Datasets:

URDF-Anything-plus
/

Dataset

License:

ZhuangzheWu commited on Feb 28

Commit

3066770

verified ·

1 Parent(s): 0f73883

Add files using upload-large-folder tool

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Laptop_urdf/10090/base.obj +0 -0
Laptop_urdf/10090/screen.obj +0 -0
Laptop_urdf/10090/whole.obj +0 -0
Laptop_urdf/10156/base.obj +0 -0
Laptop_urdf/10156/info.json +20 -0
Laptop_urdf/10156/screen.obj +0 -0
Laptop_urdf/10156/test.urdf +44 -0
Laptop_urdf/10156/whole.obj +0 -0
Laptop_urdf/10175/test.urdf +44 -0
Laptop_urdf/10203/base.obj +0 -0
Laptop_urdf/10203/info.json +20 -0
Laptop_urdf/10203/screen.obj +0 -0
Laptop_urdf/10203/test.urdf +44 -0
Laptop_urdf/10203/whole.obj +0 -0
Laptop_urdf/10214/base.obj +0 -0
Laptop_urdf/10214/info.json +20 -0
Laptop_urdf/10214/screen.obj +0 -0
Laptop_urdf/10214/test.urdf +44 -0
Laptop_urdf/10214/whole.obj +0 -0
Laptop_urdf/10239/base.obj +0 -0
Laptop_urdf/10239/info.json +20 -0
Laptop_urdf/10239/screen.obj +4870 -0
Laptop_urdf/10239/test.urdf +44 -0
Laptop_urdf/10239/whole.obj +0 -0
Laptop_urdf/10263/whole.obj +0 -0
Laptop_urdf/10267/base.obj +0 -0
Laptop_urdf/10267/whole.obj +0 -0
Laptop_urdf/10300/base.obj +0 -0
Laptop_urdf/10300/info.json +20 -0
Laptop_urdf/10300/screen.obj +0 -0
Laptop_urdf/10300/test.urdf +44 -0
Laptop_urdf/10524/screen.obj +0 -0
Laptop_urdf/10524/whole.obj +0 -0
Laptop_urdf/10674/base.obj +0 -0
Laptop_urdf/10674/info.json +20 -0
Laptop_urdf/10674/whole.obj +0 -0
Laptop_urdf/11070/base.obj +0 -0
Laptop_urdf/11070/info.json +20 -0
Laptop_urdf/11070/screen.obj +0 -0
Laptop_urdf/11070/test.urdf +44 -0
Laptop_urdf/11070/whole.obj +0 -0
Laptop_urdf/11171/base.obj +0 -0
Laptop_urdf/11171/screen.obj +0 -0
Laptop_urdf/11171/test.urdf +44 -0
Laptop_urdf/11179/info.json +20 -0
Laptop_urdf/11179/test.urdf +44 -0
Laptop_urdf/11179/whole.obj +0 -0
Laptop_urdf/11346/base.obj +0 -0
Laptop_urdf/11346/info.json +20 -0
Laptop_urdf/11346/test.urdf +44 -0

Laptop_urdf/10090/base.obj ADDED Viewed

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Laptop_urdf/10090/screen.obj ADDED Viewed

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Laptop_urdf/10090/whole.obj ADDED Viewed

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Laptop_urdf/10156/base.obj ADDED Viewed

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Laptop_urdf/10156/info.json ADDED Viewed

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+{
+  "id": "10156",
+  "whole_image": "base.png",
+  "urdf": "test.urdf",
+  "links": [
+    {
+      "name": "link_0",
+      "obj": "base.obj"
+    },
+    {
+      "name": "link_1",
+      "obj": "screen.obj",
+      "origin_xyz": "-0.00016220 -0.49392985 -0.21651541",
+      "axis_xyz": "1.0 0.0 0.0",
+      "motion_type": "revolute",
+      "lower": -1.089725,
+      "upper": 2.051868
+    }
+  ]
+}

Laptop_urdf/10156/screen.obj ADDED Viewed

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Laptop_urdf/10156/test.urdf ADDED Viewed

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="partnet_125c93cbc6544bd1f9f50a550b8c1cce">
+	<link name="base" />
+	<link name="link_0">
+        <visual name="screen">
+            <origin xyz="-0.99914490 0.53870180 0.19812923" />
+            <geometry>
+                <mesh filename="screen.obj" />
+            </geometry>
+        </visual>
+        <collision name="screen">
+            <origin xyz="-0.99914490 0.53870180 0.19812923" />
+            <geometry>
+                <mesh filename="screen.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_0" type="revolute">
+		<origin xyz="0.99914490 -0.53870180 -0.19812923" />
+		<axis xyz="-1 0 0" />
+		<child link="link_0" />
+		<parent link="link_1" />
+		<limit lower="-2.051868" upper="1.089725" />
+	</joint>
+    <link name="link_1">
+        <visual name="1">
+            <origin xyz="0 0 0" />
+            <geometry>
+                <mesh filename="base.obj" />
+            </geometry>
+        </visual>
+        <collision name="1">
+            <origin xyz="0 0 0" />
+            <geometry>
+                <mesh filename="base.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_1" type="fixed">
+        <origin rpy="0 0 0" xyz="0 0 0" />
+        <child link="link_1" />
+        <parent link="base" />
+    </joint>
+</robot>

Laptop_urdf/10156/whole.obj ADDED Viewed

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Laptop_urdf/10175/test.urdf ADDED Viewed

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="partnet_125c93cbc6544bd1f9f50a550b8c1cce">
+	<link name="base" />
+	<link name="link_0">
+        <visual name="screen">
+            <origin xyz="-0.99207593 0.59022207 0.48432529" />
+            <geometry>
+                <mesh filename="screen.obj" />
+            </geometry>
+        </visual>
+        <collision name="screen">
+            <origin xyz="-0.99207593 0.59022207 0.48432529" />
+            <geometry>
+                <mesh filename="screen.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_0" type="revolute">
+		<origin xyz="0.99207593 -0.59022207 -0.48432529" />
+		<axis xyz="-1 0 0" />
+		<child link="link_0" />
+		<parent link="link_1" />
+		<limit lower="-1.904199" upper="1.237393" />
+	</joint>
+    <link name="link_1">
+        <visual name="1">
+            <origin xyz="0 0 0" />
+            <geometry>
+                <mesh filename="base.obj" />
+            </geometry>
+        </visual>
+        <collision name="1">
+            <origin xyz="0 0 0" />
+            <geometry>
+                <mesh filename="base.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_1" type="fixed">
+        <origin rpy="0 0 0" xyz="0 0 0" />
+        <child link="link_1" />
+        <parent link="base" />
+    </joint>
+</robot>

Laptop_urdf/10203/base.obj ADDED Viewed

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Laptop_urdf/10203/info.json ADDED Viewed

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+{
+  "id": "10203",
+  "whole_image": "base.png",
+  "urdf": "test.urdf",
+  "links": [
+    {
+      "name": "link_0",
+      "obj": "base.obj"
+    },
+    {
+      "name": "link_1",
+      "obj": "screen.obj",
+      "origin_xyz": "0.04144669 -0.65947430 -0.81107937",
+      "axis_xyz": "1.0 0.0 0.0",
+      "motion_type": "revolute",
+      "lower": -1.573286,
+      "upper": 1.568307
+    }
+  ]
+}

Laptop_urdf/10203/screen.obj ADDED Viewed

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Laptop_urdf/10203/test.urdf ADDED Viewed

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="partnet_125c93cbc6544bd1f9f50a550b8c1cce">
+	<link name="base" />
+	<link name="link_0">
+        <visual name="screen">
+            <origin xyz="-0.99972112 0.74642391 0.81474873" />
+            <geometry>
+                <mesh filename="screen.obj" />
+            </geometry>
+        </visual>
+        <collision name="screen">
+            <origin xyz="-0.99972112 0.74642391 0.81474873" />
+            <geometry>
+                <mesh filename="screen.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_0" type="revolute">
+		<origin xyz="0.99972112 -0.74642391 -0.81474873" />
+		<axis xyz="-1 0 0" />
+		<child link="link_0" />
+		<parent link="link_1" />
+		<limit lower="-1.568307" upper="1.573286" />
+	</joint>
+    <link name="link_1">
+        <visual name="1">
+            <origin xyz="0 0 0" />
+            <geometry>
+                <mesh filename="base.obj" />
+            </geometry>
+        </visual>
+        <collision name="1">
+            <origin xyz="0 0 0" />
+            <geometry>
+                <mesh filename="base.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_1" type="fixed">
+        <origin rpy="0 0 0" xyz="0 0 0" />
+        <child link="link_1" />
+        <parent link="base" />
+    </joint>
+</robot>

Laptop_urdf/10203/whole.obj ADDED Viewed

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Laptop_urdf/10214/base.obj ADDED Viewed

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Laptop_urdf/10214/info.json ADDED Viewed

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+{
+  "id": "10214",
+  "whole_image": "base.png",
+  "urdf": "test.urdf",
+  "links": [
+    {
+      "name": "link_0",
+      "obj": "base.obj"
+    },
+    {
+      "name": "link_1",
+      "obj": "screen.obj",
+      "origin_xyz": "-0.15484080 -0.66429802 -0.66630281",
+      "axis_xyz": "1.0 0.0 0.0",
+      "motion_type": "revolute",
+      "lower": -1.570132,
+      "upper": 1.571461
+    }
+  ]
+}

Laptop_urdf/10214/screen.obj ADDED Viewed

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Laptop_urdf/10214/test.urdf ADDED Viewed

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="partnet_125c93cbc6544bd1f9f50a550b8c1cce">
+	<link name="base" />
+	<link name="link_0">
+        <visual name="screen">
+            <origin xyz="-1.00000000 0.66590979 0.66449097" />
+            <geometry>
+                <mesh filename="screen.obj" />
+            </geometry>
+        </visual>
+        <collision name="screen">
+            <origin xyz="-1.00000000 0.66590979 0.66449097" />
+            <geometry>
+                <mesh filename="screen.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_0" type="revolute">
+		<origin xyz="1.00000000 -0.66590979 -0.66449097" />
+		<axis xyz="-1 0 0" />
+		<child link="link_0" />
+		<parent link="link_1" />
+		<limit lower="-1.571461" upper="1.570132" />
+	</joint>
+    <link name="link_1">
+        <visual name="1">
+            <origin xyz="0 0 0" />
+            <geometry>
+                <mesh filename="base.obj" />
+            </geometry>
+        </visual>
+        <collision name="1">
+            <origin xyz="0 0 0" />
+            <geometry>
+                <mesh filename="base.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_1" type="fixed">
+        <origin rpy="0 0 0" xyz="0 0 0" />
+        <child link="link_1" />
+        <parent link="base" />
+    </joint>
+</robot>

Laptop_urdf/10214/whole.obj ADDED Viewed

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Laptop_urdf/10239/base.obj ADDED Viewed

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Laptop_urdf/10239/info.json ADDED Viewed

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+{
+  "id": "10239",
+  "whole_image": "base.png",
+  "urdf": "test.urdf",
+  "links": [
+    {
+      "name": "link_0",
+      "obj": "base.obj"
+    },
+    {
+      "name": "link_1",
+      "obj": "screen.obj",
+      "origin_xyz": "-0.81617011 -0.30615135 -0.29811018",
+      "axis_xyz": "1.0 0.0 0.0",
+      "motion_type": "revolute",
+      "lower": -0.807278,
+      "upper": 2.334315
+    }
+  ]
+}

Laptop_urdf/10239/screen.obj ADDED Viewed

	@@ -0,0 +1,4870 @@

+# https://github.com/mikedh/trimesh
+o screen.obj
+v 0.92822252 0.40944749 -0.96946314
+v -0.81617014 0.41359905 -0.96505169
+v 0.92822252 0.41359905 -0.96505169
+v -0.81617014 0.40944749 -0.96946314
+v 0.92822252 -0.30096259 -0.29259655
+v 0.92822252 -0.30511414 -0.29700801
+v -0.81617014 -0.30096259 -0.29259655
+v -0.81617014 -0.30511414 -0.29700801
+v 0.95245065 -0.36243436 -0.12152914
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Laptop_urdf/10239/test.urdf ADDED Viewed

	@@ -0,0 +1,44 @@

+<?xml version='1.0' encoding='utf-8'?>
+<robot name="partnet_125c93cbc6544bd1f9f50a550b8c1cce">
+	<link name="base" />
+	<link name="link_0">
+        <visual name="screen">
+            <origin xyz="-0.95245065 0.40187894 0.13224522" />
+            <geometry>
+                <mesh filename="screen.obj" />
+            </geometry>
+        </visual>
+        <collision name="screen">
+            <origin xyz="-0.95245065 0.40187894 0.13224522" />
+            <geometry>
+                <mesh filename="screen.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_0" type="revolute">
+		<origin xyz="0.95245065 -0.40187894 -0.13224522" />
+		<axis xyz="-1 0 0" />
+		<child link="link_0" />
+		<parent link="link_1" />
+		<limit lower="-2.334315" upper="0.807278" />
+	</joint>
+    <link name="link_1">
+        <visual name="1">
+            <origin xyz="0 0 0" />
+            <geometry>
+                <mesh filename="base.obj" />
+            </geometry>
+        </visual>
+        <collision name="1">
+            <origin xyz="0 0 0" />
+            <geometry>
+                <mesh filename="base.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_1" type="fixed">
+        <origin rpy="0 0 0" xyz="0 0 0" />
+        <child link="link_1" />
+        <parent link="base" />
+    </joint>
+</robot>

Laptop_urdf/10239/whole.obj ADDED Viewed

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Laptop_urdf/10263/whole.obj ADDED Viewed

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Laptop_urdf/10267/base.obj ADDED Viewed

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Laptop_urdf/10300/base.obj ADDED Viewed

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Laptop_urdf/10300/info.json ADDED Viewed

	@@ -0,0 +1,20 @@

+{
+  "id": "10300",
+  "whole_image": "base.png",
+  "urdf": "test.urdf",
+  "links": [
+    {
+      "name": "link_0",
+      "obj": "base.obj"
+    },
+    {
+      "name": "link_1",
+      "obj": "screen.obj",
+      "origin_xyz": "0.96258715 -0.62927760 -0.62006260",
+      "axis_xyz": "1.0 0.0 0.0",
+      "motion_type": "revolute",
+      "lower": -1.473922,
+      "upper": 1.66767
+    }
+  ]
+}

Laptop_urdf/10300/screen.obj ADDED Viewed

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Laptop_urdf/10300/test.urdf ADDED Viewed

	@@ -0,0 +1,44 @@

+<?xml version='1.0' encoding='utf-8'?>
+<robot name="partnet_125c93cbc6544bd1f9f50a550b8c1cce">
+	<link name="base" />
+	<link name="link_0">
+        <visual name="screen">
+            <origin xyz="-0.98817366 0.65440575 0.60943747" />
+            <geometry>
+                <mesh filename="screen.obj" />
+            </geometry>
+        </visual>
+        <collision name="screen">
+            <origin xyz="-0.98817366 0.65440575 0.60943747" />
+            <geometry>
+                <mesh filename="screen.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_0" type="revolute">
+		<origin xyz="0.98817366 -0.65440575 -0.60943747" />
+		<axis xyz="-1 0 0" />
+		<child link="link_0" />
+		<parent link="link_1" />
+		<limit lower="-1.667670" upper="1.473922" />
+	</joint>
+    <link name="link_1">
+        <visual name="1">
+            <origin xyz="0 0 0" />
+            <geometry>
+                <mesh filename="base.obj" />
+            </geometry>
+        </visual>
+        <collision name="1">
+            <origin xyz="0 0 0" />
+            <geometry>
+                <mesh filename="base.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_1" type="fixed">
+        <origin rpy="0 0 0" xyz="0 0 0" />
+        <child link="link_1" />
+        <parent link="base" />
+    </joint>
+</robot>

Laptop_urdf/10524/screen.obj ADDED Viewed

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Laptop_urdf/10674/base.obj ADDED Viewed

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Laptop_urdf/10674/info.json ADDED Viewed

	@@ -0,0 +1,20 @@

+{
+  "id": "10674",
+  "whole_image": "base.png",
+  "urdf": "test.urdf",
+  "links": [
+    {
+      "name": "link_0",
+      "obj": "base.obj"
+    },
+    {
+      "name": "link_1",
+      "obj": "screen.obj",
+      "origin_xyz": "-0.95545000 -0.58075190 -0.65413172",
+      "axis_xyz": "1.0 0.0 0.0",
+      "motion_type": "revolute",
+      "lower": -1.561061,
+      "upper": 1.580532
+    }
+  ]
+}

Laptop_urdf/10674/whole.obj ADDED Viewed

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Laptop_urdf/11070/base.obj ADDED Viewed

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Laptop_urdf/11070/info.json ADDED Viewed

	@@ -0,0 +1,20 @@

+{
+  "id": "11070",
+  "whole_image": "base.png",
+  "urdf": "test.urdf",
+  "links": [
+    {
+      "name": "link_0",
+      "obj": "base.obj"
+    },
+    {
+      "name": "link_1",
+      "obj": "screen.obj",
+      "origin_xyz": "0.29908859 -0.65490558 -0.68534921",
+      "axis_xyz": "1.0 0.0 0.0",
+      "motion_type": "revolute",
+      "lower": -1.564425,
+      "upper": 1.577167
+    }
+  ]
+}

Laptop_urdf/11070/screen.obj ADDED Viewed

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Laptop_urdf/11070/test.urdf ADDED Viewed

	@@ -0,0 +1,44 @@

+<?xml version='1.0' encoding='utf-8'?>
+<robot name="partnet_125c93cbc6544bd1f9f50a550b8c1cce">
+	<link name="base" />
+	<link name="link_0">
+        <visual name="screen">
+            <origin xyz="-0.99992393 0.65759801 0.68630250" />
+            <geometry>
+                <mesh filename="screen.obj" />
+            </geometry>
+        </visual>
+        <collision name="screen">
+            <origin xyz="-0.99992393 0.65759801 0.68630250" />
+            <geometry>
+                <mesh filename="screen.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_0" type="revolute">
+		<origin xyz="0.99992393 -0.65759801 -0.68630250" />
+		<axis xyz="-1 0 0" />
+		<child link="link_0" />
+		<parent link="link_1" />
+		<limit lower="-1.577167" upper="1.564425" />
+	</joint>
+    <link name="link_1">
+        <visual name="1">
+            <origin xyz="0 0 0" />
+            <geometry>
+                <mesh filename="base.obj" />
+            </geometry>
+        </visual>
+        <collision name="1">
+            <origin xyz="0 0 0" />
+            <geometry>
+                <mesh filename="base.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_1" type="fixed">
+        <origin rpy="0 0 0" xyz="0 0 0" />
+        <child link="link_1" />
+        <parent link="base" />
+    </joint>
+</robot>

Laptop_urdf/11070/whole.obj ADDED Viewed

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Laptop_urdf/11171/base.obj ADDED Viewed

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Laptop_urdf/11171/screen.obj ADDED Viewed

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Laptop_urdf/11171/test.urdf ADDED Viewed

	@@ -0,0 +1,44 @@

+<?xml version='1.0' encoding='utf-8'?>
+<robot name="partnet_125c93cbc6544bd1f9f50a550b8c1cce">
+	<link name="base" />
+	<link name="link_0">
+        <visual name="screen">
+            <origin xyz="-0.99946238 0.47564291 0.21144419" />
+            <geometry>
+                <mesh filename="screen.obj" />
+            </geometry>
+        </visual>
+        <collision name="screen">
+            <origin xyz="-0.99946238 0.47564291 0.21144419" />
+            <geometry>
+                <mesh filename="screen.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_0" type="revolute">
+		<origin xyz="0.99946238 -0.47564291 -0.21144419" />
+		<axis xyz="-1 0 0" />
+		<child link="link_0" />
+		<parent link="link_1" />
+		<limit lower="-2.242805" upper="0.898787" />
+	</joint>
+    <link name="link_1">
+        <visual name="1">
+            <origin xyz="0 0 0" />
+            <geometry>
+                <mesh filename="base.obj" />
+            </geometry>
+        </visual>
+        <collision name="1">
+            <origin xyz="0 0 0" />
+            <geometry>
+                <mesh filename="base.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_1" type="fixed">
+        <origin rpy="0 0 0" xyz="0 0 0" />
+        <child link="link_1" />
+        <parent link="base" />
+    </joint>
+</robot>

Laptop_urdf/11179/info.json ADDED Viewed

	@@ -0,0 +1,20 @@

+{
+  "id": "11179",
+  "whole_image": "base.png",
+  "urdf": "test.urdf",
+  "links": [
+    {
+      "name": "link_0",
+      "obj": "base.obj"
+    },
+    {
+      "name": "link_1",
+      "obj": "screen.obj",
+      "origin_xyz": "-0.46271108 -0.57576443 -0.54836683",
+      "axis_xyz": "1.0 0.0 0.0",
+      "motion_type": "revolute",
+      "lower": -1.509904,
+      "upper": 1.631688
+    }
+  ]
+}

Laptop_urdf/11179/test.urdf ADDED Viewed

	@@ -0,0 +1,44 @@

+<?xml version='1.0' encoding='utf-8'?>
+<robot name="partnet_125c93cbc6544bd1f9f50a550b8c1cce">
+	<link name="base" />
+	<link name="link_0">
+        <visual name="screen">
+            <origin xyz="-1.00000000 0.59689305 0.58624580" />
+            <geometry>
+                <mesh filename="screen.obj" />
+            </geometry>
+        </visual>
+        <collision name="screen">
+            <origin xyz="-1.00000000 0.59689305 0.58624580" />
+            <geometry>
+                <mesh filename="screen.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_0" type="revolute">
+		<origin xyz="1.00000000 -0.59689305 -0.58624580" />
+		<axis xyz="-1 0 0" />
+		<child link="link_0" />
+		<parent link="link_1" />
+		<limit lower="-1.631688" upper="1.509904" />
+	</joint>
+    <link name="link_1">
+        <visual name="1">
+            <origin xyz="0 0 0" />
+            <geometry>
+                <mesh filename="base.obj" />
+            </geometry>
+        </visual>
+        <collision name="1">
+            <origin xyz="0 0 0" />
+            <geometry>
+                <mesh filename="base.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_1" type="fixed">
+        <origin rpy="0 0 0" xyz="0 0 0" />
+        <child link="link_1" />
+        <parent link="base" />
+    </joint>
+</robot>

Laptop_urdf/11179/whole.obj ADDED Viewed

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Laptop_urdf/11346/base.obj ADDED Viewed

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Laptop_urdf/11346/info.json ADDED Viewed

	@@ -0,0 +1,20 @@

+{
+  "id": "11346",
+  "whole_image": "base.png",
+  "urdf": "test.urdf",
+  "links": [
+    {
+      "name": "link_0",
+      "obj": "base.obj"
+    },
+    {
+      "name": "link_1",
+      "obj": "screen.obj",
+      "origin_xyz": "0.05947501 -0.52404984 -0.95316578",
+      "axis_xyz": "1.0 0.0 0.0",
+      "motion_type": "revolute",
+      "lower": -1.569199,
+      "upper": 1.572394
+    }
+  ]
+}

Laptop_urdf/11346/test.urdf ADDED Viewed

	@@ -0,0 +1,44 @@

+<?xml version='1.0' encoding='utf-8'?>
+<robot name="partnet_125c93cbc6544bd1f9f50a550b8c1cce">
+	<link name="base" />
+	<link name="link_0">
+        <visual name="screen">
+            <origin xyz="-0.99999426 0.52664968 0.94991523" />
+            <geometry>
+                <mesh filename="screen.obj" />
+            </geometry>
+        </visual>
+        <collision name="screen">
+            <origin xyz="-0.99999426 0.52664968 0.94991523" />
+            <geometry>
+                <mesh filename="screen.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_0" type="revolute">
+		<origin xyz="0.99999426 -0.52664968 -0.94991523" />
+		<axis xyz="-1 0 0" />
+		<child link="link_0" />
+		<parent link="link_1" />
+		<limit lower="-1.572394" upper="1.569199" />
+	</joint>
+    <link name="link_1">
+        <visual name="1">
+            <origin xyz="0 0 0" />
+            <geometry>
+                <mesh filename="base.obj" />
+            </geometry>
+        </visual>
+        <collision name="1">
+            <origin xyz="0 0 0" />
+            <geometry>
+                <mesh filename="base.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_1" type="fixed">
+        <origin rpy="0 0 0" xyz="0 0 0" />
+        <child link="link_1" />
+        <parent link="base" />
+    </joint>
+</robot>