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spatialverse
/
UniPhys-Bench

Modalities:
3D
Languages:
English
Size:
1K<n<10K
ArXiv:
Tags:
3d
physical-grounding
articulation
robotics
simulation
benchmark
License:
Dataset card Files
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breezexian commited on
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Upload folder using huggingface_hub (part 34)

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Files changed (50) hide show
  1. .gitattributes +50 -0
  2. data/UPB_00001240/meta_data.json +22 -0
  3. data/UPB_00001240/model.urdf +131 -0
  4. data/UPB_00001240/parts/1.mtl +8 -0
  5. data/UPB_00001240/parts/1.png +3 -0
  6. data/UPB_00001240/parts/T_6050448723bc8400017bebea_color.jpg +3 -0
  7. data/UPB_00001240/parts/T_6050448723bc8400017bebea_metallic.jpg +3 -0
  8. data/UPB_00001240/parts/T_605044875b896900011b756e_alpha.jpg +3 -0
  9. data/UPB_00001240/parts/T_605044875b896900011b756e_color.jpg +3 -0
  10. data/UPB_00001240/parts/T_605044875b896900011b756e_emission.jpg +3 -0
  11. data/UPB_00001240/parts/T_60504487d849e100019f61c0_color.jpg +3 -0
  12. data/UPB_00001240/parts/T_60504487d849e100019f61c0_roughness.jpg +3 -0
  13. data/UPB_00001240/parts/T_60504487e113f60001086f90_roughness.jpg +3 -0
  14. data/UPB_00001240/parts/oven_ZRXNR2ZVAJTGKPTULM888888_fl8jC.mtl +39 -0
  15. data/UPB_00001240/parts/part_1.obj +1520 -0
  16. data/UPB_00001240/parts/part_2.obj +2150 -0
  17. data/UPB_00001240/parts/part_3.obj +0 -0
  18. data/UPB_00001240/parts/part_4.obj +216 -0
  19. data/UPB_00001240/parts/part_5.obj +3 -0
  20. data/UPB_00001240/parts/part_6.obj +536 -0
  21. data/UPB_00001240/parts/part_7.obj +0 -0
  22. data/UPB_00001240/plys/1.ply +3 -0
  23. data/UPB_00001240/plys/2.ply +3 -0
  24. data/UPB_00001240/plys/3.ply +3 -0
  25. data/UPB_00001240/plys/4.ply +3 -0
  26. data/UPB_00001240/plys/5.ply +3 -0
  27. data/UPB_00001240/plys/6.ply +3 -0
  28. data/UPB_00001240/plys/7.ply +3 -0
  29. data/UPB_00001240/plys/model.ply +3 -0
  30. data/UPB_00001241/annotations/object.json +10 -0
  31. data/UPB_00001241/annotations/part_1.json +52 -0
  32. data/UPB_00001241/annotations/part_2.json +30 -0
  33. data/UPB_00001241/annotations/part_3.json +30 -0
  34. data/UPB_00001241/annotations/part_4.json +30 -0
  35. data/UPB_00001241/annotations/part_5.json +30 -0
  36. data/UPB_00001241/annotations/part_6.json +30 -0
  37. data/UPB_00001241/annotations/part_7.json +30 -0
  38. data/UPB_00001241/full_model/material.mtl +8 -0
  39. data/UPB_00001241/full_model/material_0.png +3 -0
  40. data/UPB_00001241/full_model/model.obj +0 -0
  41. data/UPB_00001241/meta_data.json +22 -0
  42. data/UPB_00001241/model.urdf +131 -0
  43. data/UPB_00001241/parts/1.mtl +8 -0
  44. data/UPB_00001241/parts/1.png +3 -0
  45. data/UPB_00001241/parts/T_604f046000e3a30001160a65_roughness.jpg +3 -0
  46. data/UPB_00001241/parts/T_604f04605974ed0001f605dd_color.jpg +3 -0
  47. data/UPB_00001241/parts/T_604f04605974ed0001f605dd_metallic.jpg +3 -0
  48. data/UPB_00001241/parts/T_604f0460c6ff5a0001567c66_alpha.jpg +3 -0
  49. data/UPB_00001241/parts/T_604f0460c6ff5a0001567c66_color.jpg +3 -0
  50. data/UPB_00001241/parts/T_604f0460c6ff5a0001567c66_emission.jpg +3 -0
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+ {
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+ "grasp_description": "Users grasp with one or two hands; the round profile offers secure grip and stays cool."
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+ <mesh filename="parts/part_2.obj" scale="1.008403 1.008403 1.008403"/>
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+ </geometry>
27
+ </collision>
28
+ </link>
29
+ <link name="link_3">
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+ <visual>
31
+ <geometry>
32
+ <mesh filename="parts/part_3.obj" scale="1.008403 1.008403 1.008403"/>
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+ </geometry>
34
+ </visual>
35
+ <collision>
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+ <geometry>
37
+ <mesh filename="parts/part_3.obj" scale="1.008403 1.008403 1.008403"/>
38
+ </geometry>
39
+ </collision>
40
+ </link>
41
+ <link name="link_4">
42
+ <visual>
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+ <geometry>
44
+ <mesh filename="parts/part_4.obj" scale="1.008403 1.008403 1.008403"/>
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+ </geometry>
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+ </visual>
47
+ <collision>
48
+ <geometry>
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+ <mesh filename="parts/part_4.obj" scale="1.008403 1.008403 1.008403"/>
50
+ </geometry>
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+ </collision>
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+ </link>
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+ <link name="link_5">
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+ <visual>
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+ <geometry>
56
+ <mesh filename="parts/part_5.obj" scale="1.008403 1.008403 1.008403"/>
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <geometry>
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+ <mesh filename="parts/part_5.obj" scale="1.008403 1.008403 1.008403"/>
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+ </geometry>
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+ </collision>
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+ </link>
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+ <link name="link_6">
66
+ <visual>
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+ <geometry>
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+ <mesh filename="parts/part_6.obj" scale="1.008403 1.008403 1.008403"/>
69
+ </geometry>
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+ </visual>
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+ <collision>
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+ <geometry>
73
+ <mesh filename="parts/part_6.obj" scale="1.008403 1.008403 1.008403"/>
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+ </geometry>
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+ </collision>
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+ </link>
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+ <link name="link_7">
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+ <visual>
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+ <geometry>
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+ <mesh filename="parts/part_7.obj" scale="1.008403 1.008403 1.008403"/>
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <geometry>
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+ <mesh filename="parts/part_7.obj" scale="1.008403 1.008403 1.008403"/>
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+ </geometry>
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+ </collision>
88
+ </link>
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+ <joint name="joint_0" type="revolute">
90
+ <parent link="link_3"/>
91
+ <child link="helper_link_0"/>
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+ <origin xyz="0.000000 -0.237282 -0.290203" rpy="0 0 0"/>
93
+ <axis xyz="1.0 0.0 0.0"/>
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+ <limit lower="0.0" upper="1.7453292519943295"/>
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+ </joint>
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+ <joint name="joint_1" type="fixed">
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+ <parent link="helper_link_0"/>
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+ <child link="link_1"/>
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+ <origin xyz="-0.000000 0.237282 0.290203" rpy="0 0 0"/>
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+ </joint>
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+ <joint name="joint_2" type="fixed">
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+ <parent link="link_1"/>
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+ <child link="link_2"/>
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+ <origin xyz="0 0 0" rpy="0 0 0"/>
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+ </joint>
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+ <joint name="joint_3" type="fixed">
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+ <parent link="base_link"/>
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+ <child link="link_3"/>
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+ <origin xyz="0 0 0" rpy="0 0 0"/>
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+ </joint>
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+ <joint name="joint_4" type="fixed">
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+ <parent link="base_link"/>
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+ <child link="link_4"/>
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+ <origin xyz="0 0 0" rpy="0 0 0"/>
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+ </joint>
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+ <joint name="joint_5" type="fixed">
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+ <parent link="base_link"/>
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+ <child link="link_5"/>
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+ <origin xyz="0 0 0" rpy="0 0 0"/>
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+ </joint>
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+ <joint name="joint_6" type="fixed">
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+ <parent link="base_link"/>
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+ <child link="link_6"/>
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+ <origin xyz="0 0 0" rpy="0 0 0"/>
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+ </joint>
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+ <joint name="joint_7" type="fixed">
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+ <parent link="base_link"/>
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+ <child link="link_7"/>
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+ <origin xyz="0 0 0" rpy="0 0 0"/>
130
+ </joint>
131
+ </robot>
data/UPB_00001241/parts/1.mtl ADDED
@@ -0,0 +1,8 @@
 
 
 
 
 
 
 
 
 
1
+ # https://github.com/mikedh/trimesh
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+
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+ newmtl material_0
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+ Ka 0.40000000 0.40000000 0.40000000
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+ Kd 0.40000000 0.40000000 0.40000000
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+ Ks 0.40000000 0.40000000 0.40000000
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+ Ns 1.00000000
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+ map_Kd 1.png
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