Add 014_box

objects/014_box/100129/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.430524, -0.375444, -0.706297], "max": [0.443638, 0.654272, 0.650575]}

objects/014_box/100129/meta.json

@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "Box", "model_id": "15b5c54a8ddc84353a5acb1c5cbd19ff", "version": "3", "anno_id": "129", "time_in_sec": "73"}

objects/014_box/100129/mobility.urdf

@@ -0,0 +1,161 @@
+<?xml version="1.0" ?>
+<robot name="partnet_15b5c54a8ddc84353a5acb1c5cbd19ff">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.11440558821760938 -0.2886859015583081 0.42"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.11440558821760938 -0.2886859015583081 0.42"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.11440558821760938 0.2886859015583081 -0.42"/>
+		<axis xyz="-0.644123314889653 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="-2.2689280275926285" upper="0.5235987755982988"/>
+	</joint>
+	<link name="link_1">
+		<visual name="rotation_lid-4">
+			<origin xyz="-0.427809 -0.288 -0.43565743326573825"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.427809 -0.288 -0.43565743326573825"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.427809 0.288 0.43565743326573825"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="-2.0943951023931953" upper="0.6981317007977318"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.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/part_0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/part_1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/part_2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/part_3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/part_4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/part_5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/part_6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/part_7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/part_8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/part_9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/part_10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/part_11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/part_12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/part_13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/part_14.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/014_box/100129/mobility_v2.json

@@ -0,0 +1 @@
+[{"id": 0, "parent": 3, "joint": "hinge", "name": "rotation_lid", "parts": [{"id": 3, "name": "rotation_lid"}], "jointData": {"axis": {"origin": [0.11440558821760938, 0.2886859015583081, -0.42], "direction": [0.644123314889653, 0, 0]}, "limit": {"a": 130, "b": -30, "noLimit": false}}}, {"id": 1, "parent": 3, "joint": "hinge", "name": "rotation_lid", "parts": [{"id": 4, "name": "rotation_lid"}], "jointData": {"axis": {"origin": [0.427809, 0.288, 0.43565743326573825], "direction": [1, 0, 0]}, "limit": {"a": -120, "b": 40, "noLimit": false}}}, {"id": 2, "parent": -1, "joint": "junk", "name": "outlier", "parts": [{"id": 5, "name": "outlier"}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": false}}}, {"id": 3, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 6, "name": "base_body"}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": false}}}]

objects/014_box/100129/model_data.json

@@ -0,0 +1,452 @@
+{
+    "scale": [
+        0.27,
+        0.23,
+        0.27
+    ],
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0
+        ],
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+            0.0,
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+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "init_qpos": [],
+    "target_points": [],
+    "contact_points": [
+        {
+            "matrix": [
+                [
+                    1.0,
+                    -0.0,
+                    0.0,
+                    -0.4293000102043152
+                ],
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+                [
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+                    0.0,
+                    0.0,
+                    1.0
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+            ],
+            "base": "link_0"
+        },
+        {
+            "matrix": [
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+            "base": "link_1"
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+            "base": "link_1"
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+            "base": "link_0"
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+            ],
+            "base": "link_1"
+        }
+    ],
+    "functional_points": [
+        {
+            "matrix": [
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+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ],
+            "base": "link_2"
+        },
+        {
+            "matrix": [
+                [
+                    0.0,
+                    -1.0,
+                    0.0,
+                    -0.18519000709056854
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+                    0.0,
+                    1.0,
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+                [
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+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ],
+            "base": "link_2"
+        }
+    ],
+    "orientation_point": [],
+    "contact_points_group": [],
+    "contact_points_mask": [],
+    "target_points_description": [],
+    "contact_points_description": [],
+    "functional_points_description": [],
+    "orientation_point_description": []
+}

objects/014_box/100129/result.json

@@ -0,0 +1 @@
+[{"text": "Box", "name": "Box", "id": 0, "children": [{"text": "rotation_lid", "name": "rotation_lid", "id": 3, "objs": ["original-2"]}, {"text": "rotation_lid", "name": "rotation_lid", "id": 4, "objs": ["original-1"]}, {"text": "outlier", "name": "outlier", "id": 5, "objs": ["original-23", "original-22", "original-5", "original-6", "original-7", "original-8", "original-9", "original-10", "original-11", "original-12", "original-14", "original-13", "original-24", "original-25", "original-20", "original-21", "original-19", "original-17", "original-16", "original-18"]}, {"text": "base_body", "name": "base_body", "id": 6, "objs": ["original-26", "original-3"]}]}]

objects/014_box/100129/result_original.json

@@ -0,0 +1 @@
+[{"id": 0, "name": "Box", "text": "Box", "children": [{"id": 3, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-2"]}, {"id": 4, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-1"]}, {"id": 5, "name": "outlier", "text": "outlier", "objs": ["original-23", "original-22", "original-5", "original-6", "original-7", "original-8", "original-9", "original-10", "original-11", "original-12", "original-14", "original-13", "original-24", "original-25", "original-20", "original-21", "original-19", "original-17", "original-16", "original-18"]}]}]

objects/014_box/100129/semantics.txt

@@ -0,0 +1,3 @@
+link_0 hinge rotation_lid
+link_1 hinge rotation_lid
+link_2 free box_body

objects/014_box/100129/textured_objs/original-1.mtl

@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+

objects/014_box/100129/textured_objs/original-1.obj

@@ -0,0 +1,51 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o Group1/mesh1/mesh1-geometry#mesh1-geometry
+v -0.414695 0.654272 0.636867
+v 0.427809 0.290823 0.427029
+v -0.414695 0.290823 0.427029
+v 0.427809 0.654272 0.636867
+v -0.414695 0.282909 0.440737
+v 0.427809 0.646358 0.650575
+v 0.427809 0.282909 0.440737
+v -0.414695 0.646358 0.650575
+vt 1.512607 0.753472
+vt 0 0
+vt 1.512607 0
+vt 0 0.753472
+vt 0.028419 0
+vt 0 0.028419
+vt -0.028419 0
+vt 0.028419 0.753472
+vt 1.512607 0.028419
+vt -0.028419 0.753472
+vt -1.512607 0
+vt -1.512607 0.753472
+vn 0 0.500000174843842 -0.8660253028382761
+vn 0 -0.500000174843842 0.8660253028382761
+vn -1 0 0
+vn 1 0 0
+vn 0 0.8660253028382761 0.500000174843842
+vn 0 -0.8660253028382761 -0.500000174843842
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
+f 3/3/2 2/2/2 1/1/2
+f 4/4/2 1/1/2 2/2/2
+f 5/5/3 1/4/3 3/2/3
+f 3/2/4 1/4/4 5/5/4
+f 1/3/5 6/6/5 4/2/5
+f 4/2/6 6/6/6 1/3/6
+f 4/4/4 7/7/4 2/2/4
+f 2/2/3 7/7/3 4/4/3
+f 1/4/3 5/5/3 8/8/3
+f 8/8/4 5/5/4 1/4/4
+f 6/6/5 1/3/5 8/9/5
+f 8/9/6 1/3/6 6/6/6
+f 7/7/4 4/4/4 6/10/4
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objects/014_box/100129/textured_objs/original-10.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
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+

objects/014_box/100129/textured_objs/original-10.obj

@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
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objects/014_box/100129/textured_objs/original-11.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
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+

objects/014_box/100129/textured_objs/original-11.obj

@@ -0,0 +1,127 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
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objects/014_box/100129/textured_objs/original-12.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ns 30
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+

objects/014_box/100129/textured_objs/original-12.obj

@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
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objects/014_box/100129/textured_objs/original-13.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ns 30
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+

objects/014_box/100129/textured_objs/original-13.obj

@@ -0,0 +1,111 @@
+# SSTK version 0.8.0
+# 13
+mtllib original-13.mtl
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objects/014_box/100129/textured_objs/original-14.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

objects/014_box/100129/textured_objs/original-14.obj

@@ -0,0 +1,118 @@
+# SSTK version 0.8.0
+# 14
+mtllib original-14.mtl
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objects/014_box/100129/textured_objs/original-16.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
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+

objects/014_box/100129/textured_objs/original-16.obj

@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
+# 16
+mtllib original-16.mtl
+o mesh16/mesh16-geometry#mesh16-geometry
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objects/014_box/100129/textured_objs/original-17.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
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+d 1
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+

objects/014_box/100129/textured_objs/original-17.obj

@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 17
+mtllib original-17.mtl
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objects/014_box/100129/textured_objs/original-21.obj

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objects/014_box/100129/textured_objs/original-22.mtl

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objects/014_box/100129/textured_objs/original-22.obj

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objects/014_box/100129/textured_objs/original-23.mtl

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objects/014_box/100129/textured_objs/original-23.obj

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objects/014_box/100129/textured_objs/original-24.mtl

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objects/014_box/100129/textured_objs/original-24.obj

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objects/014_box/100129/textured_objs/original-25.mtl

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objects/014_box/100129/textured_objs/original-25.obj

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objects/014_box/100129/textured_objs/original-26.mtl

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objects/014_box/100129/textured_objs/original-26.obj

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