simpler_env assets: upload assets/simpler_env (native SimplerEnv integration)
Browse files- assets/simpler_env/cabinet/mk_station.urdf +392 -0
- assets/simpler_env/model_db/info_bridge_custom_baked_tex_v0.json +38 -0
- assets/simpler_env/model_db/info_bridge_custom_v0.json +218 -0
- assets/simpler_env/model_db/info_pick_custom_baked_tex_v0.json +380 -0
- assets/simpler_env/model_db/info_pick_custom_baked_tex_v1.json +380 -0
- assets/simpler_env/model_db/info_pick_custom_v0.json +380 -0
- assets/simpler_env/opened_coke_can/Image_2.004.jpg +3 -0
- assets/simpler_env/opened_coke_can/collision.obj +3 -0
- assets/simpler_env/opened_coke_can/textured.dae +3 -0
- assets/simpler_env/real_inpainting/bridge_real_eval_1.png +3 -0
- assets/simpler_env/real_inpainting/bridge_sink.png +3 -0
- assets/simpler_env/real_inpainting/google_move_near_real_eval_1.png +3 -0
- assets/simpler_env/real_inpainting/open_drawer_a0.png +3 -0
- assets/simpler_env/real_inpainting/open_drawer_a1.png +3 -0
- assets/simpler_env/real_inpainting/open_drawer_a2.png +3 -0
- assets/simpler_env/real_inpainting/open_drawer_b0.png +3 -0
- assets/simpler_env/real_inpainting/open_drawer_b1.png +3 -0
- assets/simpler_env/real_inpainting/open_drawer_b2.png +3 -0
- assets/simpler_env/real_inpainting/open_drawer_c0.png +3 -0
- assets/simpler_env/real_inpainting/open_drawer_c1.png +3 -0
- assets/simpler_env/real_inpainting/open_drawer_c2.png +3 -0
- assets/simpler_env/scenes/bridge_table_1_v1.glb +3 -0
- assets/simpler_env/scenes/bridge_table_1_v1.glb.nonconvex.stl +3 -0
- assets/simpler_env/scenes/bridge_table_1_v2.glb +3 -0
- assets/simpler_env/scenes/bridge_table_1_v2.glb.nonconvex.stl +3 -0
- assets/simpler_env/scenes/google_coke_can_real_eval_1.png +3 -0
- assets/simpler_env/scenes/google_pick_coke_can_1_v4.glb +3 -0
- assets/simpler_env/scenes/google_pick_coke_can_1_v4.glb.nonconvex.stl +3 -0
assets/simpler_env/cabinet/mk_station.urdf
ADDED
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| 1 |
+
<robot name="mk_station" version="1.0">
|
| 2 |
+
<joint name="top_drawer_joint" type="prismatic">
|
| 3 |
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<limit lower="0" upper="0.5" effort="0.00000" velocity="0.00000"/>
|
| 4 |
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<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.66800"/>
|
| 5 |
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<parent link="body"/>
|
| 6 |
+
<child link="top_drawer"/>
|
| 7 |
+
<axis xyz="1.00000 0.00000 0.00000"/>
|
| 8 |
+
</joint>
|
| 9 |
+
<joint name="middle_drawer_joint" type="prismatic">
|
| 10 |
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<limit lower="0" upper="0.5" effort="0.00000" velocity="0.00000"/>
|
| 11 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.42300"/>
|
| 12 |
+
<parent link="body"/>
|
| 13 |
+
<child link="middle_drawer"/>
|
| 14 |
+
<axis xyz="1.00000 0.00000 0.00000"/>
|
| 15 |
+
</joint>
|
| 16 |
+
<joint name="bottom_drawer_joint" type="prismatic">
|
| 17 |
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<limit lower="0" upper="0.5" effort="0.00000" velocity="0.00000"/>
|
| 18 |
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<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.17800"/>
|
| 19 |
+
<parent link="body"/>
|
| 20 |
+
<child link="bottom_drawer"/>
|
| 21 |
+
<axis xyz="1.00000 0.00000 0.00000"/>
|
| 22 |
+
</joint>
|
| 23 |
+
<link name="body">
|
| 24 |
+
<collision name="body_back_collision">
|
| 25 |
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<origin rpy="0.00000 0.00000 0.00000" xyz="-0.30500 0.00000 0.42250"/>
|
| 26 |
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<geometry>
|
| 27 |
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<box size="0.02000 0.61500 0.84500"/>
|
| 28 |
+
</geometry>
|
| 29 |
+
</collision>
|
| 30 |
+
<visual name="body_back">
|
| 31 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.30500 0.00000 0.42250"/>
|
| 32 |
+
<material name="gray_wooden"/>
|
| 33 |
+
<geometry>
|
| 34 |
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<box size="0.02000 0.61500 0.84500"/>
|
| 35 |
+
</geometry>
|
| 36 |
+
</visual>
|
| 37 |
+
<collision name="body_left_collision">
|
| 38 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.29750 0.42250"/>
|
| 39 |
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<geometry>
|
| 40 |
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<box size="0.59000 0.02000 0.84500"/>
|
| 41 |
+
</geometry>
|
| 42 |
+
</collision>
|
| 43 |
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<visual name="body_left">
|
| 44 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.29750 0.42250"/>
|
| 45 |
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<material name="gray_wooden"/>
|
| 46 |
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<geometry>
|
| 47 |
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<box size="0.59000 0.02000 0.84500"/>
|
| 48 |
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</geometry>
|
| 49 |
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</visual>
|
| 50 |
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<collision name="body_right_collision">
|
| 51 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.29750 0.42250"/>
|
| 52 |
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<geometry>
|
| 53 |
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<box size="0.59000 0.02000 0.84500"/>
|
| 54 |
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</geometry>
|
| 55 |
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</collision>
|
| 56 |
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<visual name="body_right">
|
| 57 |
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<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.29750 0.42250"/>
|
| 58 |
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<material name="gray_wooden"/>
|
| 59 |
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<geometry>
|
| 60 |
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<box size="0.59000 0.02000 0.84500"/>
|
| 61 |
+
</geometry>
|
| 62 |
+
</visual>
|
| 63 |
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<collision name="tabletop_collision">
|
| 64 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.85500"/>
|
| 65 |
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<geometry>
|
| 66 |
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<box size="0.63000 0.61500 0.02000"/>
|
| 67 |
+
</geometry>
|
| 68 |
+
</collision>
|
| 69 |
+
<visual name="tabletop">
|
| 70 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.85500"/>
|
| 71 |
+
<material name="stone"/>
|
| 72 |
+
<geometry>
|
| 73 |
+
<box size="0.63000 0.61500 0.02000"/>
|
| 74 |
+
</geometry>
|
| 75 |
+
</visual>
|
| 76 |
+
</link>
|
| 77 |
+
<link name="top_drawer">
|
| 78 |
+
<visual name="handle0">
|
| 79 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.34250 0.00000 0.02"/>
|
| 80 |
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<material name="black"/>
|
| 81 |
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<geometry>
|
| 82 |
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<box size="0.005000 0.10000 0.00500"/>
|
| 83 |
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</geometry>
|
| 84 |
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</visual>
|
| 85 |
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<visual name="handle1">
|
| 86 |
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<origin rpy="0.00000 0.00000 0.00000" xyz="0.33250 -0.05000 0.02"/>
|
| 87 |
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<material name="black"/>
|
| 88 |
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<geometry>
|
| 89 |
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<box size="0.020000 0.00500 0.00500"/>
|
| 90 |
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</geometry>
|
| 91 |
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</visual>
|
| 92 |
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<visual name="handle2">
|
| 93 |
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<origin rpy="0.00000 0.00000 0.00000" xyz="0.33250 0.05000 0.02"/>
|
| 94 |
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<material name="black"/>
|
| 95 |
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<geometry>
|
| 96 |
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<box size="0.020000 0.00500 0.00500"/>
|
| 97 |
+
</geometry>
|
| 98 |
+
</visual>
|
| 99 |
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<collision name="drawer_front_collision">
|
| 100 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.30500 0.00000 0.0"/>
|
| 101 |
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<geometry>
|
| 102 |
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<box size="0.015000 0.61500 0.14000"/>
|
| 103 |
+
</geometry>
|
| 104 |
+
</collision>
|
| 105 |
+
<visual name="drawer_front">
|
| 106 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.30500 0.00000 0.0"/>
|
| 107 |
+
<material name="gray_wooden"/>
|
| 108 |
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<geometry>
|
| 109 |
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<box size="0.015000 0.61500 0.14000"/>
|
| 110 |
+
</geometry>
|
| 111 |
+
</visual>
|
| 112 |
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<collision name="drawer_back_collision">
|
| 113 |
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<origin rpy="0.00000 0.00000 0.00000" xyz="-0.28500 0.00000 -0.02"/>
|
| 114 |
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<geometry>
|
| 115 |
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<box size="0.02000 0.51500 0.10000"/>
|
| 116 |
+
</geometry>
|
| 117 |
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</collision>
|
| 118 |
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<visual name="drawer_back">
|
| 119 |
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<origin rpy="0.00000 0.00000 0.00000" xyz="-0.28500 0.00000 -0.02"/>
|
| 120 |
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<material name="white_wooden"/>
|
| 121 |
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<geometry>
|
| 122 |
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<box size="0.02000 0.51500 0.10000"/>
|
| 123 |
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</geometry>
|
| 124 |
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</visual>
|
| 125 |
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<collision name="drawer_interior_bottom_collision">
|
| 126 |
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<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 -0.06"/>
|
| 127 |
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<geometry>
|
| 128 |
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<box size="0.55000 0.51500 0.02000"/>
|
| 129 |
+
</geometry>
|
| 130 |
+
</collision>
|
| 131 |
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<visual name="drawer_interior_bottom">
|
| 132 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 -0.06"/>
|
| 133 |
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<material name="white_wooden"/>
|
| 134 |
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<geometry>
|
| 135 |
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<box size="0.55000 0.51500 0.02000"/>
|
| 136 |
+
</geometry>
|
| 137 |
+
</visual>
|
| 138 |
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<collision name="drawer_interior_front_collision">
|
| 139 |
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<origin rpy="0.00000 0.00000 0.00000" xyz="0.28500 0.00000 -0.02"/>
|
| 140 |
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<geometry>
|
| 141 |
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<box size="0.02000 0.51500 0.10000"/>
|
| 142 |
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</geometry>
|
| 143 |
+
</collision>
|
| 144 |
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<visual name="drawer_interior_front">
|
| 145 |
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<origin rpy="0.00000 0.00000 0.00000" xyz="0.28500 0.00000 -0.02"/>
|
| 146 |
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<material name="white_wooden"/>
|
| 147 |
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<geometry>
|
| 148 |
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<box size="0.02000 0.51500 0.10000"/>
|
| 149 |
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</geometry>
|
| 150 |
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</visual>
|
| 151 |
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<collision name="drawer_left_collision">
|
| 152 |
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<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.26750 -0.02"/>
|
| 153 |
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<geometry>
|
| 154 |
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| 160 |
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| 165 |
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| 168 |
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| 169 |
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| 171 |
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| 192 |
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<visual name="drawer_right">
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| 373 |
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<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.26750 -0.02"/>
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<material name="white_wooden"/>
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| 375 |
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<box size="0.59000 0.02000 0.10000"/>
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| 377 |
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<material name="gray_wooden">
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| 381 |
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<color rgba="0.38824 0.32157 0.27451 1.00000"/>
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| 382 |
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| 383 |
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<material name="stone">
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| 384 |
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<color rgba="0.63529 0.52941 0.41176 1.00000"/>
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| 385 |
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| 386 |
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<material name="white_wooden">
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| 387 |
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<color rgba="1.00000 1.00000 1.00000 1.00000"/>
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| 388 |
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<material name="black">
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| 390 |
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<color rgba="0.10000 0.10000 0.10000 1.00000"/>
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| 391 |
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</material>
|
| 392 |
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</robot>
|
assets/simpler_env/model_db/info_bridge_custom_baked_tex_v0.json
ADDED
|
@@ -0,0 +1,38 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"baked_green_cube_3cm": {
|
| 3 |
+
"bbox": {
|
| 4 |
+
"min": [
|
| 5 |
+
-0.015,
|
| 6 |
+
-0.015,
|
| 7 |
+
-0.015
|
| 8 |
+
],
|
| 9 |
+
"max": [
|
| 10 |
+
0.015,
|
| 11 |
+
0.015,
|
| 12 |
+
0.015
|
| 13 |
+
]
|
| 14 |
+
},
|
| 15 |
+
"scales": [
|
| 16 |
+
1.0
|
| 17 |
+
],
|
| 18 |
+
"density": 1000
|
| 19 |
+
},
|
| 20 |
+
"baked_yellow_cube_3cm": {
|
| 21 |
+
"bbox": {
|
| 22 |
+
"min": [
|
| 23 |
+
-0.015,
|
| 24 |
+
-0.015,
|
| 25 |
+
-0.015
|
| 26 |
+
],
|
| 27 |
+
"max": [
|
| 28 |
+
0.015,
|
| 29 |
+
0.015,
|
| 30 |
+
0.015
|
| 31 |
+
]
|
| 32 |
+
},
|
| 33 |
+
"scales": [
|
| 34 |
+
1.0
|
| 35 |
+
],
|
| 36 |
+
"density": 1000
|
| 37 |
+
}
|
| 38 |
+
}
|
assets/simpler_env/model_db/info_bridge_custom_v0.json
ADDED
|
@@ -0,0 +1,218 @@
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
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|
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| 159 |
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|
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|
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| 194 |
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| 195 |
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| 196 |
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|
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|
| 198 |
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|
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|
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|
| 217 |
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|
| 218 |
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}
|
assets/simpler_env/model_db/info_pick_custom_baked_tex_v0.json
ADDED
|
@@ -0,0 +1,380 @@
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|
| 1 |
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{
|
| 2 |
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"pepsi_can": {
|
| 3 |
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"bbox": {
|
| 4 |
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"min": [
|
| 5 |
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| 6 |
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| 9 |
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|
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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"scales": [
|
| 16 |
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|
| 17 |
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|
| 18 |
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"density": 1000
|
| 19 |
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|
| 20 |
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"baked_opened_pepsi_can": {
|
| 21 |
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"bbox": {
|
| 22 |
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"min": [
|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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| 27 |
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| 28 |
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|
| 29 |
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|
| 31 |
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|
| 32 |
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| 33 |
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| 34 |
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|
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|
| 36 |
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| 37 |
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| 123 |
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| 194 |
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| 195 |
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| 213 |
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| 214 |
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| 216 |
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| 217 |
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| 218 |
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| 230 |
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| 231 |
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| 232 |
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| 252 |
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|
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| 254 |
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| 255 |
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| 266 |
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| 267 |
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| 270 |
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|
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| 273 |
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| 339 |
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|
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|
| 380 |
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}
|
assets/simpler_env/model_db/info_pick_custom_baked_tex_v1.json
ADDED
|
@@ -0,0 +1,380 @@
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|
assets/simpler_env/model_db/info_pick_custom_v0.json
ADDED
|
@@ -0,0 +1,380 @@
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
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