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Datasets:
nvidia
/
video_to_data_challenge

Modalities:
3D
Video
Size:
< 1K
Tags:
robotics
robot-learning
manipulation
human-object-interaction
motion-capture
video
Libraries:
Datasets
License:
Dataset card Data Studio Files
xet
 Community
7
zixiliu commited on
Commit
7d7db06
·
1 Parent(s): 0bcba46

adding URDF

Browse files
Files changed (11) hide show
  1. track_3/urdf/beige_cup_rigid.urdf +20 -0
  2. track_3/urdf/blue_cup_rigid.urdf +20 -0
  3. track_3/urdf/mini_dust_pan_rigid.urdf +20 -0
  4. track_3/urdf/mini_sweeper_rigid.urdf +20 -0
  5. track_3/urdf/plastic_dish_rack_rigid.urdf +20 -0
  6. track_3/urdf/water_pitcher_rigid.urdf +20 -0
  7. track_3/urdf/white_pot_lid_rigid.urdf +20 -0
  8. track_3/urdf/white_pot_rigid.urdf +20 -0
  9. track_3/urdf/wooden_piece_1_rigid.urdf +20 -0
  10. track_3/urdf/wooden_piece_2_rigid.urdf +20 -0
  11. track_3/urdf/wooden_spoon_rigid.urdf +20 -0
track_3/urdf/beige_cup_rigid.urdf ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ <?xml version="1.0"?>
2
+ <robot name="track3_beige_cup">
3
+ <!-- Track 3 supplies no measured physical properties. 0.3 kg is a placeholder mass; COM/inertia are a uniform triangle-surface estimate over the collision mesh. -->
4
+ <mujoco><compiler balanceinertia="true" discardvisual="false"/></mujoco>
5
+ <link name="object">
6
+ <inertial>
7
+ <origin xyz="0 0 0" rpy="0 0 0"/>
8
+ <mass value="0.3"/>
9
+ <inertia ixx="0.00116160096654835" ixy="0" ixz="0" iyy="0.00115284712093442" iyz="0" izz="0.000448834591482692"/>
10
+ </inertial>
11
+ <visual>
12
+ <origin xyz="0 0 0" rpy="0 0 0"/>
13
+ <geometry><mesh filename="../mesh/beige_cup/beige_cup.glb" scale="1 1 1"/></geometry>
14
+ </visual>
15
+ <collision>
16
+ <origin xyz="0 0 0" rpy="0 0 0"/>
17
+ <geometry><mesh filename="../mesh/beige_cup/beige_cup.glb" scale="1 1 1"/></geometry>
18
+ </collision>
19
+ </link>
20
+ </robot>
track_3/urdf/blue_cup_rigid.urdf ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0"?>
2
+ <robot name="track3_blue_cup">
3
+ <!-- Track 3 supplies no measured physical properties. 0.3 kg is a placeholder mass; COM/inertia are a uniform triangle-surface estimate over the collision mesh. -->
4
+ <mujoco><compiler balanceinertia="true" discardvisual="false"/></mujoco>
5
+ <link name="object">
6
+ <inertial>
7
+ <origin xyz="0 0 0" rpy="0 0 0"/>
8
+ <mass value="0.3"/>
9
+ <inertia ixx="0.00122444254109603" ixy="0" ixz="0" iyy="0.0012143296995899" iyz="0" izz="0.000449781780760463"/>
10
+ </inertial>
11
+ <visual>
12
+ <origin xyz="0 0 0" rpy="0 0 0"/>
13
+ <geometry><mesh filename="../mesh/blue_cup/blue_cup.glb" scale="1 1 1"/></geometry>
14
+ </visual>
15
+ <collision>
16
+ <origin xyz="0 0 0" rpy="0 0 0"/>
17
+ <geometry><mesh filename="../mesh/blue_cup/blue_cup.glb" scale="1 1 1"/></geometry>
18
+ </collision>
19
+ </link>
20
+ </robot>
track_3/urdf/mini_dust_pan_rigid.urdf ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0"?>
2
+ <robot name="track3_mini_dust_pan">
3
+ <!-- Track 3 supplies no measured physical properties. 0.3 kg is a placeholder mass; COM/inertia are a uniform triangle-surface estimate over the collision mesh. -->
4
+ <mujoco><compiler balanceinertia="true" discardvisual="false"/></mujoco>
5
+ <link name="object">
6
+ <inertial>
7
+ <origin xyz="0 0 0" rpy="0 0 0"/>
8
+ <mass value="0.3"/>
9
+ <inertia ixx="0.00119136070895325" ixy="0" ixz="0" iyy="0.000745979823501261" iyz="0" izz="0.000494137079667475"/>
10
+ </inertial>
11
+ <visual>
12
+ <origin xyz="0 0 0" rpy="0 0 0"/>
13
+ <geometry><mesh filename="../mesh/mini_dust_pan/mini_dust_pan.glb" scale="1 1 1"/></geometry>
14
+ </visual>
15
+ <collision>
16
+ <origin xyz="0 0 0" rpy="0 0 0"/>
17
+ <geometry><mesh filename="../mesh/mini_dust_pan/mini_dust_pan.glb" scale="1 1 1"/></geometry>
18
+ </collision>
19
+ </link>
20
+ </robot>
track_3/urdf/mini_sweeper_rigid.urdf ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0"?>
2
+ <robot name="track3_mini_sweeper">
3
+ <!-- Track 3 supplies no measured physical properties. 0.3 kg is a placeholder mass; COM/inertia are a uniform triangle-surface estimate over the collision mesh. -->
4
+ <mujoco><compiler balanceinertia="true" discardvisual="false"/></mujoco>
5
+ <link name="object">
6
+ <inertial>
7
+ <origin xyz="-6.85794260093e-07 -0.000439946177606 -0.00192997712481" rpy="0 0 0"/>
8
+ <mass value="0.3"/>
9
+ <inertia ixx="0.000687315652095606" ixy="2.42678206213897e-07" ixz="-1.43736548235219e-08" iyy="0.000521548467070607" iyz="-7.75848769040445e-06" izz="0.000191930122499212"/>
10
+ </inertial>
11
+ <visual>
12
+ <origin xyz="0 0 0" rpy="0 0 0"/>
13
+ <geometry><mesh filename="../mesh/mini_sweeper/mini_sweeper_visual.glb" scale="1 1 1"/></geometry>
14
+ </visual>
15
+ <collision>
16
+ <origin xyz="0 0 0" rpy="0 0 0"/>
17
+ <geometry><mesh filename="../mesh/mini_sweeper/mini_sweeper_collision.glb" scale="1 1 1"/></geometry>
18
+ </collision>
19
+ </link>
20
+ </robot>
track_3/urdf/plastic_dish_rack_rigid.urdf ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0"?>
2
+ <robot name="track3_plastic_dish_rack">
3
+ <!-- Track 3 supplies no measured physical properties. 0.3 kg is a placeholder mass; COM/inertia are a uniform triangle-surface estimate over the collision mesh. -->
4
+ <mujoco><compiler balanceinertia="true" discardvisual="false"/></mujoco>
5
+ <link name="object">
6
+ <inertial>
7
+ <origin xyz="0 0 0" rpy="0 0 0"/>
8
+ <mass value="0.3"/>
9
+ <inertia ixx="0.00722554726799439" ixy="0" ixz="0" iyy="0.00672021295517673" iyz="0" izz="0.000819383053406966"/>
10
+ </inertial>
11
+ <visual>
12
+ <origin xyz="0 0 0" rpy="0 0 0"/>
13
+ <geometry><mesh filename="../mesh/plastic_dish_rack/plastic_dish_rack.glb" scale="1 1 1"/></geometry>
14
+ </visual>
15
+ <collision>
16
+ <origin xyz="0 0 0" rpy="0 0 0"/>
17
+ <geometry><mesh filename="../mesh/plastic_dish_rack/plastic_dish_rack.glb" scale="1 1 1"/></geometry>
18
+ </collision>
19
+ </link>
20
+ </robot>
track_3/urdf/water_pitcher_rigid.urdf ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0"?>
2
+ <robot name="track3_water_pitcher">
3
+ <!-- Track 3 supplies no measured physical properties. 0.3 kg is a placeholder mass; COM/inertia are a uniform triangle-surface estimate over the collision mesh. -->
4
+ <mujoco><compiler balanceinertia="true" discardvisual="false"/></mujoco>
5
+ <link name="object">
6
+ <inertial>
7
+ <origin xyz="0 0 0" rpy="0 0 0"/>
8
+ <mass value="0.3"/>
9
+ <inertia ixx="0.00334701769196674" ixy="0" ixz="0" iyy="0.00247066783911264" iyz="0" izz="0.00155438810654303"/>
10
+ </inertial>
11
+ <visual>
12
+ <origin xyz="0 0 0" rpy="0 0 0"/>
13
+ <geometry><mesh filename="../mesh/water_pitcher/water_pitcher.glb" scale="1 1 1"/></geometry>
14
+ </visual>
15
+ <collision>
16
+ <origin xyz="0 0 0" rpy="0 0 0"/>
17
+ <geometry><mesh filename="../mesh/water_pitcher/water_pitcher.glb" scale="1 1 1"/></geometry>
18
+ </collision>
19
+ </link>
20
+ </robot>
track_3/urdf/white_pot_lid_rigid.urdf ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0"?>
2
+ <robot name="track3_white_pot_lid">
3
+ <!-- Track 3 supplies no measured physical properties. 0.3 kg is a placeholder mass; COM/inertia are a uniform triangle-surface estimate over the collision mesh. -->
4
+ <mujoco><compiler balanceinertia="true" discardvisual="false"/></mujoco>
5
+ <link name="object">
6
+ <inertial>
7
+ <origin xyz="0 0 0" rpy="0 0 0"/>
8
+ <mass value="0.3"/>
9
+ <inertia ixx="0.00134675472849943" ixy="0" ixz="0" iyy="0.00073264709512214" iyz="0" izz="0.000647509968808834"/>
10
+ </inertial>
11
+ <visual>
12
+ <origin xyz="0 0 0" rpy="0 0 0"/>
13
+ <geometry><mesh filename="../mesh/white_pot_lid/white_pot_lid.glb" scale="1 1 1"/></geometry>
14
+ </visual>
15
+ <collision>
16
+ <origin xyz="0 0 0" rpy="0 0 0"/>
17
+ <geometry><mesh filename="../mesh/white_pot_lid/white_pot_lid.glb" scale="1 1 1"/></geometry>
18
+ </collision>
19
+ </link>
20
+ </robot>
track_3/urdf/white_pot_rigid.urdf ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0"?>
2
+ <robot name="track3_white_pot">
3
+ <!-- Track 3 supplies no measured physical properties. 0.3 kg is a placeholder mass; COM/inertia are a uniform triangle-surface estimate over the collision mesh. -->
4
+ <mujoco><compiler balanceinertia="true" discardvisual="false"/></mujoco>
5
+ <link name="object">
6
+ <inertial>
7
+ <origin xyz="0 0 0" rpy="0 0 0"/>
8
+ <mass value="0.3"/>
9
+ <inertia ixx="0.00251588244942732" ixy="0" ixz="0" iyy="0.00207442126000802" iyz="0" izz="0.00118395561321459"/>
10
+ </inertial>
11
+ <visual>
12
+ <origin xyz="0 0 0" rpy="0 0 0"/>
13
+ <geometry><mesh filename="../mesh/white_pot/white_pot.glb" scale="1 1 1"/></geometry>
14
+ </visual>
15
+ <collision>
16
+ <origin xyz="0 0 0" rpy="0 0 0"/>
17
+ <geometry><mesh filename="../mesh/white_pot/white_pot.glb" scale="1 1 1"/></geometry>
18
+ </collision>
19
+ </link>
20
+ </robot>
track_3/urdf/wooden_piece_1_rigid.urdf ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0"?>
2
+ <robot name="track3_wooden_piece_1">
3
+ <!-- Track 3 supplies no measured physical properties. 0.3 kg is a placeholder mass; COM/inertia are a uniform triangle-surface estimate over the collision mesh. -->
4
+ <mujoco><compiler balanceinertia="true" discardvisual="false"/></mujoco>
5
+ <link name="object">
6
+ <inertial>
7
+ <origin xyz="-2.48509869619e-05 -0.000612768347099 0.000298243806245" rpy="0 0 0"/>
8
+ <mass value="0.3"/>
9
+ <inertia ixx="0.001897671183397" ixy="-6.56146932522588e-08" ixz="2.98911371914297e-07" iyy="0.00149445094774926" iyz="-7.28703872384087e-07" izz="0.000414893434348534"/>
10
+ </inertial>
11
+ <visual>
12
+ <origin xyz="0 0 0" rpy="0 0 0"/>
13
+ <geometry><mesh filename="../mesh/wooden_piece_1/wooden_piece_1_visual.glb" scale="1 1 1"/></geometry>
14
+ </visual>
15
+ <collision>
16
+ <origin xyz="0 0 0" rpy="0 0 0"/>
17
+ <geometry><mesh filename="../mesh/wooden_piece_1/wooden_piece_1_collision.glb" scale="1 1 1"/></geometry>
18
+ </collision>
19
+ </link>
20
+ </robot>
track_3/urdf/wooden_piece_2_rigid.urdf ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0"?>
2
+ <robot name="track3_wooden_piece_2">
3
+ <!-- Track 3 supplies no measured physical properties. 0.3 kg is a placeholder mass; COM/inertia are a uniform triangle-surface estimate over the collision mesh. -->
4
+ <mujoco><compiler balanceinertia="true" discardvisual="false"/></mujoco>
5
+ <link name="object">
6
+ <inertial>
7
+ <origin xyz="1.82111988238e-05 -0.00111471877459 -1.08961502527e-05" rpy="0 0 0"/>
8
+ <mass value="0.3"/>
9
+ <inertia ixx="0.00187949485589358" ixy="-3.89912729470968e-08" ixz="-1.30165919248378e-07" iyy="0.00148035414035045" iyz="-1.55278474904695e-06" izz="0.000413628014670369"/>
10
+ </inertial>
11
+ <visual>
12
+ <origin xyz="0 0 0" rpy="0 0 0"/>
13
+ <geometry><mesh filename="../mesh/wooden_piece_2/wooden_piece_2_visual.glb" scale="1 1 1"/></geometry>
14
+ </visual>
15
+ <collision>
16
+ <origin xyz="0 0 0" rpy="0 0 0"/>
17
+ <geometry><mesh filename="../mesh/wooden_piece_2/wooden_piece_2_collision.glb" scale="1 1 1"/></geometry>
18
+ </collision>
19
+ </link>
20
+ </robot>
track_3/urdf/wooden_spoon_rigid.urdf ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0"?>
2
+ <robot name="track3_wooden_spoon">
3
+ <!-- Track 3 supplies no measured physical properties. Mass/COM/inertia are a uniform solid-volume estimate over the watertight collision mesh at an assumed wood density of 650 kg/m^3. -->
4
+ <mujoco><compiler balanceinertia="true" discardvisual="false"/></mujoco>
5
+ <link name="object">
6
+ <inertial>
7
+ <origin xyz="0.000421724969568 -0.000147950727808 0.00974502153327" rpy="0 0 0"/>
8
+ <mass value="0.0634504890047"/>
9
+ <inertia ixx="0.000502722290251779" ixy="-4.32455221091884e-09" ixz="4.26460408534837e-07" iyy="0.00049769032379606" iyz="-1.0087142094491e-06" izz="7.47010817189672e-06"/>
10
+ </inertial>
11
+ <visual>
12
+ <origin xyz="0 0 0" rpy="0 0 0"/>
13
+ <geometry><mesh filename="../mesh/wooden_spoon/wooden_spoon.glb" scale="1 1 1"/></geometry>
14
+ </visual>
15
+ <collision>
16
+ <origin xyz="0 0 0" rpy="0 0 0"/>
17
+ <geometry><mesh filename="../mesh/wooden_spoon/wooden_spoon.glb" scale="1 1 1"/></geometry>
18
+ </collision>
19
+ </link>
20
+ </robot>