Add files using upload-large-folder tool

objects/007_shoe-box/model_data0.json

@@ -0,0 +1,147 @@
+{
+    "center": [
+        -3.4861359827879225e-08,
+        0.12311224462160086,
+        7.57163231006507e-08
+    ],
+    "extents": [
+        0.3837449773574174,
+        0.2462297110744051,
+        0.6512750497063806
+    ],
+    "scale": [
+        0.47,
+        0.43,
+        0.4
+    ],
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            -0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "target_pose": [
+        [
+            [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            [
+                0.0,
+                1.0,
+                -0.0,
+                0.0
+            ],
+            [
+                0.0,
+                0.0,
+                1.0,
+                0.0
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ]
+    ],
+    "contact_points_pose": [],
+    "functional_matrix": [
+        [
+            [
+                1.0,
+                0.0,
+                0.0,
+                0.09000000357627869
+            ],
+            [
+                0.0,
+                0.0,
+                -1.0,
+                0.1499999940395355
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                -0.0
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                1.0,
+                0.0,
+                0.0,
+                -0.09000000357627869
+            ],
+            [
+                0.0,
+                0.0,
+                -1.0,
+                0.1499999940395355
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                -0.0
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ]
+    ],
+    "orientation_point": [],
+    "contact_points_group": [
+        [
+            0
+        ]
+    ],
+    "contact_points_mask": [
+        true
+    ],
+    "target_point_discription": [
+        "The center of the object."
+    ],
+    "contact_points_discription": [],
+    "functional_point_discription": [
+        "Functional point",
+        "Functional point"
+    ],
+    "orientation_point_discription": [
+        ""
+    ],
+    "stable": true
+}

objects/007_shoe-box/points_info.json

@@ -0,0 +1,15 @@
+{
+    "contact_points": [],
+    "functional_points": [
+        {
+            "id": 0,
+            "description": "Placement point 1 on the top of the shoe box.",
+            "usage": "Used to indicate where to place other objects inside the shoebox."
+        },
+        {
+            "id": 1,
+            "description": "Placement point 2 on the top of the shoe box.",
+            "usage": "Used to indicate where to place other objects inside the shoebox."
+        }
+    ]
+}

objects/009_kettle/102730/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.656044, -0.323157, -0.699704], "max": [0.722714, 1.033674, 0.835871]}

objects/009_kettle/102730/mobility.urdf

@@ -0,0 +1,89 @@
+<?xml version="1.0" ?>
+<robot name="partnet_4bc22594b9ef414dc4bc96bd95a8071f">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.02400000000000002"/>
+	</joint>
+	<link name="link_1">
+		<visual name="handle-2">
+			<origin xyz="-0.02560625915299171 -0.29093208944834004 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.02560625915299171 -0.29093208944834004 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.02560625915299171 0.29093208944834004 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="-1.9198621771937625" upper="1.9198621771937625"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+</robot>

objects/009_kettle/102730/mobility_v2.json

@@ -0,0 +1 @@
+[{"id": 0, "parent": 2, "joint": "slider", "name": "lid", "parts": [{"id": 1, "name": "lid", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": 0.02400000000000002, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 1, "parent": 2, "joint": "hinge", "name": "handle", "parts": [{"id": 2, "name": "handle", "children": []}], "jointData": {"axis": {"origin": [0.02560625915299171, 0.29093208944834004, 0], "direction": [0, 0, 1]}, "limit": {"a": -250, "b": -470, "noLimit": false}}}, {"id": 2, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {}}]

objects/009_kettle/102730/model_data.json

@@ -0,0 +1,103 @@
+{
+    "scale": 0.1,
+    "transform_matrix": [
+        [
+            0.9968931674957275,
+            -0.07859643548727036,
+            0.005163043271750212,
+            0
+        ],
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+            -0.0026529692113399506,
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+        ],
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+            0.031548384577035904
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "init_qpos": [
+        0.0,
+        -0.006555768195539713
+    ],
+    "target_points": [],
+    "contact_points": [
+        {
+            "matrix": [
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+                ],
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+                ],
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+                    -0.0522099994122982
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ],
+            "base": "link_1"
+        }
+    ],
+    "functional_points": [
+        {
+            "matrix": [
+                [
+                    0.022830000147223473,
+                    -0.9997400045394897,
+                    0.0009299999801442027,
+                    0.014790000393986702
+                ],
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+                    0.270579993724823
+                ],
+                [
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+                    0.6354299783706665,
+                    0.7436100244522095
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ],
+            "base": "link_2"
+        }
+    ],
+    "orientation_point": [],
+    "contact_points_group": [],
+    "contact_points_mask": [],
+    "target_points_discription": [],
+    "contact_points_discription": [],
+    "functional_points_discription": [],
+    "orientation_point_discription": []
+}

objects/009_kettle/102730/result_original.json

@@ -0,0 +1 @@
+[{"id": 0, "name": "Kettle", "text": "Kettle", "children": [{"id": 1, "name": "lid", "text": "lid", "objs": ["original-3", "original-2"]}, {"id": 2, "name": "handle", "text": "handle", "objs": ["original-6"]}]}]

objects/009_kettle/102730/semantics.txt

@@ -0,0 +1,3 @@
+link_0 slider lid
+link_1 hinge handle
+link_2 free kettle_body

objects/009_kettle/102730/textured_objs/original-2.mtl

@@ -0,0 +1,21 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 0.4 0.8 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

objects/009_kettle/102730/textured_objs/original-3.mtl

@@ -0,0 +1,21 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4 0.8 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

objects/009_kettle/102730/textured_objs/original-3.obj

@@ -0,0 +1,1558 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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objects/009_kettle/102730/textured_objs/original-5.obj

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objects/011_dustbin/model_data0.json

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objects/011_dustbin/points_info.json

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+{
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+}

objects/020_hammer/model_data0.json

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+        "Grab the hammer's handle with the head facing outward."
+    ],
+    "target_point_discription": [
+        "The center of the object."
+    ],
+    "functional_point_discription": [
+        "Point 0: The head of the hammer is facing outward."
+    ],
+    "stable": false
+}

objects/020_hammer/points_info.json

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+{
+    "contact_points": [
+        {
+            "id": 0,
+            "description": "On the hammer handle",
+            "usage": " Used to grasp the hammer with the left or right arm."
+        }
+    ],
+    "functional_points": [
+        {
+            "id": 0,
+            "description": "On the hammer head",
+            "usage": " Used to hit the block on the table."
+        }
+    ]
+}

objects/021_cup/model_data0.json

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+        "Grasping the side of the cup.",
+        "Grasping the side of the cup.",
+        "Grasping the side of the cup."
+    ],
+    "target_point_discription": [
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+    ],
+    "functional_point_discription": [
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+                0.0,
+                1.0
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+    "functional_matrix": [
+        [
+            [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                1.3263700008392334
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+            [
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+                1.0,
+                0.19791999459266663
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+            [
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+                0.0,
+                0.0,
+                1.0
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+    ],
+    "orientation_point": [],
+    "contact_points_group": [],
+    "contact_points_mask": [],
+    "target_point_discription": [],
+    "contact_points_discription": [],
+    "functional_point_discription": [],
+    "orientation_point_discription": [],
+    "stable": true
+}

objects/021_cup/points_info.json

@@ -0,0 +1,16 @@
+{
+    "contact_points": [
+        {
+            "id": [0, 1, 2, 3],
+            "description": "On the edge of the cup",
+            "usage": "Used for grasping the cup."
+        }
+    ],
+    "functional_points": [
+        {
+            "id": 0,
+            "description": "On the bottom of the cup",
+            "usage": "Used to place the cup on a surface."
+        }
+    ]
+}

objects/025_chips-tub/model_data0.json

@@ -0,0 +1,13 @@
+{
+    "stable": true,
+    "center": [
+        0.0004047939898513898,
+        0.9467217747806066,
+        -0.00231958802830617
+    ],
+    "extents": [
+        1.764065073511473,
+        1.9324678837293265,
+        1.766982910977526
+    ]
+}

objects/025_chips-tub/model_data1.json

@@ -0,0 +1,13 @@
+{
+    "stable": false,
+    "center": [
+        -0.00044157014772792545,
+        0.9509681376317565,
+        0.0009270156113349438
+    ],
+    "extents": [
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+        1.9421723596860225,
+        1.1948584027390898
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+}

objects/025_chips-tub/model_data2.json

@@ -0,0 +1,13 @@
+{
+    "stable": false,
+    "center": [
+        0.0012474517643154166,
+        0.9485199253998922,
+        0.002726084195028625
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+    "extents": [
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+        1.930983935979699,
+        1.388658661661541
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+}

objects/025_chips-tub/model_data3.json

@@ -0,0 +1,13 @@
+{
+    "stable": true,
+    "center": [
+        0.0019206040150916385,
+        0.9479917188490785,
+        -8.234342897874704e-05
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+    "extents": [
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+        1.9227762500652492,
+        0.9113586980674706
+    ]
+}

objects/025_chips-tub/points_info.json

@@ -0,0 +1,4 @@
+{
+    "contact_points": [],
+    "functional_points": []
+}

objects/036_cabinet/46653/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.428321, -0.803259, -0.43335], "max": [0.426016, 0.811236, 0.465483]}

objects/036_cabinet/46653/meta.json

@@ -0,0 +1 @@
+{"model_id": "68446c00eeed26264c3aee8e9d3a6ffa", "anno_id": "46653", "user_id": "face++luoxianfu", "time_in_sec": "612", "version": "4", "model_cat": "StorageFurniture"}

objects/036_cabinet/46653/mobility.urdf

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+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_3"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.6600000000000001"/>
+	</joint>
+</robot>

objects/036_cabinet/46653/mobility_v2.json

@@ -0,0 +1 @@
+[{"id":0,"parent":-1,"joint":"heavy","name":"cabinet_frame","parts":[{"id":32,"name":"vertical_side_panel","children":[]},{"id":33,"name":"vertical_side_panel","children":[]},{"id":34,"name":"back_panel","children":[]},{"id":35,"name":"bottom_panel","children":[]},{"id":36,"name":"top_panel","children":[]},{"id":37,"name":"frame_horizontal_bar","children":[]},{"id":38,"name":"frame_horizontal_bar","children":[]}],"jointData":{}},{"id":1,"parent":0,"joint":"slider","name":"drawer","parts":[{"id":25,"name":"drawer_front","children":[]},{"id":26,"name":"drawer_side","children":[]},{"id":27,"name":"drawer_side","children":[]},{"id":28,"name":"drawer_back","children":[]},{"id":29,"name":"drawer_bottom","children":[]},{"id":24,"name":"handle","children":[]},{"id":30,"name":"drawer_rails","children":[]},{"id":31,"name":"drawer_rails","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.6600000000000001,"noLimit":false}}},{"id":2,"parent":0,"joint":"slider","name":"drawer","parts":[{"id":16,"name":"drawer_front","children":[]},{"id":17,"name":"drawer_side","children":[]},{"id":18,"name":"drawer_side","children":[]},{"id":19,"name":"drawer_back","children":[]},{"id":20,"name":"drawer_bottom","children":[]},{"id":15,"name":"handle","children":[]},{"id":21,"name":"drawer_rails","children":[]},{"id":22,"name":"drawer_rails","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.6600000000000001,"noLimit":false}}},{"id":3,"parent":0,"joint":"slider","name":"drawer","parts":[{"id":8,"name":"drawer_front","children":[]},{"id":9,"name":"drawer_side","children":[]},{"id":10,"name":"drawer_side","children":[]},{"id":11,"name":"drawer_back","children":[]},{"id":12,"name":"drawer_bottom","children":[]},{"id":7,"name":"handle","children":[]},{"id":13,"name":"drawer_rails","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.6600000000000001,"noLimit":false}}}]

objects/036_cabinet/46653/model_data.json

@@ -0,0 +1,129 @@
+{
+    "scale": 0.27,
+    "transform_matrix": [
+        [
+            1.0,
+            8.33357080409769e-06,
+            -3.5569331657825387e-07,
+            0
+        ],
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+            1.0,
+            -1.023269419420103e-06,
+            0
+        ],
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+            3.5568479006542475e-07,
+            1.0232723752778838e-06,
+            1.0,
+            0.21688008308410645
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "init_qpos": [],
+    "target_points": [],
+    "contact_points": [
+        {
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+                    7.999999797903001e-05,
+                    7.999999797903001e-05,
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+                    1.0,
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+                    0.4573400020599365
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+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ],
+            "base": "link_1"
+        },
+        {
+            "matrix": [
+                [
+                    1.0,
+                    9.999999747378752e-06,
+                    -0.0003499999875202775,
+                    0.01436999998986721
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+                    -0.0,
+                    -1.0,
+                    -0.29541000723838806
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+                    1.0,
+                    0.0,
+                    0.46463000774383545
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ],
+            "base": "link_1"
+        }
+    ],
+    "functional_points": [
+        {
+            "matrix": [
+                [
+                    -1.0,
+                    3.9999998989515007e-05,
+                    3.9999998989515007e-05,
+                    -0.0008099999977275729
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+                [
+                    3.9999998989515007e-05,
+                    0.0,
+                    1.0,
+                    -0.7440800070762634
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+                [
+                    3.9999998989515007e-05,
+                    1.0,
+                    -0.0,
+                    0.15031999349594116
+                ],
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ],
+            "base": "link_1"
+        }
+    ],
+    "orientation_point": [],
+    "contact_points_group": [],
+    "contact_points_mask": [],
+    "target_points_discription": [],
+    "contact_points_discription": [],
+    "functional_points_discription": [],
+    "orientation_point_discription": []
+}

objects/036_cabinet/46653/parts_render/0.txt

@@ -0,0 +1 @@
+0 storage_furniture Storage Furniture

objects/036_cabinet/46653/parts_render/1.txt

@@ -0,0 +1 @@
+1 cabinet Cabinet

objects/036_cabinet/46653/parts_render/10.txt

@@ -0,0 +1 @@
+10 drawer_side Drawer side