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42
HaoranG Fisher-Wang commited on
Commit
4fd81b9
·
verified ·
1 Parent(s): 22cf046

dexbench (#39)

Browse files

- [add] franka allegro (631c4768ddc92ebe156531bd093f2e01dfc65a7d)
- [fix] allegro joint limit (5649cd9d0ec36fd7ab6f9d10b6d581dda0ec414a)
- [add] usd for dexbench (a6953a925597ec44c370f8b36c080cd354dc0706)
- [add] usd asset and robot (8dd120074256f8b58838b3094e33649f4970d011)
- [fix] kettle door usd (49d96a0f02ca1d5d4b57e2520749119d1af62776)
- [fix] hand tranlation (b9a0ab7ce0c009eaff0e86a0b08b77ea3f74eb54)
- [add] asset material (9accd67883f5072b45d884ede14a9e23b5cd03ff)


Co-authored-by: Feishi Wang <Fisher-Wang@users.noreply.huggingface.co>

This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. assets/bidex/objects/urdf/{bottle_mobility.urdf → bottle_mobility/bottle_mobility.urdf} +28 -28
  2. assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/images/texture_0.jpg +0 -0
  3. assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/images/texture_1.jpg +0 -0
  4. assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-2.mtl +0 -0
  5. assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-2.obj +0 -0
  6. assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-3.mtl +0 -0
  7. assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-3.obj +0 -0
  8. assets/bidex/objects/urdf/bottle_mobility/meshes/original-3.usd +3 -0
  9. assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-4.mtl +0 -0
  10. assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-4.obj +0 -0
  11. assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-5.mtl +0 -0
  12. assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-5.obj +0 -0
  13. assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-6.mtl +0 -0
  14. assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-6.obj +0 -0
  15. assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-7.mtl +0 -0
  16. assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-7.obj +0 -0
  17. assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-8.mtl +0 -0
  18. assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-8.obj +0 -0
  19. assets/bidex/objects/{usd/ball/configuration/ball_base.usd → urdf/bottle_mobility/meshes/textures/texture_0.jpg} +2 -2
  20. assets/bidex/objects/urdf/{bucket_mobility.urdf → bucket_mobility/bucket_mobility.urdf} +3 -3
  21. assets/bidex/objects/urdf/{meshes/bucket → bucket_mobility/meshes}/images/texture_0.jpg +0 -0
  22. assets/bidex/objects/urdf/{meshes/bucket → bucket_mobility/meshes}/original-1.mtl +0 -0
  23. assets/bidex/objects/urdf/{meshes/bucket → bucket_mobility/meshes}/original-1.obj +0 -0
  24. assets/bidex/objects/urdf/{meshes/bucket → bucket_mobility/meshes}/original-2.mtl +0 -0
  25. assets/bidex/objects/urdf/{meshes/bucket → bucket_mobility/meshes}/original-2.obj +0 -0
  26. assets/bidex/objects/urdf/{cup_mobility.urdf → cup_mobility/cup_mobility.urdf} +32 -32
  27. assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/new-0.mtl +0 -0
  28. assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/new-0.obj +0 -0
  29. assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/new-1.mtl +0 -0
  30. assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/new-1.obj +0 -0
  31. assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/original-1.mtl +0 -0
  32. assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/original-1.obj +0 -0
  33. assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/original-2.mtl +0 -0
  34. assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/original-2.obj +0 -0
  35. assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/original-4.mtl +0 -0
  36. assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/original-4.obj +0 -0
  37. assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/original-5.mtl +0 -0
  38. assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/original-5.obj +0 -0
  39. assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/original-6.mtl +0 -0
  40. assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/original-6.obj +0 -0
  41. assets/bidex/objects/urdf/{door_mobility.urdf → door_mobility/door_mobility.urdf} +26 -26
  42. assets/bidex/objects/urdf/door_mobility/door_mobility/configuration/door_mobility_base.usd +3 -0
  43. assets/bidex/objects/{usd/ball/configuration/ball_physics.usd → urdf/door_mobility/door_mobility/configuration/door_mobility_physics.usd} +2 -2
  44. assets/bidex/objects/{usd/cube_multicolor/object.usd → urdf/door_mobility/door_mobility/configuration/door_mobility_robot.usd} +2 -2
  45. assets/bidex/objects/{usd/ball/configuration/ball_sensor.usd → urdf/door_mobility/door_mobility/configuration/door_mobility_sensor.usd} +1 -1
  46. assets/bidex/objects/urdf/{meshes/door/images → door_mobility/door_mobility/configuration/materials/textures}/texture_0.jpg +0 -0
  47. assets/bidex/objects/urdf/door_mobility/door_mobility/door_mobility.usd +3 -0
  48. assets/bidex/objects/urdf/door_mobility/meshes/images/texture_0.jpg +3 -0
  49. assets/bidex/objects/urdf/{meshes/door → door_mobility/meshes}/original-1.mtl +0 -0
  50. assets/bidex/objects/urdf/{meshes/door → door_mobility/meshes}/original-1.obj +0 -0
assets/bidex/objects/urdf/{bottle_mobility.urdf → bottle_mobility/bottle_mobility.urdf} RENAMED
@@ -5,13 +5,13 @@
5
  <visual name="lid-7">
6
  <origin xyz="-0.007005959241653967 0 -0.007542109902568375"/>
7
  <geometry>
8
- <mesh filename="meshes/bottle/original-7.obj" scale="0.15 0.15 0.15"/>
9
  </geometry>
10
  </visual>
11
- <collision>
12
  <origin xyz="-0.007005959241653967 0 -0.007542109902568375"/>
13
  <geometry>
14
- <mesh filename="meshes/bottle/original-7.obj" scale="0.15 0.15 0.15"/>
15
  </geometry>
16
  </collision>
17
  </link>
@@ -22,76 +22,76 @@
22
  <parent link="link_0_helper"/>
23
  </joint>
24
  <link name="link_1">
25
- <visual name="body-5">
26
  <origin xyz="0 0 0"/>
27
  <geometry>
28
- <mesh filename="meshes/bottle/original-4.obj" scale="0.15 0.15 0.15"/>
29
  </geometry>
30
  </visual>
31
- <visual name="body-5">
32
  <origin xyz="0 0 0"/>
33
  <geometry>
34
- <mesh filename="meshes/bottle/original-3.obj" scale="0.15 0.15 0.15"/>
35
  </geometry>
36
  </visual>
37
- <visual name="body-5">
38
  <origin xyz="0 0 0"/>
39
  <geometry>
40
- <mesh filename="meshes/bottle/original-8.obj" scale="0.15 0.15 0.15"/>
41
  </geometry>
42
  </visual>
43
- <visual name="body-5">
44
  <origin xyz="0 0 0"/>
45
  <geometry>
46
- <mesh filename="meshes/bottle/original-6.obj" scale="0.15 0.15 0.15"/>
47
  </geometry>
48
  </visual>
49
- <visual name="body-5">
50
  <origin xyz="0 0 0"/>
51
  <geometry>
52
- <mesh filename="meshes/bottle/original-2.obj" scale="0.15 0.15 0.15"/>
53
  </geometry>
54
  </visual>
55
- <visual name="neck-6">
56
  <origin xyz="0 0 0"/>
57
  <geometry>
58
- <mesh filename="meshes/bottle/original-5.obj" scale="0.15 0.15 0.15"/>
59
  </geometry>
60
  </visual>
61
- <collision>
62
  <origin xyz="0 0 0"/>
63
  <geometry>
64
- <mesh filename="meshes/bottle/original-4.obj" scale="0.15 0.15 0.15"/>
65
  </geometry>
66
  </collision>
67
- <collision>
68
  <origin xyz="0 0 0"/>
69
  <geometry>
70
- <mesh filename="meshes/bottle/original-3.obj" scale="0.15 0.15 0.15"/>
71
  </geometry>
72
  </collision>
73
- <collision>
74
  <origin xyz="0 0 0"/>
75
  <geometry>
76
- <mesh filename="meshes/bottle/original-8.obj" scale="0.15 0.15 0.15"/>
77
  </geometry>
78
  </collision>
79
- <collision>
80
  <origin xyz="0 0 0"/>
81
  <geometry>
82
- <mesh filename="meshes/bottle/original-6.obj" scale="0.15 0.15 0.15"/>
83
  </geometry>
84
  </collision>
85
- <collision>
86
  <origin xyz="0 0 0"/>
87
  <geometry>
88
- <mesh filename="meshes/bottle/original-2.obj" scale="0.15 0.15 0.15"/>
89
  </geometry>
90
  </collision>
91
- <collision>
92
  <origin xyz="0 0 0"/>
93
  <geometry>
94
- <mesh filename="meshes/bottle/original-5.obj" scale="0.15 0.15 0.15"/>
95
  </geometry>
96
  </collision>
97
  </link>
@@ -100,7 +100,6 @@
100
  <child link="link_1"/>
101
  <parent link="base"/>
102
  </joint>
103
- <link name="link_0_helper"/>
104
  <joint name="joint_2" type="prismatic">
105
  <origin xyz="0.007005959241653967 0 0.007542109902568375"/>
106
  <axis xyz="0 1 0"/>
@@ -108,4 +107,5 @@
108
  <parent link="link_1"/>
109
  <limit lower="0" upper="0.06400000000000006"/>
110
  </joint>
 
111
  </robot>
 
5
  <visual name="lid-7">
6
  <origin xyz="-0.007005959241653967 0 -0.007542109902568375"/>
7
  <geometry>
8
+ <mesh filename="meshes/original-7.obj" scale="0.15 0.15 0.15"/>
9
  </geometry>
10
  </visual>
11
+ <collision name="lid-7">
12
  <origin xyz="-0.007005959241653967 0 -0.007542109902568375"/>
13
  <geometry>
14
+ <mesh filename="meshes/original-7.obj" scale="0.15 0.15 0.15"/>
15
  </geometry>
16
  </collision>
17
  </link>
 
22
  <parent link="link_0_helper"/>
23
  </joint>
24
  <link name="link_1">
25
+ <visual name="body-4">
26
  <origin xyz="0 0 0"/>
27
  <geometry>
28
+ <mesh filename="meshes/original-4.obj" scale="0.15 0.15 0.15"/>
29
  </geometry>
30
  </visual>
31
+ <visual name="body-3">
32
  <origin xyz="0 0 0"/>
33
  <geometry>
34
+ <mesh filename="meshes/original-3.obj" scale="0.15 0.15 0.15"/>
35
  </geometry>
36
  </visual>
37
+ <visual name="body-8">
38
  <origin xyz="0 0 0"/>
39
  <geometry>
40
+ <mesh filename="meshes/original-8.obj" scale="0.15 0.15 0.15"/>
41
  </geometry>
42
  </visual>
43
+ <visual name="body-6">
44
  <origin xyz="0 0 0"/>
45
  <geometry>
46
+ <mesh filename="meshes/original-6.obj" scale="0.15 0.15 0.15"/>
47
  </geometry>
48
  </visual>
49
+ <visual name="body-2">
50
  <origin xyz="0 0 0"/>
51
  <geometry>
52
+ <mesh filename="meshes/original-2.obj" scale="0.15 0.15 0.15"/>
53
  </geometry>
54
  </visual>
55
+ <visual name="neck-5">
56
  <origin xyz="0 0 0"/>
57
  <geometry>
58
+ <mesh filename="meshes/original-5.obj" scale="0.15 0.15 0.15"/>
59
  </geometry>
60
  </visual>
61
+ <collision name="body-4">
62
  <origin xyz="0 0 0"/>
63
  <geometry>
64
+ <mesh filename="meshes/original-4.obj" scale="0.15 0.15 0.15"/>
65
  </geometry>
66
  </collision>
67
+ <collision name="body-3">
68
  <origin xyz="0 0 0"/>
69
  <geometry>
70
+ <mesh filename="meshes/original-3.obj" scale="0.15 0.15 0.15"/>
71
  </geometry>
72
  </collision>
73
+ <collision name="body-8">
74
  <origin xyz="0 0 0"/>
75
  <geometry>
76
+ <mesh filename="meshes/original-8.obj" scale="0.15 0.15 0.15"/>
77
  </geometry>
78
  </collision>
79
+ <collision name="body-6">
80
  <origin xyz="0 0 0"/>
81
  <geometry>
82
+ <mesh filename="meshes/original-6.obj" scale="0.15 0.15 0.15"/>
83
  </geometry>
84
  </collision>
85
+ <collision name="body-2">
86
  <origin xyz="0 0 0"/>
87
  <geometry>
88
+ <mesh filename="meshes/original-2.obj" scale="0.15 0.15 0.15"/>
89
  </geometry>
90
  </collision>
91
+ <collision name="neck-5">
92
  <origin xyz="0 0 0"/>
93
  <geometry>
94
+ <mesh filename="meshes/original-5.obj" scale="0.15 0.15 0.15"/>
95
  </geometry>
96
  </collision>
97
  </link>
 
100
  <child link="link_1"/>
101
  <parent link="base"/>
102
  </joint>
 
103
  <joint name="joint_2" type="prismatic">
104
  <origin xyz="0.007005959241653967 0 0.007542109902568375"/>
105
  <axis xyz="0 1 0"/>
 
107
  <parent link="link_1"/>
108
  <limit lower="0" upper="0.06400000000000006"/>
109
  </joint>
110
+ <link name="link_0_helper"/>
111
  </robot>
assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/images/texture_0.jpg RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/images/texture_1.jpg RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-2.mtl RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-2.obj RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-3.mtl RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-3.obj RENAMED
File without changes
assets/bidex/objects/urdf/bottle_mobility/meshes/original-3.usd ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:89ddcb532aba789469d989179404ba8253465a6074fa4fc0e5828f5462137e5f
3
+ size 1316460
assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-4.mtl RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-4.obj RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-5.mtl RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-5.obj RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-6.mtl RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-6.obj RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-7.mtl RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-7.obj RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-8.mtl RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/bottle → bottle_mobility/meshes}/original-8.obj RENAMED
File without changes
assets/bidex/objects/{usd/ball/configuration/ball_base.usd → urdf/bottle_mobility/meshes/textures/texture_0.jpg} RENAMED
File without changes
assets/bidex/objects/urdf/{bucket_mobility.urdf → bucket_mobility/bucket_mobility.urdf} RENAMED
@@ -5,13 +5,13 @@
5
  <visual name="base_body-2">
6
  <origin xyz="0 0 0"/>
7
  <geometry>
8
- <mesh filename="meshes/bucket/original-1.obj" scale="0.1 0.1 0.1"/>
9
  </geometry>
10
  </visual>
11
- <collision>
12
  <origin xyz="0 0 0"/>
13
  <geometry>
14
- <mesh filename="meshes/bucket/original-1.obj" scale="0.1 0.1 0.1"/>
15
  </geometry>
16
  </collision>
17
  </link>
 
5
  <visual name="base_body-2">
6
  <origin xyz="0 0 0"/>
7
  <geometry>
8
+ <mesh filename="meshes/original-1.obj" scale="0.1 0.1 0.1"/>
9
  </geometry>
10
  </visual>
11
+ <collision name="base_body-2">
12
  <origin xyz="0 0 0"/>
13
  <geometry>
14
+ <mesh filename="meshes/original-1.obj" scale="0.1 0.1 0.1"/>
15
  </geometry>
16
  </collision>
17
  </link>
assets/bidex/objects/urdf/{meshes/bucket → bucket_mobility/meshes}/images/texture_0.jpg RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/bucket → bucket_mobility/meshes}/original-1.mtl RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/bucket → bucket_mobility/meshes}/original-1.obj RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/bucket → bucket_mobility/meshes}/original-2.mtl RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/bucket → bucket_mobility/meshes}/original-2.obj RENAMED
File without changes
assets/bidex/objects/urdf/{cup_mobility.urdf → cup_mobility/cup_mobility.urdf} RENAMED
@@ -2,40 +2,40 @@
2
  <robot name="cup">
3
  <link name="base"/>
4
  <link name="link_0">
5
- <visual name="lid-3">
6
  <origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
7
  <geometry>
8
- <mesh filename="meshes/cup/original-1.obj" scale="0.1 0.1 0.1"/>
9
  </geometry>
10
  </visual>
11
- <visual name="lid-3">
12
  <origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
13
  <geometry>
14
- <mesh filename="meshes/cup/original-6.obj" scale="0.1 0.1 0.1"/>
15
  </geometry>
16
  </visual>
17
- <visual name="lid-3">
18
  <origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
19
  <geometry>
20
- <mesh filename="meshes/cup/original-4.obj" scale="0.1 0.1 0.1"/>
21
  </geometry>
22
  </visual>
23
- <collision>
24
  <origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
25
  <geometry>
26
- <mesh filename="meshes/cup/original-1.obj" scale="0.1 0.1 0.1"/>
27
  </geometry>
28
  </collision>
29
- <collision>
30
  <origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
31
  <geometry>
32
- <mesh filename="meshes/cup/original-6.obj" scale="0.1 0.1 0.1"/>
33
  </geometry>
34
  </collision>
35
- <collision>
36
  <origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
37
  <geometry>
38
- <mesh filename="meshes/cup/original-4.obj" scale="0.1 0.1 0.1"/>
39
  </geometry>
40
  </collision>
41
  </link>
@@ -47,52 +47,52 @@
47
  <limit lower="0" upper="0.1080000000000001"/>
48
  </joint>
49
  <link name="link_1">
50
- <visual name="body-1">
51
  <origin xyz="0 0 0"/>
52
  <geometry>
53
- <mesh filename="meshes/cup/original-2.obj" scale="0.1 0.1 0.1"/>
54
  </geometry>
55
  </visual>
56
- <visual name="body-1">
57
  <origin xyz="0 0 0"/>
58
  <geometry>
59
- <mesh filename="meshes/cup/new-0.obj" scale="0.1 0.1 0.1"/>
60
  </geometry>
61
  </visual>
62
- <visual name="body-1">
63
  <origin xyz="0 0 0"/>
64
  <geometry>
65
- <mesh filename="meshes/cup/new-1.obj" scale="0.1 0.1 0.1"/>
66
  </geometry>
67
  </visual>
68
- <visual name="handle-2">
69
  <origin xyz="0 0 0"/>
70
  <geometry>
71
- <mesh filename="meshes/cup/original-5.obj" scale="0.1 0.1 0.1"/>
72
  </geometry>
73
  </visual>
74
- <collision>
75
  <origin xyz="0 0 0"/>
76
  <geometry>
77
- <mesh filename="meshes/cup/original-2.obj" scale="0.1 0.1 0.1"/>
78
  </geometry>
79
  </collision>
80
- <collision>
81
  <origin xyz="0 0 0"/>
82
  <geometry>
83
- <mesh filename="meshes/cup/new-0.obj" scale="0.1 0.1 0.1"/>
84
  </geometry>
85
  </collision>
86
- <collision>
87
  <origin xyz="0 0 0"/>
88
  <geometry>
89
- <mesh filename="meshes/cup/new-1.obj" scale="0.1 0.1 0.1"/>
90
  </geometry>
91
  </collision>
92
- <collision>
93
  <origin xyz="0 0 0"/>
94
  <geometry>
95
- <mesh filename="meshes/cup/original-5.obj" scale="0.1 0.1 0.1"/>
96
  </geometry>
97
  </collision>
98
  </link>
@@ -103,16 +103,16 @@
103
  </joint>
104
 
105
  <link name="link_2">
106
- <visual name="handle-3">
107
  <origin xyz="0 0 0"/>
108
  <geometry>
109
- <mesh filename="meshes/cup/original-5.obj" scale="0.1 0.1 0.1"/>
110
  </geometry>
111
  </visual>
112
- <collision>
113
  <origin xyz="0 0 0"/>
114
  <geometry>
115
- <mesh filename="meshes/cup/original-5.obj" scale="0.1 0.1 0.1"/>
116
  </geometry>
117
  </collision>
118
  </link>
 
2
  <robot name="cup">
3
  <link name="base"/>
4
  <link name="link_0">
5
+ <visual name="lid-3-1">
6
  <origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
7
  <geometry>
8
+ <mesh filename="meshes/original-1.obj" scale="0.1 0.1 0.1"/>
9
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10
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11
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12
  <origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
13
  <geometry>
14
+ <mesh filename="meshes/original-6.obj" scale="0.1 0.1 0.1"/>
15
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16
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17
+ <visual name="lid-3-4">
18
  <origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
19
  <geometry>
20
+ <mesh filename="meshes/original-4.obj" scale="0.1 0.1 0.1"/>
21
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22
  </visual>
23
+ <collision name="lid-3-1">
24
  <origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
25
  <geometry>
26
+ <mesh filename="meshes/original-1.obj" scale="0.1 0.1 0.1"/>
27
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28
  </collision>
29
+ <collision name="lid-3-6">
30
  <origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
31
  <geometry>
32
+ <mesh filename="meshes/original-6.obj" scale="0.1 0.1 0.1"/>
33
  </geometry>
34
  </collision>
35
+ <collision name="lid-3-4">
36
  <origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
37
  <geometry>
38
+ <mesh filename="meshes/original-4.obj" scale="0.1 0.1 0.1"/>
39
  </geometry>
40
  </collision>
41
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47
  <limit lower="0" upper="0.1080000000000001"/>
48
  </joint>
49
  <link name="link_1">
50
+ <visual name="body-1-2">
51
  <origin xyz="0 0 0"/>
52
  <geometry>
53
+ <mesh filename="meshes/original-2.obj" scale="0.1 0.1 0.1"/>
54
  </geometry>
55
  </visual>
56
+ <visual name="body-1-0">
57
  <origin xyz="0 0 0"/>
58
  <geometry>
59
+ <mesh filename="meshes/new-0.obj" scale="0.1 0.1 0.1"/>
60
  </geometry>
61
  </visual>
62
+ <visual name="body-1-1">
63
  <origin xyz="0 0 0"/>
64
  <geometry>
65
+ <mesh filename="meshes/new-1.obj" scale="0.1 0.1 0.1"/>
66
  </geometry>
67
  </visual>
68
+ <visual name="handle-2-5">
69
  <origin xyz="0 0 0"/>
70
  <geometry>
71
+ <mesh filename="meshes/original-5.obj" scale="0.1 0.1 0.1"/>
72
  </geometry>
73
  </visual>
74
+ <collision name="body-1-2">
75
  <origin xyz="0 0 0"/>
76
  <geometry>
77
+ <mesh filename="meshes/original-2.obj" scale="0.1 0.1 0.1"/>
78
  </geometry>
79
  </collision>
80
+ <collision name="body-1-0">
81
  <origin xyz="0 0 0"/>
82
  <geometry>
83
+ <mesh filename="meshes/new-0.obj" scale="0.1 0.1 0.1"/>
84
  </geometry>
85
  </collision>
86
+ <collision name="body-1-1">
87
  <origin xyz="0 0 0"/>
88
  <geometry>
89
+ <mesh filename="meshes/new-1.obj" scale="0.1 0.1 0.1"/>
90
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91
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92
+ <collision name="handle-2-5">
93
  <origin xyz="0 0 0"/>
94
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95
+ <mesh filename="meshes/original-5.obj" scale="0.1 0.1 0.1"/>
96
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97
  </collision>
98
  </link>
 
103
  </joint>
104
 
105
  <link name="link_2">
106
+ <visual name="handle-3-5">
107
  <origin xyz="0 0 0"/>
108
  <geometry>
109
+ <mesh filename="meshes/original-5.obj" scale="0.1 0.1 0.1"/>
110
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111
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112
+ <collision name="handle-3-5">
113
  <origin xyz="0 0 0"/>
114
  <geometry>
115
+ <mesh filename="meshes/original-5.obj" scale="0.1 0.1 0.1"/>
116
  </geometry>
117
  </collision>
118
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assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/new-0.mtl RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/new-0.obj RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/new-1.mtl RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/new-1.obj RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/original-1.mtl RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/original-1.obj RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/original-2.mtl RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/original-2.obj RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/original-4.mtl RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/original-4.obj RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/original-5.mtl RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/original-5.obj RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/original-6.mtl RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/cup → cup_mobility/meshes}/original-6.obj RENAMED
File without changes
assets/bidex/objects/urdf/{door_mobility.urdf → door_mobility/door_mobility.urdf} RENAMED
@@ -2,28 +2,28 @@
2
  <robot name="door">
3
  <link name="base"/>
4
  <link name="link_0">
5
- <visual name="outside_frame-1">
6
  <origin xyz="0 0 0"/>
7
  <geometry>
8
- <mesh filename="meshes/door/original-1.obj"/>
9
  </geometry>
10
  </visual>
11
- <visual name="outside_frame-1">
12
  <origin xyz="0 0 0"/>
13
  <geometry>
14
- <mesh filename="meshes/door/original-2.obj"/>
15
  </geometry>
16
  </visual>
17
- <collision>
18
  <origin xyz="0 0 0"/>
19
  <geometry>
20
- <mesh filename="meshes/door/original-1.obj"/>
21
  </geometry>
22
  </collision>
23
- <collision>
24
  <origin xyz="0 0 0"/>
25
  <geometry>
26
- <mesh filename="meshes/door/original-2.obj"/>
27
  </geometry>
28
  </collision>
29
  </link>
@@ -36,37 +36,37 @@
36
  <visual name="glass-34">
37
  <origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/>
38
  <geometry>
39
- <mesh filename="meshes/door/original-12.obj"/>
40
  </geometry>
41
  </visual>
42
  <visual name="fixed_part-31">
43
  <origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/>
44
  <geometry>
45
- <mesh filename="meshes/door/original-10.obj" scale="2 2 2"/>
46
  </geometry>
47
  </visual>
48
  <visual name="fixed_part-30">
49
  <origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/>
50
  <geometry>
51
- <mesh filename="meshes/door/original-11.obj" scale="2 2 2"/>
52
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53
  </visual>
54
- <collision>
55
  <origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/>
56
  <geometry>
57
- <mesh filename="meshes/door/original-12.obj"/>
58
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59
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60
- <collision>
61
  <origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/>
62
  <geometry>
63
- <mesh filename="meshes/door/original-10.obj" scale="2 2 2"/>
64
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65
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66
- <collision>
67
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68
  <geometry>
69
- <mesh filename="meshes/door/original-11.obj" scale="2 2 2"/>
70
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71
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72
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@@ -81,37 +81,37 @@
81
  <visual name="glass-33">
82
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83
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84
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85
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86
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87
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88
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89
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90
- <mesh filename="meshes/door/original-6.obj" scale="2 2 2"/>
91
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92
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93
  <visual name="fixed_part-29">
94
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95
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96
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97
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98
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99
- <collision>
100
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101
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102
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103
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104
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105
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106
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108
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109
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110
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111
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112
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113
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114
- <mesh filename="meshes/door/original-5.obj" scale="2 2 2"/>
115
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116
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117
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2
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3
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4
  <link name="link_0">
5
+ <visual name="outside_frame-1-1">
6
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7
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8
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9
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10
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11
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12
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15
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16
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17
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18
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21
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22
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23
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24
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26
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27
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28
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29
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36
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37
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38
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39
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41
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46
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48
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49
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51
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52
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53
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54
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55
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57
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58
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59
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60
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61
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63
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65
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66
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68
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69
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70
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71
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72
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81
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82
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83
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84
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85
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86
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87
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88
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89
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90
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91
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92
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93
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94
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96
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97
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98
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99
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100
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102
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104
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105
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106
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108
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110
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111
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114
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115
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116
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117
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assets/bidex/objects/urdf/door_mobility/door_mobility/configuration/door_mobility_base.usd ADDED
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assets/bidex/objects/{usd/ball/configuration/ball_physics.usd → urdf/door_mobility/door_mobility/configuration/door_mobility_physics.usd} RENAMED
@@ -1,3 +1,3 @@
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assets/bidex/objects/{usd/cube_multicolor/object.usd → urdf/door_mobility/door_mobility/configuration/door_mobility_robot.usd} RENAMED
@@ -1,3 +1,3 @@
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assets/bidex/objects/{usd/ball/configuration/ball_sensor.usd → urdf/door_mobility/door_mobility/configuration/door_mobility_sensor.usd} RENAMED
@@ -1,3 +1,3 @@
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assets/bidex/objects/urdf/{meshes/door/images → door_mobility/door_mobility/configuration/materials/textures}/texture_0.jpg RENAMED
File without changes
assets/bidex/objects/urdf/door_mobility/door_mobility/door_mobility.usd ADDED
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assets/bidex/objects/urdf/door_mobility/meshes/images/texture_0.jpg ADDED

Git LFS Details

  • SHA256: 056d90e0e575ac2771a374e0495f255ae95d34fd242b0b922b84a8c267e8c6d4
  • Pointer size: 129 Bytes
  • Size of remote file: 3.08 kB
assets/bidex/objects/urdf/{meshes/door → door_mobility/meshes}/original-1.mtl RENAMED
File without changes
assets/bidex/objects/urdf/{meshes/door → door_mobility/meshes}/original-1.obj RENAMED
File without changes