obj +225 -0
- data/UPB_00001369/parts/part_3.obj +450 -0
- data/UPB_00001369/parts/part_4.obj +450 -0
- data/UPB_00001369/parts/part_5.obj +434 -0
- data/UPB_00001369/parts/part_6.obj +434 -0
- data/UPB_00001369/parts/part_7.obj +0 -0
- data/UPB_00001369/parts/part_8.obj +0 -0
- data/UPB_00001369/parts/part_9.obj +0 -0
.gitattributes
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{
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"object_name": "Wardrobe Closet with Shelves and Drawer",
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"category": "Furniture/StorageFurniture",
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"volume": [
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120.0,
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50.0,
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200.0
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],
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"mass": 85.0
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}
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data/UPB_00001369/annotations/part_1.json
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{
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"index": {
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"type_name": "default",
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"entity": "UPB_00001369",
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"label": "1"
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},
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"part_level": {
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"part_name": "Upper Drawer Box",
|
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"affordance": 4,
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| 10 |
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"graspable": false,
|
| 11 |
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"basic_description": "A laminated particle-board drawer box approximately 80*40*12 cm with an open top and raised front.",
|
| 12 |
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"functional_description": "Provides sliding storage beneath the shelf area of the wardrobe.",
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| 13 |
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"movement_description": "Translates in and out along wooden/runner guides relative to the cabinet body.",
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| 14 |
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"grasp_description": "Users pull the drawer by its two knobs (parts 11 and 12), not by the box itself."
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},
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"basic_info": {
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"material": "wood/Particle_Board_Laminate",
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"density": 0.65,
|
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"young": 3.0,
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"hardness": 20,
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"poisson": 0.3,
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"friction": 0.45
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},
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"kinematic_info": {
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"motion_types": [
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"B"
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],
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"motion_info": {
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"dependency": [
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1,
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11
|
| 32 |
+
],
|
| 33 |
+
"B": {
|
| 34 |
+
"axis": [
|
| 35 |
+
0.0,
|
| 36 |
+
1.0,
|
| 37 |
+
0.0
|
| 38 |
+
],
|
| 39 |
+
"pos": [
|
| 40 |
+
0.36955389380455017,
|
| 41 |
+
-0.22053998708724976,
|
| 42 |
+
-0.5954350233078003
|
| 43 |
+
],
|
| 44 |
+
"range": [
|
| 45 |
+
-0.30000001192092896,
|
| 46 |
+
0.0
|
| 47 |
+
],
|
| 48 |
+
"damping": 0.06
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
| 52 |
+
}
|
data/UPB_00001369/annotations/part_10.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001369",
|
| 5 |
+
"label": "10"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Knob - Right Upper Door",
|
| 9 |
+
"affordance": 3,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "ABS plastic knob for the right upper cabinet door.",
|
| 12 |
+
"functional_description": "Allows users to pull open the right upper door.",
|
| 13 |
+
"movement_description": "Rigid with door 6.",
|
| 14 |
+
"grasp_description": "Finger grip point; slightly textured for better friction."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "metal",
|
| 18 |
+
"density": 7.095321614455091,
|
| 19 |
+
"young": 162.66640479230088,
|
| 20 |
+
"hardness": 160.52450162034765,
|
| 21 |
+
"poisson": 0.3059805558283549,
|
| 22 |
+
"friction": 0.4258902091721515
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001369/annotations/part_11.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001369",
|
| 5 |
+
"label": "11"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Knob - Left Drawer",
|
| 9 |
+
"affordance": 1,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Left-side knob on the wide drawer front, matte ABS.",
|
| 12 |
+
"functional_description": "Primary grasp point to open the upper drawer.",
|
| 13 |
+
"movement_description": "Fixed to the drawer front; translates with drawer box 1.",
|
| 14 |
+
"grasp_description": "Pulled by one hand together with the right knob for balanced opening."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "metal",
|
| 18 |
+
"density": 7.095321614455091,
|
| 19 |
+
"young": 162.66640479230088,
|
| 20 |
+
"hardness": 160.52450162034765,
|
| 21 |
+
"poisson": 0.3059805558283549,
|
| 22 |
+
"friction": 0.4258902091721515
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001369/annotations/part_12.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001369",
|
| 5 |
+
"label": "12"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Knob - Right Drawer",
|
| 9 |
+
"affordance": 1,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Right-side knob on the wide drawer front, matte ABS.",
|
| 12 |
+
"functional_description": "Works with the left knob to open/close the upper drawer.",
|
| 13 |
+
"movement_description": "Rigid with the drawer front; no independent motion.",
|
| 14 |
+
"grasp_description": "Commonly grasped together with knob 11 for smooth pull."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/ABS_Plastic",
|
| 18 |
+
"density": 1.05,
|
| 19 |
+
"young": 2.2,
|
| 20 |
+
"hardness": 10,
|
| 21 |
+
"poisson": 0.36,
|
| 22 |
+
"friction": 0.58
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001369/annotations/part_13.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001369",
|
| 5 |
+
"label": "13"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Cabinet Body (Carcass with Shelves)",
|
| 9 |
+
"affordance": 10,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Main wardrobe carcass made from laminated particle board with integrated shelves and partitions; overall size 120*50*200 cm.",
|
| 12 |
+
"functional_description": "Provides the structural frame supporting doors, drawers, and shelving for storage.",
|
| 13 |
+
"movement_description": "Stationary; serves as the fixed parent for door rotations and drawer translations.",
|
| 14 |
+
"grasp_description": "Not typically grasped directly during normal use."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "wood/Particle_Board_Laminate",
|
| 18 |
+
"density": 0.65,
|
| 19 |
+
"young": 3.0,
|
| 20 |
+
"hardness": 20,
|
| 21 |
+
"poisson": 0.3,
|
| 22 |
+
"friction": 0.42
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001369/annotations/part_2.json
ADDED
|
@@ -0,0 +1,52 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001369",
|
| 5 |
+
"label": "2"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Lower Drawer Box",
|
| 9 |
+
"affordance": 5,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "A second laminated particle-board drawer box (approx. 80*40*12 cm).",
|
| 12 |
+
"functional_description": "Additional pull-out storage in the lower middle section of the wardrobe.",
|
| 13 |
+
"movement_description": "Slides front-to-back on runners fixed to the cabinet body.",
|
| 14 |
+
"grasp_description": "Operated via its front panel/edge or handle (not modeled as a separate part here)."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "wood/Particle_Board_Laminate",
|
| 18 |
+
"density": 0.65,
|
| 19 |
+
"young": 3.0,
|
| 20 |
+
"hardness": 20,
|
| 21 |
+
"poisson": 0.3,
|
| 22 |
+
"friction": 0.45
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"B"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
2,
|
| 31 |
+
12
|
| 32 |
+
],
|
| 33 |
+
"B": {
|
| 34 |
+
"axis": [
|
| 35 |
+
0.0,
|
| 36 |
+
1.0,
|
| 37 |
+
0.0
|
| 38 |
+
],
|
| 39 |
+
"pos": [
|
| 40 |
+
0.0,
|
| 41 |
+
0.0,
|
| 42 |
+
-0.8554826378822327
|
| 43 |
+
],
|
| 44 |
+
"range": [
|
| 45 |
+
-0.30000001192092896,
|
| 46 |
+
0.0
|
| 47 |
+
],
|
| 48 |
+
"damping": 0.06
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
| 52 |
+
}
|
data/UPB_00001369/annotations/part_3.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001369",
|
| 5 |
+
"label": "3"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Left Tall Door Panel",
|
| 9 |
+
"affordance": 6,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Full-height left door panel, approx. 180*50*1.6 cm, laminated particle board.",
|
| 12 |
+
"functional_description": "Covers and protects the left wardrobe compartment while allowing access when opened.",
|
| 13 |
+
"movement_description": "Rotates about vertical hinges mounted to the cabinet body.",
|
| 14 |
+
"grasp_description": "Typically pulled by its knob (part 7)."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "wood/Particle_Board_Laminate",
|
| 18 |
+
"density": 0.65,
|
| 19 |
+
"young": 3.0,
|
| 20 |
+
"hardness": 20,
|
| 21 |
+
"poisson": 0.3,
|
| 22 |
+
"friction": 0.4
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"C"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
3
|
| 31 |
+
],
|
| 32 |
+
"C": {
|
| 33 |
+
"axis": [
|
| 34 |
+
0.0,
|
| 35 |
+
0.0,
|
| 36 |
+
-1.0
|
| 37 |
+
],
|
| 38 |
+
"pos": [
|
| 39 |
+
-0.8945815563201904,
|
| 40 |
+
-0.20954017341136932,
|
| 41 |
+
-3.0620224578115085e-08
|
| 42 |
+
],
|
| 43 |
+
"range": [
|
| 44 |
+
0.0,
|
| 45 |
+
1.5707963267948966
|
| 46 |
+
],
|
| 47 |
+
"damping": 0.03
|
| 48 |
+
}
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
data/UPB_00001369/annotations/part_4.json
ADDED
|
@@ -0,0 +1,52 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001369",
|
| 5 |
+
"label": "4"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Right Tall Door Panel",
|
| 9 |
+
"affordance": 6,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Narrower tall door panel on the front-left assembly, approx. 180*35*1.6 cm.",
|
| 12 |
+
"functional_description": "Second leaf of the tall double-door set.",
|
| 13 |
+
"movement_description": "Opens by rotating on vertical hinges relative to the cabinet carcass.",
|
| 14 |
+
"grasp_description": "Operated using its knob (part 8)."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "wood/Particle_Board_Laminate",
|
| 18 |
+
"density": 0.65,
|
| 19 |
+
"young": 3.0,
|
| 20 |
+
"hardness": 20,
|
| 21 |
+
"poisson": 0.3,
|
| 22 |
+
"friction": 0.4
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"C"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
4,
|
| 31 |
+
8
|
| 32 |
+
],
|
| 33 |
+
"C": {
|
| 34 |
+
"axis": [
|
| 35 |
+
0.0,
|
| 36 |
+
0.0,
|
| 37 |
+
1.0
|
| 38 |
+
],
|
| 39 |
+
"pos": [
|
| 40 |
+
-0.011928902938961983,
|
| 41 |
+
-0.21061530709266663,
|
| 42 |
+
4.083093863016529e-10
|
| 43 |
+
],
|
| 44 |
+
"range": [
|
| 45 |
+
0.0,
|
| 46 |
+
1.5707963267948966
|
| 47 |
+
],
|
| 48 |
+
"damping": 0.03
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
| 52 |
+
}
|
data/UPB_00001369/annotations/part_5.json
ADDED
|
@@ -0,0 +1,52 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001369",
|
| 5 |
+
"label": "5"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Left Upper Door Panel",
|
| 9 |
+
"affordance": 6,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Smaller cabinet door above the shelving section, approx. 55*40*1.6 cm.",
|
| 12 |
+
"functional_description": "Closes the left half of the upper cabinet.",
|
| 13 |
+
"movement_description": "Swings open about a vertical hinge line on the cabinet.",
|
| 14 |
+
"grasp_description": "Pulled via knob part 9."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "wood/Particle_Board_Laminate",
|
| 18 |
+
"density": 0.65,
|
| 19 |
+
"young": 3.0,
|
| 20 |
+
"hardness": 20,
|
| 21 |
+
"poisson": 0.3,
|
| 22 |
+
"friction": 0.4
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"C"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
5,
|
| 31 |
+
9
|
| 32 |
+
],
|
| 33 |
+
"C": {
|
| 34 |
+
"axis": [
|
| 35 |
+
0.0,
|
| 36 |
+
0.0,
|
| 37 |
+
-1.0
|
| 38 |
+
],
|
| 39 |
+
"pos": [
|
| 40 |
+
0.012421107850968838,
|
| 41 |
+
-0.20781384408473969,
|
| 42 |
+
1.0918700695037842
|
| 43 |
+
],
|
| 44 |
+
"range": [
|
| 45 |
+
0.0,
|
| 46 |
+
1.5707963267948966
|
| 47 |
+
],
|
| 48 |
+
"damping": 0.03
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
| 52 |
+
}
|
data/UPB_00001369/annotations/part_6.json
ADDED
|
@@ -0,0 +1,52 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001369",
|
| 5 |
+
"label": "6"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Right Upper Door Panel",
|
| 9 |
+
"affordance": 6,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Right-hand upper cabinet door, approx. 55*40*1.6 cm, laminated particle board.",
|
| 12 |
+
"functional_description": "Closes the right half of the upper storage.",
|
| 13 |
+
"movement_description": "Rotates about its hinges relative to the cabinet body.",
|
| 14 |
+
"grasp_description": "Handled using knob part 10."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "wood/Particle_Board_Laminate",
|
| 18 |
+
"density": 0.65,
|
| 19 |
+
"young": 3.0,
|
| 20 |
+
"hardness": 20,
|
| 21 |
+
"poisson": 0.3,
|
| 22 |
+
"friction": 0.4
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"C"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
6,
|
| 31 |
+
10
|
| 32 |
+
],
|
| 33 |
+
"C": {
|
| 34 |
+
"axis": [
|
| 35 |
+
0.0,
|
| 36 |
+
0.0,
|
| 37 |
+
1.0
|
| 38 |
+
],
|
| 39 |
+
"pos": [
|
| 40 |
+
0.8886141777038574,
|
| 41 |
+
-0.21340583264827728,
|
| 42 |
+
0.7036306262016296
|
| 43 |
+
],
|
| 44 |
+
"range": [
|
| 45 |
+
0.0,
|
| 46 |
+
1.5707963267948966
|
| 47 |
+
],
|
| 48 |
+
"damping": 0.03
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
| 52 |
+
}
|
data/UPB_00001369/annotations/part_7.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001369",
|
| 5 |
+
"label": "7"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Knob - Left Tall Door",
|
| 9 |
+
"affordance": 2,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Matte black ABS round knob (~3 cm diameter, 2.5 cm projection).",
|
| 12 |
+
"functional_description": "Provides a comfortable grip to pull the left tall door.",
|
| 13 |
+
"movement_description": "Rigidly fixed to the door; moves only as the door rotates.",
|
| 14 |
+
"grasp_description": "Pinch or pull by fingers; high-friction surface improves grip."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "metal",
|
| 18 |
+
"density": 7.095321614455091,
|
| 19 |
+
"young": 162.66640479230088,
|
| 20 |
+
"hardness": 160.52450162034765,
|
| 21 |
+
"poisson": 0.3059805558283549,
|
| 22 |
+
"friction": 0.4258902091721515
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001369/annotations/part_8.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001369",
|
| 5 |
+
"label": "8"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Knob - Right Tall Door",
|
| 9 |
+
"affordance": 2,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Matte black ABS knob for the right tall door.",
|
| 12 |
+
"functional_description": "Enables pulling the right tall door open/closed.",
|
| 13 |
+
"movement_description": "Rigidly attached; follows the door\u2019s rotation.",
|
| 14 |
+
"grasp_description": "Finger grasp point on the tall door."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "metal",
|
| 18 |
+
"density": 7.095321614455091,
|
| 19 |
+
"young": 162.66640479230088,
|
| 20 |
+
"hardness": 160.52450162034765,
|
| 21 |
+
"poisson": 0.3059805558283549,
|
| 22 |
+
"friction": 0.4258902091721515
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001369/annotations/part_9.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001369",
|
| 5 |
+
"label": "9"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Knob - Left Upper Door",
|
| 9 |
+
"affordance": 3,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Small ABS knob for the left upper cabinet door.",
|
| 12 |
+
"functional_description": "Grip point to open the left upper door.",
|
| 13 |
+
"movement_description": "No independent motion; rigidly mounted to door 5.",
|
| 14 |
+
"grasp_description": "Pulled or twisted by hand during door operation."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/ABS_Plastic",
|
| 18 |
+
"density": 1.05,
|
| 19 |
+
"young": 2.2,
|
| 20 |
+
"hardness": 10,
|
| 21 |
+
"poisson": 0.36,
|
| 22 |
+
"friction": 0.55
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001369/full_model/material.mtl
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
| 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_00001369/full_model/material_0.png
ADDED
|
Git LFS Details
|
data/UPB_00001369/full_model/model.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/UPB_00001369/meta_data.json
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"id": "UPB_00001369",
|
| 3 |
+
"source": [
|
| 4 |
+
{
|
| 5 |
+
"dataset": "UniPhys-Bench",
|
| 6 |
+
"organization": "Manycore Tech Inc.",
|
| 7 |
+
"license_ref": "UniPhys-Bench"
|
| 8 |
+
}
|
| 9 |
+
],
|
| 10 |
+
"object": {
|
| 11 |
+
"category": "Furniture/StorageFurniture",
|
| 12 |
+
"object_name": "Wardrobe Closet with Shelves and Drawer"
|
| 13 |
+
},
|
| 14 |
+
"geometry": {
|
| 15 |
+
"asset_type": "decomposed_parts",
|
| 16 |
+
"num_parts": 13,
|
| 17 |
+
"format": "obj"
|
| 18 |
+
},
|
| 19 |
+
"annotation": {
|
| 20 |
+
"version": "v1.0"
|
| 21 |
+
}
|
| 22 |
+
}
|
data/UPB_00001369/model.urdf
ADDED
|
@@ -0,0 +1,273 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
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|
|
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|
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|
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|
|
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|
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|
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|
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|
|
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|
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|
|
|
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|
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|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
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|
|
|
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|
|
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|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
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|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
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|
|
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|
|
|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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="helper_link_3"/>
|
| 8 |
+
<link name="helper_link_4"/>
|
| 9 |
+
<link name="helper_link_5"/>
|
| 10 |
+
<link name="link_1">
|
| 11 |
+
<visual>
|
| 12 |
+
<geometry>
|
| 13 |
+
<mesh filename="parts/part_1.obj" scale="0.740741 0.740741 0.740741"/>
|
| 14 |
+
</geometry>
|
| 15 |
+
</visual>
|
| 16 |
+
<collision>
|
| 17 |
+
<geometry>
|
| 18 |
+
<mesh filename="parts/part_1.obj" scale="0.740741 0.740741 0.740741"/>
|
| 19 |
+
</geometry>
|
| 20 |
+
</collision>
|
| 21 |
+
</link>
|
| 22 |
+
<link name="link_2">
|
| 23 |
+
<visual>
|
| 24 |
+
<geometry>
|
| 25 |
+
<mesh filename="parts/part_2.obj" scale="0.740741 0.740741 0.740741"/>
|
| 26 |
+
</geometry>
|
| 27 |
+
</visual>
|
| 28 |
+
<collision>
|
| 29 |
+
<geometry>
|
| 30 |
+
<mesh filename="parts/part_2.obj" scale="0.740741 0.740741 0.740741"/>
|
| 31 |
+
</geometry>
|
| 32 |
+
</collision>
|
| 33 |
+
</link>
|
| 34 |
+
<link name="link_3">
|
| 35 |
+
<visual>
|
| 36 |
+
<geometry>
|
| 37 |
+
<mesh filename="parts/part_3.obj" scale="0.740741 0.740741 0.740741"/>
|
| 38 |
+
</geometry>
|
| 39 |
+
</visual>
|
| 40 |
+
<collision>
|
| 41 |
+
<geometry>
|
| 42 |
+
<mesh filename="parts/part_3.obj" scale="0.740741 0.740741 0.740741"/>
|
| 43 |
+
</geometry>
|
| 44 |
+
</collision>
|
| 45 |
+
</link>
|
| 46 |
+
<link name="link_4">
|
| 47 |
+
<visual>
|
| 48 |
+
<geometry>
|
| 49 |
+
<mesh filename="parts/part_4.obj" scale="0.740741 0.740741 0.740741"/>
|
| 50 |
+
</geometry>
|
| 51 |
+
</visual>
|
| 52 |
+
<collision>
|
| 53 |
+
<geometry>
|
| 54 |
+
<mesh filename="parts/part_4.obj" scale="0.740741 0.740741 0.740741"/>
|
| 55 |
+
</geometry>
|
| 56 |
+
</collision>
|
| 57 |
+
</link>
|
| 58 |
+
<link name="link_5">
|
| 59 |
+
<visual>
|
| 60 |
+
<geometry>
|
| 61 |
+
<mesh filename="parts/part_5.obj" scale="0.740741 0.740741 0.740741"/>
|
| 62 |
+
</geometry>
|
| 63 |
+
</visual>
|
| 64 |
+
<collision>
|
| 65 |
+
<geometry>
|
| 66 |
+
<mesh filename="parts/part_5.obj" scale="0.740741 0.740741 0.740741"/>
|
| 67 |
+
</geometry>
|
| 68 |
+
</collision>
|
| 69 |
+
</link>
|
| 70 |
+
<link name="link_6">
|
| 71 |
+
<visual>
|
| 72 |
+
<geometry>
|
| 73 |
+
<mesh filename="parts/part_6.obj" scale="0.740741 0.740741 0.740741"/>
|
| 74 |
+
</geometry>
|
| 75 |
+
</visual>
|
| 76 |
+
<collision>
|
| 77 |
+
<geometry>
|
| 78 |
+
<mesh filename="parts/part_6.obj" scale="0.740741 0.740741 0.740741"/>
|
| 79 |
+
</geometry>
|
| 80 |
+
</collision>
|
| 81 |
+
</link>
|
| 82 |
+
<link name="link_7">
|
| 83 |
+
<visual>
|
| 84 |
+
<geometry>
|
| 85 |
+
<mesh filename="parts/part_7.obj" scale="0.740741 0.740741 0.740741"/>
|
| 86 |
+
</geometry>
|
| 87 |
+
</visual>
|
| 88 |
+
<collision>
|
| 89 |
+
<geometry>
|
| 90 |
+
<mesh filename="parts/part_7.obj" scale="0.740741 0.740741 0.740741"/>
|
| 91 |
+
</geometry>
|
| 92 |
+
</collision>
|
| 93 |
+
</link>
|
| 94 |
+
<link name="link_8">
|
| 95 |
+
<visual>
|
| 96 |
+
<geometry>
|
| 97 |
+
<mesh filename="parts/part_8.obj" scale="0.740741 0.740741 0.740741"/>
|
| 98 |
+
</geometry>
|
| 99 |
+
</visual>
|
| 100 |
+
<collision>
|
| 101 |
+
<geometry>
|
| 102 |
+
<mesh filename="parts/part_8.obj" scale="0.740741 0.740741 0.740741"/>
|
| 103 |
+
</geometry>
|
| 104 |
+
</collision>
|
| 105 |
+
</link>
|
| 106 |
+
<link name="link_9">
|
| 107 |
+
<visual>
|
| 108 |
+
<geometry>
|
| 109 |
+
<mesh filename="parts/part_9.obj" scale="0.740741 0.740741 0.740741"/>
|
| 110 |
+
</geometry>
|
| 111 |
+
</visual>
|
| 112 |
+
<collision>
|
| 113 |
+
<geometry>
|
| 114 |
+
<mesh filename="parts/part_9.obj" scale="0.740741 0.740741 0.740741"/>
|
| 115 |
+
</geometry>
|
| 116 |
+
</collision>
|
| 117 |
+
</link>
|
| 118 |
+
<link name="link_10">
|
| 119 |
+
<visual>
|
| 120 |
+
<geometry>
|
| 121 |
+
<mesh filename="parts/part_10.obj" scale="0.740741 0.740741 0.740741"/>
|
| 122 |
+
</geometry>
|
| 123 |
+
</visual>
|
| 124 |
+
<collision>
|
| 125 |
+
<geometry>
|
| 126 |
+
<mesh filename="parts/part_10.obj" scale="0.740741 0.740741 0.740741"/>
|
| 127 |
+
</geometry>
|
| 128 |
+
</collision>
|
| 129 |
+
</link>
|
| 130 |
+
<link name="link_11">
|
| 131 |
+
<visual>
|
| 132 |
+
<geometry>
|
| 133 |
+
<mesh filename="parts/part_11.obj" scale="0.740741 0.740741 0.740741"/>
|
| 134 |
+
</geometry>
|
| 135 |
+
</visual>
|
| 136 |
+
<collision>
|
| 137 |
+
<geometry>
|
| 138 |
+
<mesh filename="parts/part_11.obj" scale="0.740741 0.740741 0.740741"/>
|
| 139 |
+
</geometry>
|
| 140 |
+
</collision>
|
| 141 |
+
</link>
|
| 142 |
+
<link name="link_12">
|
| 143 |
+
<visual>
|
| 144 |
+
<geometry>
|
| 145 |
+
<mesh filename="parts/part_12.obj" scale="0.740741 0.740741 0.740741"/>
|
| 146 |
+
</geometry>
|
| 147 |
+
</visual>
|
| 148 |
+
<collision>
|
| 149 |
+
<geometry>
|
| 150 |
+
<mesh filename="parts/part_12.obj" scale="0.740741 0.740741 0.740741"/>
|
| 151 |
+
</geometry>
|
| 152 |
+
</collision>
|
| 153 |
+
</link>
|
| 154 |
+
<link name="link_13">
|
| 155 |
+
<visual>
|
| 156 |
+
<geometry>
|
| 157 |
+
<mesh filename="parts/part_13.obj" scale="0.740741 0.740741 0.740741"/>
|
| 158 |
+
</geometry>
|
| 159 |
+
</visual>
|
| 160 |
+
<collision>
|
| 161 |
+
<geometry>
|
| 162 |
+
<mesh filename="parts/part_13.obj" scale="0.740741 0.740741 0.740741"/>
|
| 163 |
+
</geometry>
|
| 164 |
+
</collision>
|
| 165 |
+
</link>
|
| 166 |
+
<joint name="joint_0" type="prismatic">
|
| 167 |
+
<parent link="link_13"/>
|
| 168 |
+
<child link="helper_link_0"/>
|
| 169 |
+
<origin xyz="0.273744 -0.163363 -0.441063" rpy="0 0 0"/>
|
| 170 |
+
<axis xyz="0.0 1.0 0.0"/>
|
| 171 |
+
<limit lower="-0.22222220800727396" upper="0.0"/>
|
| 172 |
+
</joint>
|
| 173 |
+
<joint name="joint_1" type="fixed">
|
| 174 |
+
<parent link="helper_link_0"/>
|
| 175 |
+
<child link="link_1"/>
|
| 176 |
+
<origin xyz="-0.273744 0.163363 0.441063" rpy="0 0 0"/>
|
| 177 |
+
</joint>
|
| 178 |
+
<joint name="joint_2" type="prismatic">
|
| 179 |
+
<parent link="link_13"/>
|
| 180 |
+
<child link="helper_link_1"/>
|
| 181 |
+
<origin xyz="0.000000 0.000000 -0.633691" rpy="0 0 0"/>
|
| 182 |
+
<axis xyz="0.0 1.0 0.0"/>
|
| 183 |
+
<limit lower="-0.22222220800727396" upper="0.0"/>
|
| 184 |
+
</joint>
|
| 185 |
+
<joint name="joint_3" type="fixed">
|
| 186 |
+
<parent link="helper_link_1"/>
|
| 187 |
+
<child link="link_2"/>
|
| 188 |
+
<origin xyz="-0.000000 -0.000000 0.633691" rpy="0 0 0"/>
|
| 189 |
+
</joint>
|
| 190 |
+
<joint name="joint_4" type="revolute">
|
| 191 |
+
<parent link="link_13"/>
|
| 192 |
+
<child link="helper_link_2"/>
|
| 193 |
+
<origin xyz="-0.662653 -0.155215 -0.000000" rpy="0 0 0"/>
|
| 194 |
+
<axis xyz="0.0 0.0 -1.0"/>
|
| 195 |
+
<limit lower="0.0" upper="1.5707963267948966"/>
|
| 196 |
+
</joint>
|
| 197 |
+
<joint name="joint_5" type="fixed">
|
| 198 |
+
<parent link="helper_link_2"/>
|
| 199 |
+
<child link="link_3"/>
|
| 200 |
+
<origin xyz="0.662653 0.155215 0.000000" rpy="0 0 0"/>
|
| 201 |
+
</joint>
|
| 202 |
+
<joint name="joint_6" type="revolute">
|
| 203 |
+
<parent link="link_13"/>
|
| 204 |
+
<child link="helper_link_3"/>
|
| 205 |
+
<origin xyz="-0.008836 -0.156011 0.000000" rpy="0 0 0"/>
|
| 206 |
+
<axis xyz="0.0 0.0 1.0"/>
|
| 207 |
+
<limit lower="0.0" upper="1.5707963267948966"/>
|
| 208 |
+
</joint>
|
| 209 |
+
<joint name="joint_7" type="fixed">
|
| 210 |
+
<parent link="helper_link_3"/>
|
| 211 |
+
<child link="link_4"/>
|
| 212 |
+
<origin xyz="0.008836 0.156011 -0.000000" rpy="0 0 0"/>
|
| 213 |
+
</joint>
|
| 214 |
+
<joint name="joint_8" type="revolute">
|
| 215 |
+
<parent link="link_13"/>
|
| 216 |
+
<child link="helper_link_4"/>
|
| 217 |
+
<origin xyz="0.009201 -0.153936 0.808793" rpy="0 0 0"/>
|
| 218 |
+
<axis xyz="0.0 0.0 -1.0"/>
|
| 219 |
+
<limit lower="0.0" upper="1.5707963267948966"/>
|
| 220 |
+
</joint>
|
| 221 |
+
<joint name="joint_9" type="fixed">
|
| 222 |
+
<parent link="helper_link_4"/>
|
| 223 |
+
<child link="link_5"/>
|
| 224 |
+
<origin xyz="-0.009201 0.153936 -0.808793" rpy="0 0 0"/>
|
| 225 |
+
</joint>
|
| 226 |
+
<joint name="joint_10" type="revolute">
|
| 227 |
+
<parent link="link_13"/>
|
| 228 |
+
<child link="helper_link_5"/>
|
| 229 |
+
<origin xyz="0.658233 -0.158078 0.521208" rpy="0 0 0"/>
|
| 230 |
+
<axis xyz="0.0 0.0 1.0"/>
|
| 231 |
+
<limit lower="0.0" upper="1.5707963267948966"/>
|
| 232 |
+
</joint>
|
| 233 |
+
<joint name="joint_11" type="fixed">
|
| 234 |
+
<parent link="helper_link_5"/>
|
| 235 |
+
<child link="link_6"/>
|
| 236 |
+
<origin xyz="-0.658233 0.158078 -0.521208" rpy="0 0 0"/>
|
| 237 |
+
</joint>
|
| 238 |
+
<joint name="joint_12" type="fixed">
|
| 239 |
+
<parent link="base_link"/>
|
| 240 |
+
<child link="link_7"/>
|
| 241 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 242 |
+
</joint>
|
| 243 |
+
<joint name="joint_13" type="fixed">
|
| 244 |
+
<parent link="link_4"/>
|
| 245 |
+
<child link="link_8"/>
|
| 246 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 247 |
+
</joint>
|
| 248 |
+
<joint name="joint_14" type="fixed">
|
| 249 |
+
<parent link="link_5"/>
|
| 250 |
+
<child link="link_9"/>
|
| 251 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 252 |
+
</joint>
|
| 253 |
+
<joint name="joint_15" type="fixed">
|
| 254 |
+
<parent link="link_6"/>
|
| 255 |
+
<child link="link_10"/>
|
| 256 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 257 |
+
</joint>
|
| 258 |
+
<joint name="joint_16" type="fixed">
|
| 259 |
+
<parent link="link_1"/>
|
| 260 |
+
<child link="link_11"/>
|
| 261 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 262 |
+
</joint>
|
| 263 |
+
<joint name="joint_17" type="fixed">
|
| 264 |
+
<parent link="link_2"/>
|
| 265 |
+
<child link="link_12"/>
|
| 266 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 267 |
+
</joint>
|
| 268 |
+
<joint name="joint_18" type="fixed">
|
| 269 |
+
<parent link="base_link"/>
|
| 270 |
+
<child link="link_13"/>
|
| 271 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 272 |
+
</joint>
|
| 273 |
+
</robot>
|
data/UPB_00001369/parts/part_1.obj
ADDED
|
@@ -0,0 +1,225 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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data/UPB_00001369/parts/part_10.obj
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data/UPB_00001369/parts/part_11.obj
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data/UPB_00001369/parts/part_12.obj
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data/UPB_00001369/parts/part_13.obj
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data/UPB_00001369/parts/part_2.obj
ADDED
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data/UPB_00001369/parts/part_5.obj
ADDED
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data/UPB_00001369/parts/part_6.obj
ADDED
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