Upload folder using huggingface_hub (part 149)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +10 -0
- data/UPB_00001517/full_model/material_0.png +3 -0
- data/UPB_00001517/full_model/model.obj +0 -0
- data/UPB_00001517/meta_data.json +22 -0
- data/UPB_00001517/model.urdf +180 -0
- data/UPB_00001517/parts/1.mtl +8 -0
- data/UPB_00001517/parts/1.png +3 -0
- data/UPB_00001517/parts/3.mtl +8 -0
- data/UPB_00001517/parts/3.png +3 -0
- data/UPB_00001517/parts/T_66bc1ef943abbf00015a018e_color.jpg +3 -0
- data/UPB_00001517/parts/T_66bc1ef94875c6000173adb8_color.jpg +3 -0
- data/UPB_00001517/parts/T_66bc1ef960cf470001aa73da_color.jpg +3 -0
- data/UPB_00001517/parts/part_1.obj +0 -0
- data/UPB_00001517/parts/part_2.obj +1262 -0
- data/UPB_00001517/parts/part_3.obj +864 -0
- data/UPB_00001517/parts/part_4.obj +0 -0
- data/UPB_00001517/parts/part_5.obj +0 -0
- data/UPB_00001517/parts/part_6.obj +0 -0
- data/UPB_00001517/parts/part_7.obj +60 -0
- data/UPB_00001517/parts/part_8.obj +0 -0
- data/UPB_00001517/parts/part_9.obj +0 -0
- data/UPB_00001517/parts/washing_machine_ZKBIKIJVAJT6APTULE888888_88YtO.mtl +48 -0
- data/UPB_00001517/plys/1.ply +3 -0
- data/UPB_00001517/plys/2.ply +3 -0
- data/UPB_00001517/plys/3.ply +3 -0
- data/UPB_00001517/plys/4.ply +3 -0
- data/UPB_00001517/plys/5.ply +3 -0
- data/UPB_00001517/plys/6.ply +3 -0
- data/UPB_00001517/plys/7.ply +3 -0
- data/UPB_00001517/plys/8.ply +3 -0
- data/UPB_00001517/plys/9.ply +3 -0
- data/UPB_00001517/plys/model.ply +3 -0
- data/UPB_00001518/annotations/object.json +10 -0
- data/UPB_00001518/annotations/part_1.json +51 -0
- data/UPB_00001518/annotations/part_10.json +30 -0
- data/UPB_00001518/annotations/part_11.json +30 -0
- data/UPB_00001518/annotations/part_12.json +30 -0
- data/UPB_00001518/annotations/part_2.json +51 -0
- data/UPB_00001518/annotations/part_3.json +51 -0
- data/UPB_00001518/annotations/part_4.json +30 -0
- data/UPB_00001518/annotations/part_5.json +30 -0
- data/UPB_00001518/annotations/part_7.json +30 -0
- data/UPB_00001518/annotations/part_8.json +30 -0
- data/UPB_00001518/annotations/part_9.json +30 -0
- data/UPB_00001518/full_model/material.mtl +8 -0
- data/UPB_00001518/full_model/material_0.png +3 -0
- data/UPB_00001518/full_model/model.obj +0 -0
- data/UPB_00001518/meta_data.json +22 -0
- data/UPB_00001518/model.urdf +214 -0
- data/UPB_00001518/parts/3.mtl +8 -0
.gitattributes
CHANGED
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@@ -10841,3 +10841,13 @@ data/UPB_00001516/plys/7.ply filter=lfs diff=lfs merge=lfs -text
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| 10841 |
data/UPB_00001516/plys/8.ply filter=lfs diff=lfs merge=lfs -text
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| 10842 |
data/UPB_00001516/plys/9.ply filter=lfs diff=lfs merge=lfs -text
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| 10843 |
data/UPB_00001516/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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| 10841 |
data/UPB_00001516/plys/8.ply filter=lfs diff=lfs merge=lfs -text
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| 10842 |
data/UPB_00001516/plys/9.ply filter=lfs diff=lfs merge=lfs -text
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| 10843 |
data/UPB_00001516/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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| 10844 |
+
data/UPB_00001517/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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| 10845 |
+
data/UPB_00001517/plys/2.ply filter=lfs diff=lfs merge=lfs -text
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| 10846 |
+
data/UPB_00001517/plys/3.ply filter=lfs diff=lfs merge=lfs -text
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| 10847 |
+
data/UPB_00001517/plys/4.ply filter=lfs diff=lfs merge=lfs -text
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| 10848 |
+
data/UPB_00001517/plys/5.ply filter=lfs diff=lfs merge=lfs -text
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| 10849 |
+
data/UPB_00001517/plys/6.ply filter=lfs diff=lfs merge=lfs -text
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| 10850 |
+
data/UPB_00001517/plys/7.ply filter=lfs diff=lfs merge=lfs -text
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| 10851 |
+
data/UPB_00001517/plys/8.ply filter=lfs diff=lfs merge=lfs -text
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| 10852 |
+
data/UPB_00001517/plys/9.ply filter=lfs diff=lfs merge=lfs -text
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| 10853 |
+
data/UPB_00001517/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001517/full_model/material_0.png
ADDED
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Git LFS Details
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data/UPB_00001517/full_model/model.obj
ADDED
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The diff for this file is too large to render.
See raw diff
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data/UPB_00001517/meta_data.json
ADDED
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@@ -0,0 +1,22 @@
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{
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| 2 |
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"id": "UPB_00001517",
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| 3 |
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"source": [
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{
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| 5 |
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"dataset": "UniPhys-Bench",
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| 6 |
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"organization": "Manycore Tech Inc.",
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| 7 |
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"license_ref": "UniPhys-Bench"
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| 8 |
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}
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| 9 |
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],
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| 10 |
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"object": {
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| 11 |
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"category": "KitchenDining/KitchenDining_Other",
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| 12 |
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"object_name": "Stacked Washer-Dryer (Front-Load)"
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| 13 |
+
},
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| 14 |
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"geometry": {
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| 15 |
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"asset_type": "decomposed_parts",
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| 16 |
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"num_parts": 9,
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| 17 |
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"format": "obj"
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| 18 |
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},
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| 19 |
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"annotation": {
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| 20 |
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"version": "v1.0"
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| 21 |
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}
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| 22 |
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}
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data/UPB_00001517/model.urdf
ADDED
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@@ -0,0 +1,180 @@
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| 1 |
+
<?xml version="1.0" ?>
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| 2 |
+
<robot name="robot">
|
| 3 |
+
<link name="base_link"/>
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| 4 |
+
<link name="helper_link_0"/>
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| 5 |
+
<link name="helper_link_1"/>
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| 6 |
+
<link name="helper_link_2"/>
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| 7 |
+
<link name="link_1">
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| 8 |
+
<visual>
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| 9 |
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<geometry>
|
| 10 |
+
<mesh filename="parts/part_1.obj" scale="1.545129 1.545129 1.545129"/>
|
| 11 |
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</geometry>
|
| 12 |
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</visual>
|
| 13 |
+
<collision>
|
| 14 |
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<geometry>
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| 15 |
+
<mesh filename="parts/part_1.obj" scale="1.545129 1.545129 1.545129"/>
|
| 16 |
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</geometry>
|
| 17 |
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</collision>
|
| 18 |
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</link>
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| 19 |
+
<link name="link_2">
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| 20 |
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<visual>
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| 21 |
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<geometry>
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| 22 |
+
<mesh filename="parts/part_2.obj" scale="1.545129 1.545129 1.545129"/>
|
| 23 |
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</geometry>
|
| 24 |
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</visual>
|
| 25 |
+
<collision>
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| 26 |
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<geometry>
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| 27 |
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<mesh filename="parts/part_2.obj" scale="1.545129 1.545129 1.545129"/>
|
| 28 |
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</geometry>
|
| 29 |
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</collision>
|
| 30 |
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</link>
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| 31 |
+
<link name="link_3">
|
| 32 |
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<visual>
|
| 33 |
+
<geometry>
|
| 34 |
+
<mesh filename="parts/part_3.obj" scale="1.545129 1.545129 1.545129"/>
|
| 35 |
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</geometry>
|
| 36 |
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</visual>
|
| 37 |
+
<collision>
|
| 38 |
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<geometry>
|
| 39 |
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<mesh filename="parts/part_3.obj" scale="1.545129 1.545129 1.545129"/>
|
| 40 |
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</geometry>
|
| 41 |
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</collision>
|
| 42 |
+
</link>
|
| 43 |
+
<link name="link_4">
|
| 44 |
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<visual>
|
| 45 |
+
<geometry>
|
| 46 |
+
<mesh filename="parts/part_4.obj" scale="1.545129 1.545129 1.545129"/>
|
| 47 |
+
</geometry>
|
| 48 |
+
</visual>
|
| 49 |
+
<collision>
|
| 50 |
+
<geometry>
|
| 51 |
+
<mesh filename="parts/part_4.obj" scale="1.545129 1.545129 1.545129"/>
|
| 52 |
+
</geometry>
|
| 53 |
+
</collision>
|
| 54 |
+
</link>
|
| 55 |
+
<link name="link_5">
|
| 56 |
+
<visual>
|
| 57 |
+
<geometry>
|
| 58 |
+
<mesh filename="parts/part_5.obj" scale="1.545129 1.545129 1.545129"/>
|
| 59 |
+
</geometry>
|
| 60 |
+
</visual>
|
| 61 |
+
<collision>
|
| 62 |
+
<geometry>
|
| 63 |
+
<mesh filename="parts/part_5.obj" scale="1.545129 1.545129 1.545129"/>
|
| 64 |
+
</geometry>
|
| 65 |
+
</collision>
|
| 66 |
+
</link>
|
| 67 |
+
<link name="link_6">
|
| 68 |
+
<visual>
|
| 69 |
+
<geometry>
|
| 70 |
+
<mesh filename="parts/part_6.obj" scale="1.545129 1.545129 1.545129"/>
|
| 71 |
+
</geometry>
|
| 72 |
+
</visual>
|
| 73 |
+
<collision>
|
| 74 |
+
<geometry>
|
| 75 |
+
<mesh filename="parts/part_6.obj" scale="1.545129 1.545129 1.545129"/>
|
| 76 |
+
</geometry>
|
| 77 |
+
</collision>
|
| 78 |
+
</link>
|
| 79 |
+
<link name="link_7">
|
| 80 |
+
<visual>
|
| 81 |
+
<geometry>
|
| 82 |
+
<mesh filename="parts/part_7.obj" scale="1.545129 1.545129 1.545129"/>
|
| 83 |
+
</geometry>
|
| 84 |
+
</visual>
|
| 85 |
+
<collision>
|
| 86 |
+
<geometry>
|
| 87 |
+
<mesh filename="parts/part_7.obj" scale="1.545129 1.545129 1.545129"/>
|
| 88 |
+
</geometry>
|
| 89 |
+
</collision>
|
| 90 |
+
</link>
|
| 91 |
+
<link name="link_8">
|
| 92 |
+
<visual>
|
| 93 |
+
<geometry>
|
| 94 |
+
<mesh filename="parts/part_8.obj" scale="1.545129 1.545129 1.545129"/>
|
| 95 |
+
</geometry>
|
| 96 |
+
</visual>
|
| 97 |
+
<collision>
|
| 98 |
+
<geometry>
|
| 99 |
+
<mesh filename="parts/part_8.obj" scale="1.545129 1.545129 1.545129"/>
|
| 100 |
+
</geometry>
|
| 101 |
+
</collision>
|
| 102 |
+
</link>
|
| 103 |
+
<link name="link_9">
|
| 104 |
+
<visual>
|
| 105 |
+
<geometry>
|
| 106 |
+
<mesh filename="parts/part_9.obj" scale="1.545129 1.545129 1.545129"/>
|
| 107 |
+
</geometry>
|
| 108 |
+
</visual>
|
| 109 |
+
<collision>
|
| 110 |
+
<geometry>
|
| 111 |
+
<mesh filename="parts/part_9.obj" scale="1.545129 1.545129 1.545129"/>
|
| 112 |
+
</geometry>
|
| 113 |
+
</collision>
|
| 114 |
+
</link>
|
| 115 |
+
<joint name="joint_0" type="revolute">
|
| 116 |
+
<parent link="link_6"/>
|
| 117 |
+
<child link="helper_link_0"/>
|
| 118 |
+
<origin xyz="-0.297234 -0.368096 0.403702" rpy="0 0 0"/>
|
| 119 |
+
<axis xyz="0.0 0.0 -1.0"/>
|
| 120 |
+
<limit lower="0.0" upper="1.9198621771937625"/>
|
| 121 |
+
</joint>
|
| 122 |
+
<joint name="joint_1" type="fixed">
|
| 123 |
+
<parent link="helper_link_0"/>
|
| 124 |
+
<child link="link_1"/>
|
| 125 |
+
<origin xyz="0.297234 0.368096 -0.403702" rpy="0 0 0"/>
|
| 126 |
+
</joint>
|
| 127 |
+
<joint name="joint_2" type="revolute">
|
| 128 |
+
<parent link="link_6"/>
|
| 129 |
+
<child link="helper_link_1"/>
|
| 130 |
+
<origin xyz="-0.297362 -0.364559 -0.392728" rpy="0 0 0"/>
|
| 131 |
+
<axis xyz="0.0 0.0 -1.0"/>
|
| 132 |
+
<limit lower="0.0" upper="1.9198621771937625"/>
|
| 133 |
+
</joint>
|
| 134 |
+
<joint name="joint_3" type="fixed">
|
| 135 |
+
<parent link="helper_link_1"/>
|
| 136 |
+
<child link="link_2"/>
|
| 137 |
+
<origin xyz="0.297362 0.364559 0.392728" rpy="0 0 0"/>
|
| 138 |
+
</joint>
|
| 139 |
+
<joint name="joint_4" type="continuous">
|
| 140 |
+
<parent link="link_4"/>
|
| 141 |
+
<child link="helper_link_2"/>
|
| 142 |
+
<origin xyz="0.240675 -0.363045 0.818622" rpy="0 0 0"/>
|
| 143 |
+
<axis xyz="0.0 1.0 0.0"/>
|
| 144 |
+
</joint>
|
| 145 |
+
<joint name="joint_5" type="fixed">
|
| 146 |
+
<parent link="helper_link_2"/>
|
| 147 |
+
<child link="link_3"/>
|
| 148 |
+
<origin xyz="-0.240675 0.363045 -0.818622" rpy="0 0 0"/>
|
| 149 |
+
</joint>
|
| 150 |
+
<joint name="joint_6" type="fixed">
|
| 151 |
+
<parent link="base_link"/>
|
| 152 |
+
<child link="link_4"/>
|
| 153 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 154 |
+
</joint>
|
| 155 |
+
<joint name="joint_7" type="fixed">
|
| 156 |
+
<parent link="base_link"/>
|
| 157 |
+
<child link="link_5"/>
|
| 158 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 159 |
+
</joint>
|
| 160 |
+
<joint name="joint_8" type="fixed">
|
| 161 |
+
<parent link="base_link"/>
|
| 162 |
+
<child link="link_6"/>
|
| 163 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 164 |
+
</joint>
|
| 165 |
+
<joint name="joint_9" type="fixed">
|
| 166 |
+
<parent link="base_link"/>
|
| 167 |
+
<child link="link_7"/>
|
| 168 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 169 |
+
</joint>
|
| 170 |
+
<joint name="joint_10" type="fixed">
|
| 171 |
+
<parent link="base_link"/>
|
| 172 |
+
<child link="link_8"/>
|
| 173 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 174 |
+
</joint>
|
| 175 |
+
<joint name="joint_11" type="fixed">
|
| 176 |
+
<parent link="base_link"/>
|
| 177 |
+
<child link="link_9"/>
|
| 178 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 179 |
+
</joint>
|
| 180 |
+
</robot>
|
data/UPB_00001517/parts/1.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 1.png
|
data/UPB_00001517/parts/1.png
ADDED
|
Git LFS Details
|
data/UPB_00001517/parts/3.mtl
ADDED
|
@@ -0,0 +1,8 @@
|
|
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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 3.png
|
data/UPB_00001517/parts/3.png
ADDED
|
Git LFS Details
|
data/UPB_00001517/parts/T_66bc1ef943abbf00015a018e_color.jpg
ADDED
|
Git LFS Details
|
data/UPB_00001517/parts/T_66bc1ef94875c6000173adb8_color.jpg
ADDED
|
Git LFS Details
|
data/UPB_00001517/parts/T_66bc1ef960cf470001aa73da_color.jpg
ADDED
|
Git LFS Details
|
data/UPB_00001517/parts/part_1.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/UPB_00001517/parts/part_2.obj
ADDED
|
@@ -0,0 +1,1262 @@
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data/UPB_00001517/parts/part_3.obj
ADDED
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
mtllib 3.mtl
|
| 3 |
+
usemtl material_0
|
| 4 |
+
v 0.14287730 -0.24804407 0.51427591
|
| 5 |
+
v 0.14580397 -0.24804407 0.51222646
|
| 6 |
+
v 0.14904202 -0.24804407 0.51071656
|
| 7 |
+
v 0.14580397 -0.24804407 0.51222646
|
| 8 |
+
v 0.14287730 -0.24804407 0.51427591
|
| 9 |
+
v 0.14287730 -0.21485317 0.51427591
|
| 10 |
+
v 0.14580397 -0.21485317 0.51222658
|
| 11 |
+
v 0.14580397 -0.21485317 0.51222658
|
| 12 |
+
v 0.14287730 -0.21485317 0.51427591
|
| 13 |
+
v 0.14035094 -0.21485317 0.51680219
|
| 14 |
+
v 0.14035094 -0.24804407 0.51680219
|
| 15 |
+
v 0.14035094 -0.21485317 0.51680219
|
| 16 |
+
v 0.13830167 -0.24804407 0.51972890
|
| 17 |
+
v 0.14035094 -0.24804407 0.51680219
|
| 18 |
+
v 0.13830167 -0.24804407 0.51972890
|
| 19 |
+
v 0.13830167 -0.21485318 0.51972890
|
| 20 |
+
v 0.15961151 -0.21485317 0.50979197
|
| 21 |
+
v 0.13679174 -0.21485318 0.52296698
|
| 22 |
+
v 0.13830167 -0.21485318 0.51972890
|
| 23 |
+
v 0.13679174 -0.24804410 0.52296698
|
| 24 |
+
v 0.13679174 -0.21485318 0.52296698
|
| 25 |
+
v 0.17623758 -0.24804410 0.53353643
|
| 26 |
+
v 0.17654897 -0.24804410 0.52997720
|
| 27 |
+
v 0.17654897 -0.21485318 0.52997720
|
| 28 |
+
v 0.16306259 -0.24804407 0.51071656
|
| 29 |
+
v 0.16630063 -0.24804407 0.51222646
|
| 30 |
+
v 0.16922730 -0.24804407 0.51427591
|
| 31 |
+
v 0.17623758 -0.21485318 0.53353643
|
| 32 |
+
v 0.17531288 -0.21485318 0.53698742
|
| 33 |
+
v 0.17531288 -0.24804410 0.53698742
|
| 34 |
+
v 0.15605229 -0.24804407 0.50948048
|
| 35 |
+
v 0.16922732 -0.24804410 0.54567862
|
| 36 |
+
v 0.17175366 -0.24804410 0.54315221
|
| 37 |
+
v 0.17175366 -0.21485320 0.54315221
|
| 38 |
+
v 0.16306259 -0.24804410 0.54923773
|
| 39 |
+
v 0.17623758 -0.24804410 0.52641785
|
| 40 |
+
v 0.17623758 -0.24804410 0.52641785
|
| 41 |
+
v 0.17531288 -0.24804410 0.52296686
|
| 42 |
+
v 0.17531288 -0.21485318 0.52296698
|
| 43 |
+
v 0.16922732 -0.21485320 0.54567862
|
| 44 |
+
v 0.16630064 -0.21485320 0.54772782
|
| 45 |
+
v 0.16630064 -0.24804410 0.54772782
|
| 46 |
+
v 0.17380296 -0.24804410 0.54022551
|
| 47 |
+
v 0.17623758 -0.21485318 0.52641797
|
| 48 |
+
v 0.17623758 -0.24804410 0.53353643
|
| 49 |
+
v 0.15249310 -0.21485320 0.55016255
|
| 50 |
+
v 0.14904204 -0.21485320 0.54923773
|
| 51 |
+
v 0.14904204 -0.24804410 0.54923773
|
| 52 |
+
v 0.16306259 -0.21485320 0.54923773
|
| 53 |
+
v 0.16306259 -0.24804410 0.54923773
|
| 54 |
+
v 0.17654897 -0.24804410 0.52997720
|
| 55 |
+
v 0.15249310 -0.24804410 0.55016243
|
| 56 |
+
v 0.17623758 -0.21485318 0.52641797
|
| 57 |
+
v 0.17531288 -0.21485318 0.52296698
|
| 58 |
+
v 0.17654897 -0.21485318 0.52997720
|
| 59 |
+
v 0.16306259 -0.21485317 0.51071668
|
| 60 |
+
v 0.16630063 -0.21485317 0.51222658
|
| 61 |
+
v 0.16630063 -0.24804407 0.51222646
|
| 62 |
+
v 0.16306259 -0.24804407 0.51071656
|
| 63 |
+
v 0.15961151 -0.21485317 0.50979197
|
| 64 |
+
v 0.14904204 -0.24804410 0.54923773
|
| 65 |
+
v 0.14287730 -0.24804410 0.54567862
|
| 66 |
+
v 0.13830169 -0.24804410 0.54022551
|
| 67 |
+
v 0.15961151 -0.24804407 0.50979185
|
| 68 |
+
v 0.14287730 -0.21485320 0.54567862
|
| 69 |
+
v 0.14035095 -0.21485320 0.54315221
|
| 70 |
+
v 0.14035095 -0.24804410 0.54315221
|
| 71 |
+
v 0.13830169 -0.21485320 0.54022551
|
| 72 |
+
v 0.13830169 -0.24804410 0.54022551
|
| 73 |
+
v 0.14035095 -0.21485320 0.54315221
|
| 74 |
+
v 0.14287730 -0.21485320 0.54567862
|
| 75 |
+
v 0.14580399 -0.21485320 0.54772782
|
| 76 |
+
v 0.17380293 -0.24804407 0.51972890
|
| 77 |
+
v 0.17380293 -0.24804407 0.51972890
|
| 78 |
+
v 0.17380293 -0.21485318 0.51972890
|
| 79 |
+
v 0.17175366 -0.21485320 0.54315221
|
| 80 |
+
v 0.14904202 -0.21485317 0.51071668
|
| 81 |
+
v 0.14904202 -0.24804407 0.51071656
|
| 82 |
+
v 0.15249309 -0.21485317 0.50979197
|
| 83 |
+
v 0.14904202 -0.21485317 0.51071668
|
| 84 |
+
v 0.15249309 -0.24804407 0.50979197
|
| 85 |
+
v 0.14580399 -0.21485320 0.54772782
|
| 86 |
+
v 0.14580399 -0.24804410 0.54772782
|
| 87 |
+
v 0.15249309 -0.24804407 0.50979197
|
| 88 |
+
v 0.15961151 -0.21485320 0.55016255
|
| 89 |
+
v 0.15249309 -0.21485317 0.50979197
|
| 90 |
+
v 0.15605229 -0.21485317 0.50948060
|
| 91 |
+
v 0.15605229 -0.24804407 0.50948048
|
| 92 |
+
v 0.15605231 -0.24804410 0.55047381
|
| 93 |
+
v 0.15249310 -0.24804410 0.55016243
|
| 94 |
+
v 0.14287730 -0.24804410 0.54567862
|
| 95 |
+
v 0.15605229 -0.21485317 0.50948060
|
| 96 |
+
v 0.14580399 -0.24804410 0.54772782
|
| 97 |
+
v 0.15249310 -0.21485320 0.55016255
|
| 98 |
+
v 0.14904204 -0.21485320 0.54923773
|
| 99 |
+
v 0.13679175 -0.21485318 0.53698754
|
| 100 |
+
v 0.14035095 -0.24804410 0.54315221
|
| 101 |
+
v 0.13830169 -0.21485320 0.54022551
|
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|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:6f36af20321d5f678d0c156d39f882178fe7301bdd75bdddc3433e752866f590
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size 160242
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data/UPB_00001517/plys/5.ply
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:d80ac70a1cebf8c4e1435e02969e15e38c4152ce2967b9b2a42ab66ee1519802
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| 3 |
+
size 160242
|
data/UPB_00001517/plys/6.ply
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:d2f3ff0f24c1b16c98458862099013886d9ef93df4ee5ad97af281af8ce53789
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| 3 |
+
size 1140402
|
data/UPB_00001517/plys/7.ply
ADDED
|
@@ -0,0 +1,3 @@
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|
|
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|
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|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:2d91bb6d28a71b4560668fc4d1857c7814e711e9f82966ced9ade15810e5ce3a
|
| 3 |
+
size 160242
|
data/UPB_00001517/plys/8.ply
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:995d86487497180036d7385ad45851800b5463ab0daef667aad235964bd46be9
|
| 3 |
+
size 160242
|
data/UPB_00001517/plys/9.ply
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:c216138c19b0eb78bd61b614885a7663f56df6871db626f01c541a2a6b8d1560
|
| 3 |
+
size 248642
|
data/UPB_00001517/plys/model.ply
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ec0c9e30cdf4af5df09bf3e9149e8b92b7badaf25f850c209b27f9a5c1797f67
|
| 3 |
+
size 1600243
|
data/UPB_00001518/annotations/object.json
ADDED
|
@@ -0,0 +1,10 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"object_name": "Front-load Washer-Dryer Cabinet",
|
| 3 |
+
"category": "Furniture/StorageFurniture",
|
| 4 |
+
"volume": [
|
| 5 |
+
60.0,
|
| 6 |
+
60.0,
|
| 7 |
+
85.0
|
| 8 |
+
],
|
| 9 |
+
"mass": 68.0
|
| 10 |
+
}
|
data/UPB_00001518/annotations/part_1.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001518",
|
| 5 |
+
"label": "1"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Upper Door Assembly (Glass Window)",
|
| 9 |
+
"affordance": 2,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Tempered-glass circular door window (~32 cm diameter, ~0.5 cm thick) integrated as the upper front door.",
|
| 12 |
+
"functional_description": "Seals the drum opening and allows viewing of the wash; provides a handhold area for opening/closing.",
|
| 13 |
+
"movement_description": "Hinged on the side of the cabinet; swings outward up to about 140 degrees with typical hinge damping.",
|
| 14 |
+
"grasp_description": "User grips the rim/handle area to open and close for loading and unloading laundry."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "glass/Soda_Lime_Glass_Tempered",
|
| 18 |
+
"density": 2.5,
|
| 19 |
+
"young": 70.0,
|
| 20 |
+
"hardness": 550,
|
| 21 |
+
"poisson": 0.22,
|
| 22 |
+
"friction": 0.6
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"C"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
1
|
| 31 |
+
],
|
| 32 |
+
"C": {
|
| 33 |
+
"axis": [
|
| 34 |
+
0.0,
|
| 35 |
+
0.0,
|
| 36 |
+
-1.0
|
| 37 |
+
],
|
| 38 |
+
"pos": [
|
| 39 |
+
-0.1769503355026245,
|
| 40 |
+
-0.2080506980419159,
|
| 41 |
+
0.23813888430595398
|
| 42 |
+
],
|
| 43 |
+
"range": [
|
| 44 |
+
0.0,
|
| 45 |
+
1.9198621771937625
|
| 46 |
+
],
|
| 47 |
+
"damping": 0.05
|
| 48 |
+
}
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
data/UPB_00001518/annotations/part_10.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001518",
|
| 5 |
+
"label": "10"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Warranty/Brand Label Sticker",
|
| 9 |
+
"affordance": 10,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Thin PVC adhesive label with printed warranty mark (~6\u00d76 cm triangular).",
|
| 12 |
+
"functional_description": "Provides branding/information; no mechanical role.",
|
| 13 |
+
"movement_description": "Adhered to the cabinet; no motion.",
|
| 14 |
+
"grasp_description": "Not handled in use; may be peeled only for replacement."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/PVC_Film",
|
| 18 |
+
"density": 1.38,
|
| 19 |
+
"young": 3.0,
|
| 20 |
+
"hardness": 5,
|
| 21 |
+
"poisson": 0.38,
|
| 22 |
+
"friction": 0.6
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001518/annotations/part_11.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001518",
|
| 5 |
+
"label": "11"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Rotary Control Knob",
|
| 9 |
+
"affordance": 1,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "ABS cylindrical knob (~4 cm diameter, ~2 cm deep) for cycle selection.",
|
| 12 |
+
"functional_description": "User rotates to choose wash/dry programs; pointer indicates selection on the dial ring.",
|
| 13 |
+
"movement_description": "Rotates about a shaft anchored to the cabinet; light detents provide tactile feedback.",
|
| 14 |
+
"grasp_description": "Gripped between fingers and rotated."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/ABS_Plastic",
|
| 18 |
+
"density": 1.05,
|
| 19 |
+
"young": 2.1,
|
| 20 |
+
"hardness": 10,
|
| 21 |
+
"poisson": 0.37,
|
| 22 |
+
"friction": 0.45
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001518/annotations/part_12.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001518",
|
| 5 |
+
"label": "12"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Detergent Drawer Front/Handle",
|
| 9 |
+
"affordance": 3,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "ABS rectangular drawer face (~15\u00d74 cm) forming the pull handle for the detergent tray.",
|
| 12 |
+
"functional_description": "Allows the user to access and fill detergent/softener compartments.",
|
| 13 |
+
"movement_description": "Slides in/out on rails relative to the cabinet with moderate friction and a stop.",
|
| 14 |
+
"grasp_description": "Pulled by hand to open, then pushed to close."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/ABS_Plastic",
|
| 18 |
+
"density": 1.05,
|
| 19 |
+
"young": 2.1,
|
| 20 |
+
"hardness": 10,
|
| 21 |
+
"poisson": 0.37,
|
| 22 |
+
"friction": 0.5
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001518/annotations/part_2.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001518",
|
| 5 |
+
"label": "2"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Lower Door Assembly (Glass Window)",
|
| 9 |
+
"affordance": 4,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Tempered-glass circular door window (~30 cm diameter) acting as a second front door/lid for the lower compartment.",
|
| 12 |
+
"functional_description": "Closes the lower drum/compartment and provides visibility.",
|
| 13 |
+
"movement_description": "Side-hinged rotation relative to the cabinet, with soft close damping.",
|
| 14 |
+
"grasp_description": "User pulls to open and presses to latch closed."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "glass/Soda_Lime_Glass_Tempered",
|
| 18 |
+
"density": 2.5,
|
| 19 |
+
"young": 70.0,
|
| 20 |
+
"hardness": 550,
|
| 21 |
+
"poisson": 0.22,
|
| 22 |
+
"friction": 0.6
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"C"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
2
|
| 31 |
+
],
|
| 32 |
+
"C": {
|
| 33 |
+
"axis": [
|
| 34 |
+
0.0,
|
| 35 |
+
0.0,
|
| 36 |
+
-1.0
|
| 37 |
+
],
|
| 38 |
+
"pos": [
|
| 39 |
+
-0.1772562563419342,
|
| 40 |
+
-0.2118203192949295,
|
| 41 |
+
-0.2674257755279541
|
| 42 |
+
],
|
| 43 |
+
"range": [
|
| 44 |
+
0.0,
|
| 45 |
+
1.9198621771937625
|
| 46 |
+
],
|
| 47 |
+
"damping": 0.05
|
| 48 |
+
}
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
data/UPB_00001518/annotations/part_3.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001518",
|
| 5 |
+
"label": "3"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Knob Pointer Insert",
|
| 9 |
+
"affordance": 9,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Small ABS insert shaped as a wedge/indicator fixed on the rotary knob face (~1\u20132 cm).",
|
| 12 |
+
"functional_description": "Provides a visible pointer to indicate the selected cycle on the dial scale.",
|
| 13 |
+
"movement_description": "Does not move independently; rotates together with the knob.",
|
| 14 |
+
"grasp_description": "Not intended to be grasped; acts only as a pointer."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/ABS_Plastic",
|
| 18 |
+
"density": 1.05,
|
| 19 |
+
"young": 2.1,
|
| 20 |
+
"hardness": 10,
|
| 21 |
+
"poisson": 0.37,
|
| 22 |
+
"friction": 0.45
|
| 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 |
+
0.994521895744179,
|
| 36 |
+
-0.1045284596911492
|
| 37 |
+
],
|
| 38 |
+
"pos": [
|
| 39 |
+
0.2051946520805359,
|
| 40 |
+
-0.19428354501724243,
|
| 41 |
+
0.5167683959007263
|
| 42 |
+
],
|
| 43 |
+
"range": [
|
| 44 |
+
0.0,
|
| 45 |
+
6.283185307179586
|
| 46 |
+
],
|
| 47 |
+
"damping": 0.03
|
| 48 |
+
}
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
data/UPB_00001518/annotations/part_4.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001518",
|
| 5 |
+
"label": "4"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Cabinet Body Shell",
|
| 9 |
+
"affordance": 8,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Painted steel sheet-metal enclosure (~60\u00d760\u00d785 cm) forming the structural chassis and outer case.",
|
| 12 |
+
"functional_description": "Supports all internal components, provides openings for doors, and mounts the control interface and accessories.",
|
| 13 |
+
"movement_description": "Stationary reference part; all movable parts rotate or slide relative to this shell.",
|
| 14 |
+
"grasp_description": "Handled only when moving the appliance; usually not gripped during normal operation."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/ABS_Plastic",
|
| 18 |
+
"density": 1.05,
|
| 19 |
+
"young": 2.1,
|
| 20 |
+
"hardness": 10,
|
| 21 |
+
"poisson": 0.37,
|
| 22 |
+
"friction": 0.45
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001518/annotations/part_5.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001518",
|
| 5 |
+
"label": "5"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Bottom Fasteners (Feet/Screws Set)",
|
| 9 |
+
"affordance": 10,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Set of small steel fasteners/feet located at the base corners and service point.",
|
| 12 |
+
"functional_description": "Secure the base and provide leveling/anchoring points.",
|
| 13 |
+
"movement_description": "Fixed once installed; may be adjusted during setup but remain rigid in use.",
|
| 14 |
+
"grasp_description": "Accessed only by technicians when installing or servicing."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "rubber/EPDM_Rubber",
|
| 18 |
+
"density": 1.1,
|
| 19 |
+
"young": 0.01,
|
| 20 |
+
"hardness": 2,
|
| 21 |
+
"poisson": 0.49,
|
| 22 |
+
"friction": 0.8
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001518/annotations/part_7.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001518",
|
| 5 |
+
"label": "7"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Control Panel Display Module",
|
| 9 |
+
"affordance": 5,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Rectangular PC lens and electronics (~28\u00d75 cm) forming the front display and touch/button area.",
|
| 12 |
+
"functional_description": "Shows cycle status and houses the user interface buttons/indicators.",
|
| 13 |
+
"movement_description": "Fixed to the cabinet; no motion during operation.",
|
| 14 |
+
"grasp_description": "User presses/touches buttons located on this panel."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/Polycarbonate_PC",
|
| 18 |
+
"density": 1.2,
|
| 19 |
+
"young": 2.4,
|
| 20 |
+
"hardness": 15,
|
| 21 |
+
"poisson": 0.37,
|
| 22 |
+
"friction": 0.5
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001518/annotations/part_8.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001518",
|
| 5 |
+
"label": "8"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Knob Bezel (Outer Collar)",
|
| 9 |
+
"affordance": 9,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "ABS annular bezel (~6.5 cm OD) around the rotary knob, with a small notch segment.",
|
| 12 |
+
"functional_description": "Frames the knob and protects the dial mechanism; provides cosmetic finish.",
|
| 13 |
+
"movement_description": "Rigidly mounted to the cabinet; stationary while the knob turns within.",
|
| 14 |
+
"grasp_description": "Not intended for grasping."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/ABS_Plastic",
|
| 18 |
+
"density": 1.05,
|
| 19 |
+
"young": 2.1,
|
| 20 |
+
"hardness": 10,
|
| 21 |
+
"poisson": 0.37,
|
| 22 |
+
"friction": 0.45
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001518/annotations/part_9.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001518",
|
| 5 |
+
"label": "9"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Door Trim/Gasket Rings (Upper & Lower)",
|
| 9 |
+
"affordance": 7,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Pair of elastomer rings sized to seat around the circular door openings (outer diameters ~38 cm and ~32 cm).",
|
| 12 |
+
"functional_description": "Seal between door and cabinet to prevent leaks, damp vibration, and finish the openings.",
|
| 13 |
+
"movement_description": "Fixed to the cabinet; doors press against them when closed.",
|
| 14 |
+
"grasp_description": "Normally not touched; felt incidentally when cleaning the gasket area."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "rubber/EPDM_Rubber",
|
| 18 |
+
"density": 1.1,
|
| 19 |
+
"young": 0.01,
|
| 20 |
+
"hardness": 2,
|
| 21 |
+
"poisson": 0.49,
|
| 22 |
+
"friction": 0.8
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001518/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_00001518/full_model/material_0.png
ADDED
|
Git LFS Details
|
data/UPB_00001518/full_model/model.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/UPB_00001518/meta_data.json
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"id": "UPB_00001518",
|
| 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": "Front-load Washer-Dryer Cabinet"
|
| 13 |
+
},
|
| 14 |
+
"geometry": {
|
| 15 |
+
"asset_type": "decomposed_parts",
|
| 16 |
+
"num_parts": 11,
|
| 17 |
+
"format": "obj"
|
| 18 |
+
},
|
| 19 |
+
"annotation": {
|
| 20 |
+
"version": "v1.0"
|
| 21 |
+
}
|
| 22 |
+
}
|
data/UPB_00001518/model.urdf
ADDED
|
@@ -0,0 +1,214 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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="link_1">
|
| 8 |
+
<visual>
|
| 9 |
+
<geometry>
|
| 10 |
+
<mesh filename="parts/part_1.obj" scale="0.729644 0.729644 0.729644"/>
|
| 11 |
+
</geometry>
|
| 12 |
+
</visual>
|
| 13 |
+
<collision>
|
| 14 |
+
<geometry>
|
| 15 |
+
<mesh filename="parts/part_1.obj" scale="0.729644 0.729644 0.729644"/>
|
| 16 |
+
</geometry>
|
| 17 |
+
</collision>
|
| 18 |
+
</link>
|
| 19 |
+
<link name="link_2">
|
| 20 |
+
<visual>
|
| 21 |
+
<geometry>
|
| 22 |
+
<mesh filename="parts/part_2.obj" scale="0.729644 0.729644 0.729644"/>
|
| 23 |
+
</geometry>
|
| 24 |
+
</visual>
|
| 25 |
+
<collision>
|
| 26 |
+
<geometry>
|
| 27 |
+
<mesh filename="parts/part_2.obj" scale="0.729644 0.729644 0.729644"/>
|
| 28 |
+
</geometry>
|
| 29 |
+
</collision>
|
| 30 |
+
</link>
|
| 31 |
+
<link name="link_3">
|
| 32 |
+
<visual>
|
| 33 |
+
<geometry>
|
| 34 |
+
<mesh filename="parts/part_3.obj" scale="0.729644 0.729644 0.729644"/>
|
| 35 |
+
</geometry>
|
| 36 |
+
</visual>
|
| 37 |
+
<collision>
|
| 38 |
+
<geometry>
|
| 39 |
+
<mesh filename="parts/part_3.obj" scale="0.729644 0.729644 0.729644"/>
|
| 40 |
+
</geometry>
|
| 41 |
+
</collision>
|
| 42 |
+
</link>
|
| 43 |
+
<link name="link_4">
|
| 44 |
+
<visual>
|
| 45 |
+
<geometry>
|
| 46 |
+
<mesh filename="parts/part_4.obj" scale="0.729644 0.729644 0.729644"/>
|
| 47 |
+
</geometry>
|
| 48 |
+
</visual>
|
| 49 |
+
<collision>
|
| 50 |
+
<geometry>
|
| 51 |
+
<mesh filename="parts/part_4.obj" scale="0.729644 0.729644 0.729644"/>
|
| 52 |
+
</geometry>
|
| 53 |
+
</collision>
|
| 54 |
+
</link>
|
| 55 |
+
<link name="link_5">
|
| 56 |
+
<visual>
|
| 57 |
+
<geometry>
|
| 58 |
+
<mesh filename="parts/part_5.obj" scale="0.729644 0.729644 0.729644"/>
|
| 59 |
+
</geometry>
|
| 60 |
+
</visual>
|
| 61 |
+
<collision>
|
| 62 |
+
<geometry>
|
| 63 |
+
<mesh filename="parts/part_5.obj" scale="0.729644 0.729644 0.729644"/>
|
| 64 |
+
</geometry>
|
| 65 |
+
</collision>
|
| 66 |
+
</link>
|
| 67 |
+
<link name="link_7">
|
| 68 |
+
<visual>
|
| 69 |
+
<geometry>
|
| 70 |
+
<mesh filename="parts/part_7.obj" scale="0.729644 0.729644 0.729644"/>
|
| 71 |
+
</geometry>
|
| 72 |
+
</visual>
|
| 73 |
+
<collision>
|
| 74 |
+
<geometry>
|
| 75 |
+
<mesh filename="parts/part_7.obj" scale="0.729644 0.729644 0.729644"/>
|
| 76 |
+
</geometry>
|
| 77 |
+
</collision>
|
| 78 |
+
</link>
|
| 79 |
+
<link name="link_8">
|
| 80 |
+
<visual>
|
| 81 |
+
<geometry>
|
| 82 |
+
<mesh filename="parts/part_8.obj" scale="0.729644 0.729644 0.729644"/>
|
| 83 |
+
</geometry>
|
| 84 |
+
</visual>
|
| 85 |
+
<collision>
|
| 86 |
+
<geometry>
|
| 87 |
+
<mesh filename="parts/part_8.obj" scale="0.729644 0.729644 0.729644"/>
|
| 88 |
+
</geometry>
|
| 89 |
+
</collision>
|
| 90 |
+
</link>
|
| 91 |
+
<link name="link_9">
|
| 92 |
+
<visual>
|
| 93 |
+
<geometry>
|
| 94 |
+
<mesh filename="parts/part_9.obj" scale="0.729644 0.729644 0.729644"/>
|
| 95 |
+
</geometry>
|
| 96 |
+
</visual>
|
| 97 |
+
<collision>
|
| 98 |
+
<geometry>
|
| 99 |
+
<mesh filename="parts/part_9.obj" scale="0.729644 0.729644 0.729644"/>
|
| 100 |
+
</geometry>
|
| 101 |
+
</collision>
|
| 102 |
+
</link>
|
| 103 |
+
<link name="link_10">
|
| 104 |
+
<visual>
|
| 105 |
+
<geometry>
|
| 106 |
+
<mesh filename="parts/part_10.obj" scale="0.729644 0.729644 0.729644"/>
|
| 107 |
+
</geometry>
|
| 108 |
+
</visual>
|
| 109 |
+
<collision>
|
| 110 |
+
<geometry>
|
| 111 |
+
<mesh filename="parts/part_10.obj" scale="0.729644 0.729644 0.729644"/>
|
| 112 |
+
</geometry>
|
| 113 |
+
</collision>
|
| 114 |
+
</link>
|
| 115 |
+
<link name="link_11">
|
| 116 |
+
<visual>
|
| 117 |
+
<geometry>
|
| 118 |
+
<mesh filename="parts/part_11.obj" scale="0.729644 0.729644 0.729644"/>
|
| 119 |
+
</geometry>
|
| 120 |
+
</visual>
|
| 121 |
+
<collision>
|
| 122 |
+
<geometry>
|
| 123 |
+
<mesh filename="parts/part_11.obj" scale="0.729644 0.729644 0.729644"/>
|
| 124 |
+
</geometry>
|
| 125 |
+
</collision>
|
| 126 |
+
</link>
|
| 127 |
+
<link name="link_12">
|
| 128 |
+
<visual>
|
| 129 |
+
<geometry>
|
| 130 |
+
<mesh filename="parts/part_12.obj" scale="0.729644 0.729644 0.729644"/>
|
| 131 |
+
</geometry>
|
| 132 |
+
</visual>
|
| 133 |
+
<collision>
|
| 134 |
+
<geometry>
|
| 135 |
+
<mesh filename="parts/part_12.obj" scale="0.729644 0.729644 0.729644"/>
|
| 136 |
+
</geometry>
|
| 137 |
+
</collision>
|
| 138 |
+
</link>
|
| 139 |
+
<joint name="joint_0" type="revolute">
|
| 140 |
+
<parent link="link_4"/>
|
| 141 |
+
<child link="helper_link_0"/>
|
| 142 |
+
<origin xyz="-0.129111 -0.151803 0.173757" rpy="0 0 0"/>
|
| 143 |
+
<axis xyz="0.0 0.0 -1.0"/>
|
| 144 |
+
<limit lower="0.0" upper="1.9198621771937625"/>
|
| 145 |
+
</joint>
|
| 146 |
+
<joint name="joint_1" type="fixed">
|
| 147 |
+
<parent link="helper_link_0"/>
|
| 148 |
+
<child link="link_1"/>
|
| 149 |
+
<origin xyz="0.129111 0.151803 -0.173757" rpy="0 0 0"/>
|
| 150 |
+
</joint>
|
| 151 |
+
<joint name="joint_2" type="revolute">
|
| 152 |
+
<parent link="link_4"/>
|
| 153 |
+
<child link="helper_link_1"/>
|
| 154 |
+
<origin xyz="-0.129334 -0.154553 -0.195126" rpy="0 0 0"/>
|
| 155 |
+
<axis xyz="0.0 0.0 -1.0"/>
|
| 156 |
+
<limit lower="0.0" upper="1.9198621771937625"/>
|
| 157 |
+
</joint>
|
| 158 |
+
<joint name="joint_3" type="fixed">
|
| 159 |
+
<parent link="helper_link_1"/>
|
| 160 |
+
<child link="link_2"/>
|
| 161 |
+
<origin xyz="0.129334 0.154553 0.195126" rpy="0 0 0"/>
|
| 162 |
+
</joint>
|
| 163 |
+
<joint name="joint_4" type="continuous">
|
| 164 |
+
<parent link="base_link"/>
|
| 165 |
+
<child link="helper_link_2"/>
|
| 166 |
+
<origin xyz="0.149719 -0.141758 0.377057" rpy="0 0 0"/>
|
| 167 |
+
<axis xyz="0.0 0.994521895744179 -0.1045284596911492"/>
|
| 168 |
+
</joint>
|
| 169 |
+
<joint name="joint_5" type="fixed">
|
| 170 |
+
<parent link="helper_link_2"/>
|
| 171 |
+
<child link="link_3"/>
|
| 172 |
+
<origin xyz="-0.149719 0.141758 -0.377057" rpy="0 0 0"/>
|
| 173 |
+
</joint>
|
| 174 |
+
<joint name="joint_6" type="fixed">
|
| 175 |
+
<parent link="base_link"/>
|
| 176 |
+
<child link="link_4"/>
|
| 177 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 178 |
+
</joint>
|
| 179 |
+
<joint name="joint_7" type="fixed">
|
| 180 |
+
<parent link="base_link"/>
|
| 181 |
+
<child link="link_5"/>
|
| 182 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 183 |
+
</joint>
|
| 184 |
+
<joint name="joint_8" type="fixed">
|
| 185 |
+
<parent link="base_link"/>
|
| 186 |
+
<child link="link_7"/>
|
| 187 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 188 |
+
</joint>
|
| 189 |
+
<joint name="joint_9" type="fixed">
|
| 190 |
+
<parent link="base_link"/>
|
| 191 |
+
<child link="link_8"/>
|
| 192 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 193 |
+
</joint>
|
| 194 |
+
<joint name="joint_10" type="fixed">
|
| 195 |
+
<parent link="base_link"/>
|
| 196 |
+
<child link="link_9"/>
|
| 197 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 198 |
+
</joint>
|
| 199 |
+
<joint name="joint_11" type="fixed">
|
| 200 |
+
<parent link="base_link"/>
|
| 201 |
+
<child link="link_10"/>
|
| 202 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 203 |
+
</joint>
|
| 204 |
+
<joint name="joint_12" type="fixed">
|
| 205 |
+
<parent link="base_link"/>
|
| 206 |
+
<child link="link_11"/>
|
| 207 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 208 |
+
</joint>
|
| 209 |
+
<joint name="joint_13" type="fixed">
|
| 210 |
+
<parent link="base_link"/>
|
| 211 |
+
<child link="link_12"/>
|
| 212 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 213 |
+
</joint>
|
| 214 |
+
</robot>
|
data/UPB_00001518/parts/3.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 3.png
|