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RoboVerseOrg
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roboverse_data

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39
Fisher-Wang HaoranG commited on
Commit
1477756
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verified ·
1 Parent(s): 726cf49

bidex manipulation data (#34)

Browse files

- bidex manipulation data (35af950f12d7656c24b066e1953b4df57f4fec2a)
- [add] cube and shadow hand usd (d7bee623c68ce2f3eaff41161b44e4ae9c02a398)
- [add] franka with shadow hand (b8cf3e6e949bc7c1e88e2ef60b07acd97a981ad4)
- [fix] dae axes (d1197e0df85e1b3b6f88a243e4b97224b8a41d54)
- [fix] franka shadow joint limit (cd698d4977c475a27b8e7a3e801b42627da72c86)
- [add] franka shadow mjcf(for tendon) (497b64f94a2f4cbfbe0ceffd0fd91bdb8bf4c3e8)


Co-authored-by: Haoran Geng <[email protected]>

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/meshes/ball.obj +0 -0
  2. assets/bidex/objects/meshes/ball.stl +0 -0
  3. assets/bidex/objects/meshes/cube_multicolor.mtl +0 -0
  4. assets/bidex/objects/meshes/cube_multicolor.obj +0 -0
  5. assets/bidex/objects/{ball.urdf → urdf/ball.urdf} +0 -0
  6. assets/bidex/objects/urdf/bottle_mobility.urdf +111 -0
  7. assets/bidex/objects/urdf/bucket_mobility.urdf +23 -0
  8. assets/bidex/objects/{cube_goal_multicolor.urdf → urdf/cube_goal_multicolor.urdf} +0 -0
  9. assets/bidex/objects/{cube_multicolor.urdf → urdf/cube_multicolor.urdf} +0 -0
  10. assets/bidex/objects/{cube_multicolor1.urdf → urdf/cube_multicolor1.urdf} +0 -0
  11. assets/bidex/objects/urdf/cup_mobility.urdf +124 -0
  12. assets/bidex/objects/urdf/door_mobility.urdf +125 -0
  13. assets/bidex/objects/urdf/kettle_mobility.urdf +68 -0
  14. assets/bidex/objects/urdf/meshes/ball.obj +3 -0
  15. assets/bidex/objects/urdf/meshes/ball.stl +3 -0
  16. assets/bidex/objects/urdf/meshes/bottle/images/texture_0.jpg +3 -0
  17. assets/bidex/objects/urdf/meshes/bottle/images/texture_1.jpg +3 -0
  18. assets/bidex/objects/urdf/meshes/bottle/original-2.mtl +7 -0
  19. assets/bidex/objects/urdf/meshes/bottle/original-2.obj +3 -0
  20. assets/bidex/objects/urdf/meshes/bottle/original-3.mtl +7 -0
  21. assets/bidex/objects/urdf/meshes/bottle/original-3.obj +3 -0
  22. assets/bidex/objects/urdf/meshes/bottle/original-4.mtl +7 -0
  23. assets/bidex/objects/urdf/meshes/bottle/original-4.obj +3 -0
  24. assets/bidex/objects/urdf/meshes/bottle/original-5.mtl +7 -0
  25. assets/bidex/objects/urdf/meshes/bottle/original-5.obj +3 -0
  26. assets/bidex/objects/urdf/meshes/bottle/original-6.mtl +7 -0
  27. assets/bidex/objects/urdf/meshes/bottle/original-6.obj +3 -0
  28. assets/bidex/objects/urdf/meshes/bottle/original-7.mtl +7 -0
  29. assets/bidex/objects/urdf/meshes/bottle/original-7.obj +3 -0
  30. assets/bidex/objects/urdf/meshes/bottle/original-8.mtl +14 -0
  31. assets/bidex/objects/urdf/meshes/bottle/original-8.obj +3 -0
  32. assets/bidex/objects/urdf/meshes/bucket/images/texture_0.jpg +3 -0
  33. assets/bidex/objects/urdf/meshes/bucket/original-1.mtl +14 -0
  34. assets/bidex/objects/urdf/meshes/bucket/original-1.obj +3 -0
  35. assets/bidex/objects/urdf/meshes/bucket/original-2.mtl +7 -0
  36. assets/bidex/objects/urdf/meshes/bucket/original-2.obj +3 -0
  37. assets/bidex/objects/urdf/meshes/cube_multicolor.mtl +59 -0
  38. assets/bidex/objects/urdf/meshes/cube_multicolor.obj +3 -0
  39. assets/bidex/objects/urdf/meshes/cup/new-0.mtl +8 -0
  40. assets/bidex/objects/urdf/meshes/cup/new-0.obj +3 -0
  41. assets/bidex/objects/urdf/meshes/cup/new-1.mtl +8 -0
  42. assets/bidex/objects/urdf/meshes/cup/new-1.obj +3 -0
  43. assets/bidex/objects/urdf/meshes/cup/original-1.mtl +7 -0
  44. assets/bidex/objects/urdf/meshes/cup/original-1.obj +3 -0
  45. assets/bidex/objects/urdf/meshes/cup/original-2.mtl +7 -0
  46. assets/bidex/objects/urdf/meshes/cup/original-2.obj +3 -0
  47. assets/bidex/objects/urdf/meshes/cup/original-4.mtl +7 -0
  48. assets/bidex/objects/urdf/meshes/cup/original-4.obj +3 -0
  49. assets/bidex/objects/urdf/meshes/cup/original-5.mtl +7 -0
  50. assets/bidex/objects/urdf/meshes/cup/original-5.obj +3 -0
assets/bidex/objects/meshes/ball.obj CHANGED
File without changes
assets/bidex/objects/meshes/ball.stl CHANGED
File without changes
assets/bidex/objects/meshes/cube_multicolor.mtl CHANGED
File without changes
assets/bidex/objects/meshes/cube_multicolor.obj CHANGED
File without changes
assets/bidex/objects/{ball.urdf → urdf/ball.urdf} RENAMED
File without changes
assets/bidex/objects/urdf/bottle_mobility.urdf ADDED
@@ -0,0 +1,111 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" ?>
2
+ <robot name="bottle">
3
+ <link name="base"/>
4
+ <link name="link_0">
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>
18
+ <joint name="joint_0" type="continuous">
19
+ <origin xyz="0.0 0 0.0"/>
20
+ <axis xyz="0 1 0"/>
21
+ <child link="link_0"/>
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>
98
+ <joint name="joint_1" type="fixed">
99
+ <origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
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"/>
107
+ <child link="link_0_helper"/>
108
+ <parent link="link_1"/>
109
+ <limit lower="0" upper="0.06400000000000006"/>
110
+ </joint>
111
+ </robot>
assets/bidex/objects/urdf/bucket_mobility.urdf ADDED
@@ -0,0 +1,23 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" ?>
2
+ <robot name="bucket">
3
+ <link name="base"/>
4
+ <link name="link_1">
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>
18
+ <joint name="joint_1" type="fixed">
19
+ <origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
20
+ <child link="link_1"/>
21
+ <parent link="base"/>
22
+ </joint>
23
+ </robot>
assets/bidex/objects/{cube_goal_multicolor.urdf → urdf/cube_goal_multicolor.urdf} RENAMED
File without changes
assets/bidex/objects/{cube_multicolor.urdf → urdf/cube_multicolor.urdf} RENAMED
File without changes
assets/bidex/objects/{cube_multicolor1.urdf → urdf/cube_multicolor1.urdf} RENAMED
File without changes
assets/bidex/objects/urdf/cup_mobility.urdf ADDED
@@ -0,0 +1,124 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" ?>
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>
42
+ <joint name="joint_0" type="prismatic">
43
+ <origin xyz="-0.0013007224518146773 0 -0.006225716369432219"/>
44
+ <axis xyz="0 1 0"/>
45
+ <child link="link_0"/>
46
+ <parent link="link_1"/>
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>
99
+ <joint name="joint_1" type="fixed">
100
+ <origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
101
+ <child link="link_1"/>
102
+ <parent link="base"/>
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>
119
+ <joint name="joint_2" type="fixed">
120
+ <origin rpy="1.570796326794897 0 1.570796326794897" xyz="0 0 0"/>
121
+ <child link="link_2"/>
122
+ <parent link="base"/>
123
+ </joint>
124
+ </robot>
assets/bidex/objects/urdf/door_mobility.urdf ADDED
@@ -0,0 +1,125 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" ?>
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>
30
+ <joint name="joint_0" type="fixed">
31
+ <origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
32
+ <child link="link_0"/>
33
+ <parent link="base"/>
34
+ </joint>
35
+ <link name="link_1">
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"/>
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+ <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
+ </geometry>
53
+ </visual>
54
+ <collision>
55
+ <origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/>
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+ <geometry>
57
+ <mesh filename="meshes/door/original-12.obj"/>
58
+ </geometry>
59
+ </collision>
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
+ </geometry>
65
+ </collision>
66
+ <collision>
67
+ <origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/>
68
+ <geometry>
69
+ <mesh filename="meshes/door/original-11.obj" scale="2 2 2"/>
70
+ </geometry>
71
+ </collision>
72
+ </link>
73
+ <joint name="joint_1" type="revolute">
74
+ <origin xyz="-0.4265270657166128 0.48329200000000005 0.008461858680020029"/>
75
+ <axis xyz="0 -1 0"/>
76
+ <child link="link_1"/>
77
+ <parent link="link_0"/>
78
+ <limit lower="0.0" upper="1.5707963267948966"/>
79
+ </joint>
80
+ <link name="link_2">
81
+ <visual name="glass-33">
82
+ <origin xyz="-0.41540686074842226 -0.4832920000000003 -0.0055998888476049835"/>
83
+ <geometry>
84
+ <mesh filename="meshes/door/original-7.obj"/>
85
+ </geometry>
86
+ </visual>
87
+ <visual name="fixed_part-32">
88
+ <origin xyz="-0.41540686074842226 -0.4832920000000003 -0.0055998888476049835"/>
89
+ <geometry>
90
+ <mesh filename="meshes/door/original-6.obj" scale="2 2 2"/>
91
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