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RoboTwin

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  1. objects/001_bottles/model_data10.json +258 -0
  2. objects/001_bottles/model_data12.json +366 -0
  3. objects/001_bottles/model_data14.json +366 -0
  4. objects/001_bottles/model_data16.json +366 -0
  5. objects/001_bottles/model_data17.json +366 -0
  6. objects/001_bottles/model_data18.json +366 -0
  7. objects/001_bottles/model_data2.json +366 -0
  8. objects/001_bottles/model_data21.json +366 -0
  9. objects/001_bottles/model_data3.json +258 -0
  10. objects/001_bottles/model_data4.json +366 -0
  11. objects/001_bottles/model_data5.json +366 -0
  12. objects/001_bottles/model_data6.json +366 -0
  13. objects/001_bottles/model_data7.json +366 -0
  14. objects/001_bottles/model_data8.json +366 -0
  15. objects/001_bottles/model_data9.json +366 -0
  16. objects/001_bottles/models.py +116 -0
  17. objects/005_red_bottle/model_data.json +366 -0
  18. objects/024_brush/base.mtl +7 -0
  19. objects/024_brush/model.py +65 -0
  20. objects/024_brush/model_data.json +97 -0
  21. objects/024_brush/textured.obj +0 -0
  22. objects/029_test_tube_holder_glb/model_data.json +169 -0
  23. objects/036_cabinet_bac/bounding_box.json +1 -0
  24. objects/036_cabinet_bac/meta.json +1 -0
  25. objects/036_cabinet_bac/mobility.urdf +607 -0
  26. objects/036_cabinet_bac/mobility_v2.json +1 -0
  27. objects/036_cabinet_bac/model_data.json +295 -0
  28. objects/036_cabinet_bac/models.py +129 -0
  29. objects/036_cabinet_bac/result.json +1 -0
  30. objects/036_cabinet_bac/result_after_merging.json +1 -0
  31. objects/036_cabinet_bac/semantics.txt +4 -0
  32. objects/036_cabinet_bac/textured_objs copy/original-10.mtl +7 -0
  33. objects/036_cabinet_bac/textured_objs copy/original-10.obj +39 -0
  34. objects/036_cabinet_bac/textured_objs copy/original-13.mtl +7 -0
  35. objects/036_cabinet_bac/textured_objs copy/original-13.obj +39 -0
  36. objects/036_cabinet_bac/textured_objs copy/original-16.obj +43 -0
  37. objects/036_cabinet_bac/textured_objs copy/original-22.obj +15 -0
  38. objects/036_cabinet_bac/textured_objs copy/original-27.obj +81 -0
  39. objects/036_cabinet_bac/textured_objs copy/original-28.mtl +7 -0
  40. objects/036_cabinet_bac/textured_objs copy/original-38.obj +15 -0
  41. objects/036_cabinet_bac/textured_objs copy/original-41.obj +43 -0
  42. objects/036_cabinet_bac/tree_hier.html +2 -0
  43. objects/036_cabinet_bac/tree_hier_after_merging.html +2 -0
  44. objects/037_box/textured_objs/original-1.mtl +7 -0
  45. objects/037_box/textured_objs/original-1.obj +21 -0
  46. objects/037_box/textured_objs/original-2.mtl +7 -0
  47. objects/037_box/textured_objs/original-2.obj +81 -0
  48. objects/037_box/textured_objs/original-4.mtl +7 -0
  49. objects/037_box/textured_objs/original-5.obj +223 -0
  50. objects/037_box/textured_objs/original-51.obj +111 -0
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+ "transform_matrix": [
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+ "functional_matrix": [
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+ ]
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+ ],
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+ "orientation_point": [
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+ ]
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+ ],
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+ "contact_points_group": [
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+ [
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+ 0,
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+ 1,
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+ 2,
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+ 3,
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+ 4,
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+ 5,
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+ 6,
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+ 7
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+ ]
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+ ],
347
+ "contact_points_mask": [
348
+ true
349
+ ],
350
+ "contact_points_discription": [
351
+ "Grasping the side of the bottle.",
352
+ "Grasping the side of the bottle.",
353
+ "Grasping the side of the bottle.",
354
+ "Grasping the side of the bottle.",
355
+ "Grasping the side of the bottle.",
356
+ "Grasping the side of the bottle.",
357
+ "Grasping the side of the bottle.",
358
+ "Grasping the side of the bottle."
359
+ ],
360
+ "target_point_discription": [
361
+ "The center of the bottle."
362
+ ],
363
+ "functional_point_discription": [
364
+ "Point 0: The center of the bottle and the functional axis is vertical and the bottom of the bottle is downward."
365
+ ]
366
+ }
objects/001_bottles/models.py ADDED
@@ -0,0 +1,116 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ import trimesh
2
+ import json
3
+ import numpy as np
4
+
5
+
6
+ PI = np.pi
7
+
8
+ def create_model_data(id):
9
+ file_path = f"./base{id}.glb"
10
+ save_path = f"./model_data{id}.json"
11
+
12
+ with open(save_path, 'r') as json_file:
13
+ data = json.load(json_file)
14
+
15
+ with open(file_path, 'rb') as file_obj:
16
+ mesh = trimesh.load(file_obj, file_type='glb')
17
+ # 创建一个场景
18
+ scene = trimesh.Scene(mesh)
19
+
20
+ oriented_bounding_box = mesh.bounding_box_oriented
21
+ red_color = [1.0, 0.0, 0.0, 0.5] # 红色, A=1 表示不透明
22
+
23
+ scale = data["scale"]
24
+
25
+ target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
26
+ target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0,0])
27
+
28
+ target_sphere.apply_transform(target_trans_matrix_sphere)
29
+ target_sphere.visual.vertex_colors = np.array([red_color] * len(target_sphere.vertices))
30
+ target_points_list = [target_trans_matrix_sphere.tolist()]
31
+
32
+ # # 可视化网格和坐标轴
33
+ scene.add_geometry(target_sphere)
34
+
35
+ contact_points_list = []
36
+ contact_point_discription_list = []
37
+
38
+ def add_contact_point(point_radius, pose:list, euler:list, discription: str):
39
+ contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=point_radius)
40
+ contact_trans_matrix_sphere = trimesh.transformations.translation_matrix(pose) @ trimesh.transformations.euler_matrix(euler[0], euler[1], euler[2])
41
+ contact_sphere.apply_transform(contact_trans_matrix_sphere)
42
+ contact_sphere.visual.vertex_colors = np.array([red_color] * len(contact_sphere.vertices))
43
+ contact_points_list.append(contact_trans_matrix_sphere.tolist())
44
+
45
+ axis = trimesh.creation.axis(axis_length=1.5)
46
+ axis.apply_transform(contact_trans_matrix_sphere)
47
+ scene.add_geometry(axis)
48
+ scene.add_geometry(contact_sphere)
49
+ contact_point_discription_list.append(discription)
50
+
51
+ add_contact_point(0.3, np.array(data['contact_points_pose'][0])[:3, 3], [0, 0, PI/2], "Grasping the side of the bottle.")
52
+ add_contact_point(0.3, np.array(data['contact_points_pose'][0])[:3, 3], [PI/2, 0, PI/2], "Grasping the side of the bottle.")
53
+ add_contact_point(0.3, np.array(data['contact_points_pose'][0])[:3, 3], [PI, 0, PI/2], "Grasping the side of the bottle.")
54
+ add_contact_point(0.3, np.array(data['contact_points_pose'][0])[:3, 3], [-PI/2, 0, PI/2], "Grasping the side of the bottle.")
55
+
56
+ add_contact_point(0.3, np.array(data['contact_points_pose'][0])[:3, 3], [PI/4, 0, PI/2], "Grasping the side of the bottle.")
57
+ add_contact_point(0.3, np.array(data['contact_points_pose'][0])[:3, 3], [PI*3/4, 0, PI/2], "Grasping the side of the bottle.")
58
+ add_contact_point(0.3, np.array(data['contact_points_pose'][0])[:3, 3], [-PI*3/4, 0, PI/2], "Grasping the side of the bottle.")
59
+ add_contact_point(0.3, np.array(data['contact_points_pose'][0])[:3, 3], [-PI/4, 0, PI/2], "Grasping the side of the bottle.")
60
+
61
+
62
+ # 旋转矩阵的参数顺序是 (X, Y, Z) to endpose axis
63
+ transform_matrix = trimesh.transformations.euler_matrix(0,0,0)
64
+ transform_matrix = transform_matrix.tolist()
65
+
66
+ orientation_point = trimesh.creation.icosphere(subdivisions=2, radius=0.1)
67
+ orientation_point_sphere = trimesh.transformations.translation_matrix([0,oriented_bounding_box.extents[1]/2,0])
68
+ orientation_point.apply_transform(orientation_point_sphere)
69
+ orientation_point.visual.vertex_colors = np.array([red_color] * len(orientation_point.vertices))
70
+ orientation_point_list = orientation_point_sphere.tolist()
71
+ scene.add_geometry(orientation_point)
72
+
73
+ # axis1
74
+ axis1 = trimesh.creation.axis(axis_length=1.5)
75
+ axis1.apply_transform(transform_matrix)
76
+
77
+ functional_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
78
+ functional_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0,0]) @ trimesh.transformations.euler_matrix(PI/2,0,0)
79
+ functional_sphere.apply_transform(functional_trans_matrix_sphere)
80
+ functional_sphere.visual.vertex_colors = np.array([red_color] * len(functional_sphere.vertices))
81
+ functional_matrix = functional_trans_matrix_sphere.tolist()
82
+ axis = trimesh.creation.axis(axis_length=2.5)
83
+ axis.apply_transform(functional_trans_matrix_sphere)
84
+ scene.add_geometry(axis)
85
+ scene.add_geometry(functional_sphere)
86
+
87
+ data = {
88
+ 'center': oriented_bounding_box.centroid.tolist(), # 中心点
89
+ 'extents': oriented_bounding_box.extents.tolist(), # 尺寸
90
+ 'scale': scale, # 缩放
91
+ 'target_pose': target_points_list, # 目标点矩阵
92
+ 'contact_points_pose' : contact_points_list, # 抓取点矩阵（多个）
93
+ 'transform_matrix': transform_matrix, # 模型到标轴的旋转矩阵
94
+ "functional_matrix": [functional_matrix], # 功能点矩阵
95
+ 'orientation_point': orientation_point_list,
96
+ 'contact_points_group': [[0,1,2,3,4,5,6,7]],
97
+ 'contact_points_mask': [True],
98
+ 'contact_points_discription': contact_point_discription_list, # 抓取点描述
99
+ 'target_point_discription': ["The center of the bottle."],
100
+ 'functional_point_discription': ["Point 0: The center of the bottle and the functional axis is vertical and the bottom of the bottle is downward."]
101
+ }
102
+ with open(save_path, 'w') as json_file:
103
+ json.dump(data, json_file, indent=4, separators=(',', ': '))
104
+
105
+ # 将坐标轴添加到场景
106
+ axis = trimesh.creation.axis(axis_length=1.5,origin_size= 0.05)
107
+ # scene.add_geometry(axis1)
108
+ scene.show()
109
+
110
+ if __name__ == "__main__":
111
+ for i in range(22):
112
+ # i = 11
113
+ # for i in [3, 10 ,11]:
114
+ if i in [3, 10 ,11]:
115
+ continue
116
+ create_model_data(i)
objects/005_red_bottle/model_data.json ADDED
@@ -0,0 +1,366 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "center": [
3
+ -9.301616168882343e-05,
4
+ 0.0011835075340982275,
5
+ 0.00011115049950363853
6
+ ],
7
+ "extents": [
8
+ 0.6844625281438124,
9
+ 1.8477151778989644,
10
+ 0.6837738900168908
11
+ ],
12
+ "scale": [
13
+ 0.132,
14
+ 0.132,
15
+ 0.132
16
+ ],
17
+ "target_pose": [
18
+ [
19
+ [
20
+ 1.0,
21
+ 0.0,
22
+ 0.0,
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+ ],
25
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+ ]
43
+ ]
44
+ ],
45
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179
+ 0.7071067811865475,
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+ 0.0
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186
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+ ],
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+ -0.7071067811865476,
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+ -0.7071067811865475,
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+ 0.0,
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+ 0.0,
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+ 1.0
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+ ]
253
+ ]
254
+ ],
255
+ "transform_matrix": [
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+ [
257
+ 1.0,
258
+ 0.0,
259
+ 0.0,
260
+ 0.0
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+ ],
262
+ [
263
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+ 1.0,
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+ 0.0,
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+ 0.0
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+ ],
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+ [
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+ -0.0,
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+ 0.0,
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+ 1.0,
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+ 0.0
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+ ],
274
+ [
275
+ 0.0,
276
+ 0.0,
277
+ 0.0,
278
+ 1.0
279
+ ]
280
+ ],
281
+ "functional_matrix": [
282
+ [
283
+ [
284
+ 1.0,
285
+ 0.0,
286
+ 0.0,
287
+ 0.0
288
+ ],
289
+ [
290
+ 0.0,
291
+ 6.123233995736766e-17,
292
+ -1.0,
293
+ 0.0
294
+ ],
295
+ [
296
+ 0.0,
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+ 1.0,
298
+ 6.123233995736766e-17,
299
+ 0.0
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+ ],
301
+ [
302
+ 0.0,
303
+ 0.0,
304
+ 0.0,
305
+ 1.0
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+ ]
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+ ]
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+ ],
309
+ "orientation_point": [
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+ [
311
+ 1.0,
312
+ 0.0,
313
+ 0.0,
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+ 0.0
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+ ],
316
+ [
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+ 1.0,
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+ ],
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+ [
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+ 0.0,
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+ 1.0,
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+ 0.0
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+ ],
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+ [
329
+ 0.0,
330
+ 0.0,
331
+ 0.0,
332
+ 1.0
333
+ ]
334
+ ],
335
+ "contact_points_group": [
336
+ [
337
+ 0,
338
+ 1,
339
+ 2,
340
+ 3,
341
+ 4,
342
+ 5,
343
+ 6,
344
+ 7
345
+ ]
346
+ ],
347
+ "contact_points_mask": [
348
+ true
349
+ ],
350
+ "contact_points_discription": [
351
+ "Grasping the side of the bottle.",
352
+ "Grasping the side of the bottle.",
353
+ "Grasping the side of the bottle.",
354
+ "Grasping the side of the bottle.",
355
+ "Grasping the side of the bottle.",
356
+ "Grasping the side of the bottle.",
357
+ "Grasping the side of the bottle.",
358
+ "Grasping the side of the bottle."
359
+ ],
360
+ "target_point_discription": [
361
+ "The center of the bottle."
362
+ ],
363
+ "functional_point_discription": [
364
+ "Point 0: The center of the bottle and the functional axis is vertical and the bottom of the bottle is downward."
365
+ ]
366
+ }
objects/024_brush/base.mtl ADDED
@@ -0,0 +1,7 @@
 
 
 
 
 
 
 
 
1
+
2
+ newmtl texture_diffuse
3
+ Ka 0.40000000 0.40000000 0.40000000
4
+ Kd 0.40000000 0.40000000 0.40000000
5
+ Ks 0.40000000 0.40000000 0.40000000
6
+ Ns 1.00000000
7
+ map_Kd texture_diffuse.png
objects/024_brush/model.py ADDED
@@ -0,0 +1,65 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ import trimesh
2
+ import json
3
+ import numpy as np
4
+
5
+
6
+ file_path = "./base.glb"
7
+ with open(file_path, 'rb') as file_obj:
8
+ mesh = trimesh.load(file_obj, file_type='glb')
9
+ # mesh = trimesh.load(file_path, file_type='glb')
10
+ oriented_bounding_box = mesh.bounding_box_oriented
11
+ red_color = [1.0, 0.0, 0.0, 0.5] # 红色, A=1 表示不透明
12
+
13
+
14
+ target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.1)
15
+ target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0.35,0.22])
16
+ target_sphere.apply_transform(target_trans_matrix_sphere)
17
+ target_sphere.visual.vertex_colors = np.array([red_color] * len(target_sphere.vertices))
18
+ target_trans_list = target_trans_matrix_sphere.tolist()
19
+
20
+
21
+
22
+ contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.1)
23
+ contact_trans_matrix_sphere = trimesh.transformations.translation_matrix([0, -0.35, -0.12])
24
+ contact_sphere.apply_transform(contact_trans_matrix_sphere)
25
+ contact_sphere.visual.vertex_colors = np.array([red_color] * len(contact_sphere.vertices))
26
+ contact_trans_list = contact_trans_matrix_sphere.tolist()
27
+ # 创建一个场景
28
+ scene = trimesh.Scene(mesh)
29
+
30
+ # axis1
31
+ axis1 = trimesh.creation.axis(axis_length=1.5)
32
+ # 旋转矩阵的参数顺序是 (X, Y, Z) to endpose axis
33
+ trans_matrix1 = trimesh.transformations.euler_matrix(-1.57,-0.12,1.57)
34
+ trans_matrix1[2,3] -= 0.08
35
+ # 应用旋转矩阵到坐标轴
36
+ axis1.apply_transform(trans_matrix1)
37
+ transform_matrix_list1 = trans_matrix1.tolist()
38
+
39
+ data = {
40
+ 'center': oriented_bounding_box.centroid.tolist(), # 中心点
41
+ 'extents': oriented_bounding_box.extents.tolist(), # 尺寸
42
+ 'scale': [0.167,0.167,0.167],
43
+ 'target_pose': target_trans_list,
44
+ 'contact_pose' : [contact_trans_list],
45
+ 'trans_matrix' : transform_matrix_list1
46
+ }
47
+ with open('./model_data.json', 'w') as json_file:
48
+ json.dump(data, json_file, indent=4)
49
+
50
+
51
+
52
+ # 将坐标轴添加到场景
53
+ axis = trimesh.creation.axis(axis_length=1.5,origin_size= 0.1)
54
+ # axis.apply_transform(trimesh.transformations.euler_matrix(-1.57, 1.57, 0))
55
+ # scene.add_geometry(axis)
56
+ # scene.add_geometry(axis1)
57
+ # 可视化网格和坐标轴
58
+ # scene.add_geometry(target_sphere)
59
+ # scene.add_geometry(contact_sphere)
60
+ scene.show()
61
+
62
+
63
+
64
+
65
+
objects/024_brush/model_data.json ADDED
@@ -0,0 +1,97 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "center": [
3
+ -0.007615484997688766,
4
+ -0.0036439212161790743,
5
+ 0.020411398800494966
6
+ ],
7
+ "extents": [
8
+ 0.1609786156902938,
9
+ 1.518768434265918,
10
+ 0.5385140200429456
11
+ ],
12
+ "scale": [
13
+ 0.167,
14
+ 0.167,
15
+ 0.167
16
+ ],
17
+ "target_pose": [
18
+ [
19
+ 1.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0
23
+ ],
24
+ [
25
+ 0.0,
26
+ 1.0,
27
+ 0.0,
28
+ 0.35
29
+ ],
30
+ [
31
+ 0.0,
32
+ 0.0,
33
+ 1.0,
34
+ 0.22
35
+ ],
36
+ [
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 1.0
41
+ ]
42
+ ],
43
+ "contact_pose": [
44
+ [
45
+ [
46
+ 1.0,
47
+ 0.0,
48
+ 0.0,
49
+ 0.0
50
+ ],
51
+ [
52
+ 0.0,
53
+ 1.0,
54
+ 0.0,
55
+ -0.35
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 1.0,
61
+ -0.12
62
+ ],
63
+ [
64
+ 0.0,
65
+ 0.0,
66
+ 0.0,
67
+ 1.0
68
+ ]
69
+ ]
70
+ ],
71
+ "trans_matrix": [
72
+ [
73
+ 0.0007906000353770876,
74
+ -0.0007009964602045275,
75
+ -0.9999994417776177,
76
+ 0.0
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+ ],
78
+ [
79
+ 0.9928083210658535,
80
+ 0.11971276551130175,
81
+ 0.0007009964602045275,
82
+ 0.0
83
+ ],
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+ [
85
+ 0.11971220728891936,
86
+ -0.9928083210658535,
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+ 0.0007906000353770876,
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+ -0.08
89
+ ],
90
+ [
91
+ 0.0,
92
+ 0.0,
93
+ 0.0,
94
+ 1.0
95
+ ]
96
+ ]
97
+ }
objects/024_brush/textured.obj ADDED
The diff for this file is too large to render. See raw diff
 
objects/029_test_tube_holder_glb/model_data.json ADDED
@@ -0,0 +1,169 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "center": [
3
+ 4.500150680541988e-05,
4
+ 0.030576036325699,
5
+ 0.0007428648638119247
6
+ ],
7
+ "extents": [
8
+ 1.896880030632019,
9
+ 0.963010736982972,
10
+ 0.4747685812316646
11
+ ],
12
+ "grasp_pose1": [
13
+ [
14
+ 0.0007963267107332633,
15
+ -0.9999993658637698,
16
+ 0.0007963264582434141,
17
+ -0.63
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+ ],
19
+ [
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+ 0.0,
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+ 0.9999996829318346,
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+ 0.34
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+ ],
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+ [
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+ -0.0007963264582434141,
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+ 6.341362302272584e-07,
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+ 0.0
30
+ ],
31
+ [
32
+ 0.0,
33
+ 0.0,
34
+ 0.0,
35
+ 1.0
36
+ ]
37
+ ],
38
+ "grasp_pose2": [
39
+ [
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+ 0.0007963267107332633,
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+ -0.9999993658637698,
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+ 0.0007963264582434141,
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+ -0.36
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+ ],
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+ [
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+ 0.34
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+ ],
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+ [
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+ -0.0007963264582434141,
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+ 6.341362302272584e-07,
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+ 0.0
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+ ],
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+ [
58
+ 0.0,
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+ 0.0,
60
+ 0.0,
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+ 1.0
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+ ]
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+ ],
64
+ "grasp_pose3": [
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+ [
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+ 0.0007963267107332633,
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+ -0.9999993658637698,
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+ 0.0007963264582434141,
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+ -0.115
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+ ],
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+ ],
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+ [
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+ 6.341362302272584e-07,
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+ 0.0
82
+ ],
83
+ [
84
+ 0.0,
85
+ 0.0,
86
+ 0.0,
87
+ 1.0
88
+ ]
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+ ],
90
+ "grasp_pose4": [
91
+ [
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+ 0.0007963267107332633,
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+ -0.9999993658637698,
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+ 0.0007963264582434141,
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+ 0.12499999999999999
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+ 0.9999996829318346,
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+ 0.34
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+ ],
103
+ [
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+ -0.9999996829318346,
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+ -0.0007963264582434141,
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+ 6.341362302272584e-07,
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+ 0.0
108
+ ],
109
+ [
110
+ 0.0,
111
+ 0.0,
112
+ 0.0,
113
+ 1.0
114
+ ]
115
+ ],
116
+ "grasp_pose5": [
117
+ [
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+ 0.0007963267107332633,
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+ -0.9999993658637698,
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+ 0.0007963264582434141,
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+ 0.365
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+ ],
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+ [
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+ 0.0,
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+ 0.0007963267107332633,
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+ 0.9999996829318346,
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+ 0.34
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+ ],
129
+ [
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+ -0.9999996829318346,
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+ -0.0007963264582434141,
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+ 6.341362302272584e-07,
133
+ 0.0
134
+ ],
135
+ [
136
+ 0.0,
137
+ 0.0,
138
+ 0.0,
139
+ 1.0
140
+ ]
141
+ ],
142
+ "grasp_pose6": [
143
+ [
144
+ 0.0007963267107332633,
145
+ -0.9999993658637698,
146
+ 0.0007963264582434141,
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+ 0.615
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+ ],
149
+ [
150
+ 0.0,
151
+ 0.0007963267107332633,
152
+ 0.9999996829318346,
153
+ 0.34
154
+ ],
155
+ [
156
+ -0.9999996829318346,
157
+ -0.0007963264582434141,
158
+ 6.341362302272584e-07,
159
+ 0.0
160
+ ],
161
+ [
162
+ 0.0,
163
+ 0.0,
164
+ 0.0,
165
+ 1.0
166
+ ]
167
+ ],
168
+ "scale": 0.12
169
+ }
objects/036_cabinet_bac/bounding_box.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"min": [-0.428321, -0.803259, -0.43335], "max": [0.426016, 0.811236, 0.465483]}
objects/036_cabinet_bac/meta.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"model_id": "68446c00eeed26264c3aee8e9d3a6ffa", "anno_id": "46653", "user_id": "face++luoxianfu", "time_in_sec": "612", "version": "4", "model_cat": "StorageFurniture"}
objects/036_cabinet_bac/mobility.urdf ADDED
@@ -0,0 +1,607 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" ?>
2
+ <robot name="partnet_68446c00eeed26264c3aee8e9d3a6ffa">
3
+ <link name="base"/>
4
+ <link name="link_0">
5
+ <visual name="vertical_side_panel-32">
6
+ <origin xyz="0 0 0"/>
7
+ <geometry>
8
+ <mesh filename="textured_objs/original-7.obj"/>
9
+ </geometry>
10
+ </visual>
11
+ <visual name="vertical_side_panel-32">
12
+ <origin xyz="0 0 0"/>
13
+ <geometry>
14
+ <mesh filename="textured_objs/original-6.obj"/>
15
+ </geometry>
16
+ </visual>
17
+ <visual name="vertical_side_panel-33">
18
+ <origin xyz="0 0 0"/>
19
+ <geometry>
20
+ <mesh filename="textured_objs/original-4.obj"/>
21
+ </geometry>
22
+ </visual>
23
+ <visual name="vertical_side_panel-33">
24
+ <origin xyz="0 0 0"/>
25
+ <geometry>
26
+ <mesh filename="textured_objs/original-3.obj"/>
27
+ </geometry>
28
+ </visual>
29
+ <visual name="back_panel-34">
30
+ <origin xyz="0 0 0"/>
31
+ <geometry>
32
+ <mesh filename="textured_objs/original-15.obj"/>
33
+ </geometry>
34
+ </visual>
35
+ <visual name="bottom_panel-35">
36
+ <origin xyz="0 0 0"/>
37
+ <geometry>
38
+ <mesh filename="textured_objs/original-10.obj"/>
39
+ </geometry>
40
+ </visual>
41
+ <visual name="bottom_panel-35">
42
+ <origin xyz="0 0 0"/>
43
+ <geometry>
44
+ <mesh filename="textured_objs/original-9.obj"/>
45
+ </geometry>
46
+ </visual>
47
+ <visual name="top_panel-36">
48
+ <origin xyz="0 0 0"/>
49
+ <geometry>
50
+ <mesh filename="textured_objs/original-13.obj"/>
51
+ </geometry>
52
+ <!-- <material name="black">
53
+ <color rgba="0.960784 0.87058824 0.70196078 0.98" />
54
+ <specular rgba="1 1 1 1" /> 添加这行来增加反射光效果
55
+ <shininess value="50.0" /> 添加这行来调整光泽度
56
+ </material> -->
57
+ </visual>
58
+ <visual name="top_panel-36">
59
+ <origin xyz="0 0 0"/>
60
+ <geometry>
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+ <mesh filename="textured_objs/original-12.obj"/>
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+ </geometry>
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+ </visual>
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+ <visual name="frame_horizontal_bar-37">
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+ <origin xyz="0 0 0"/>
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+ <geometry>
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+ <mesh filename="textured_objs/original-14.obj"/>
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+ </visual>
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+ <visual name="frame_horizontal_bar-38">
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+ <origin xyz="0 0 0"/>
72
+ <geometry>
73
+ <mesh filename="textured_objs/original-16.obj"/>
74
+ </geometry>
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+ </visual>
76
+ <collision>
77
+ <origin xyz="0 0 0"/>
78
+ <geometry>
79
+ <mesh filename="textured_objs/original-7.obj"/>
80
+ </geometry>
81
+ </collision>
82
+ <collision>
83
+ <origin xyz="0 0 0"/>
84
+ <geometry>
85
+ <mesh filename="textured_objs/original-6.obj"/>
86
+ </geometry>
87
+ </collision>
88
+ <collision>
89
+ <origin xyz="0 0 0"/>
90
+ <geometry>
91
+ <mesh filename="textured_objs/original-4.obj"/>
92
+ </geometry>
93
+ </collision>
94
+ <collision>
95
+ <origin xyz="0 0 0"/>
96
+ <geometry>
97
+ <mesh filename="textured_objs/original-3.obj"/>
98
+ </geometry>
99
+ </collision>
100
+ <collision>
101
+ <origin xyz="0 0 0"/>
102
+ <geometry>
103
+ <mesh filename="textured_objs/original-15.obj"/>
104
+ </geometry>
105
+ </collision>
106
+ <collision>
107
+ <origin xyz="0 0 0"/>
108
+ <geometry>
109
+ <mesh filename="textured_objs/original-10.obj"/>
110
+ </geometry>
111
+ </collision>
112
+ <collision>
113
+ <origin xyz="0 0 0"/>
114
+ <geometry>
115
+ <mesh filename="textured_objs/original-9.obj"/>
116
+ </geometry>
117
+ </collision>
118
+ <collision>
119
+ <origin xyz="0 0 0"/>
120
+ <geometry>
121
+ <mesh filename="textured_objs/original-13.obj"/>
122
+ </geometry>
123
+ </collision>
124
+ <collision>
125
+ <origin xyz="0 0 0"/>
126
+ <geometry>
127
+ <mesh filename="textured_objs/original-12.obj"/>
128
+ </geometry>
129
+ </collision>
130
+ <collision>
131
+ <origin xyz="0 0 0"/>
132
+ <geometry>
133
+ <mesh filename="textured_objs/original-14.obj"/>
134
+ </geometry>
135
+ </collision>
136
+ <collision>
137
+ <origin xyz="0 0 0"/>
138
+ <geometry>
139
+ <mesh filename="textured_objs/original-16.obj"/>
140
+ </geometry>
141
+ </collision>
142
+ </link>
143
+ <joint name="joint_0" type="fixed">
144
+ <origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
145
+ <child link="link_0"/>
146
+ <parent link="base"/>
147
+ </joint>
148
+ <link name="link_1">
149
+ <visual name="drawer_front-25">
150
+ <origin xyz="0 0 0"/>
151
+ <geometry>
152
+ <mesh filename="textured_objs/original-18.obj"/>
153
+ </geometry>
154
+ </visual>
155
+ <visual name="drawer_front-25">
156
+ <origin xyz="0 0 0"/>
157
+ <geometry>
158
+ <mesh filename="textured_objs/original-25.obj"/>
159
+ </geometry>
160
+ </visual>
161
+ <visual name="drawer_side-26">
162
+ <origin xyz="0 0 0"/>
163
+ <geometry>
164
+ <mesh filename="textured_objs/original-23.obj"/>
165
+ </geometry>
166
+ </visual>
167
+ <visual name="drawer_side-27">
168
+ <origin xyz="0 0 0"/>
169
+ <geometry>
170
+ <mesh filename="textured_objs/original-24.obj"/>
171
+ </geometry>
172
+ </visual>
173
+ <visual name="drawer_back-28">
174
+ <origin xyz="0 0 0"/>
175
+ <geometry>
176
+ <mesh filename="textured_objs/original-26.obj"/>
177
+ </geometry>
178
+ </visual>
179
+ <visual name="drawer_bottom-29">
180
+ <origin xyz="0 0 0"/>
181
+ <geometry>
182
+ <mesh filename="textured_objs/original-21.obj"/>
183
+ </geometry>
184
+ </visual>
185
+ <visual name="drawer_bottom-29">
186
+ <origin xyz="0 0 0"/>
187
+ <geometry>
188
+ <mesh filename="textured_objs/original-22.obj"/>
189
+ </geometry>
190
+ </visual>
191
+ <visual name="handle-24">
192
+ <origin xyz="0 0 0"/>
193
+ <geometry>
194
+ <mesh filename="textured_objs/original-30.obj"/>
195
+ </geometry>
196
+ </visual>
197
+ <visual name="handle-24">
198
+ <origin xyz="0 0 0"/>
199
+ <geometry>
200
+ <mesh filename="textured_objs/original-32.obj"/>
201
+ </geometry>
202
+ </visual>
203
+ <visual name="handle-24">
204
+ <origin xyz="0 0 0"/>
205
+ <geometry>
206
+ <mesh filename="textured_objs/original-31.obj"/>
207
+ </geometry>
208
+ </visual>
209
+ <visual name="drawer_rails-30">
210
+ <origin xyz="0 0 0"/>
211
+ <geometry>
212
+ <mesh filename="textured_objs/original-27.obj"/>
213
+ </geometry>
214
+ </visual>
215
+ <visual name="drawer_rails-31">
216
+ <origin xyz="0 0 0"/>
217
+ <geometry>
218
+ <mesh filename="textured_objs/original-28.obj"/>
219
+ </geometry>
220
+ </visual>
221
+ <collision>
222
+ <origin xyz="0 0 0"/>
223
+ <geometry>
224
+ <mesh filename="textured_objs/original-18.obj"/>
225
+ </geometry>
226
+ </collision>
227
+ <collision>
228
+ <origin xyz="0 0 0"/>
229
+ <geometry>
230
+ <mesh filename="textured_objs/original-25.obj"/>
231
+ </geometry>
232
+ </collision>
233
+ <collision>
234
+ <origin xyz="0 0 0"/>
235
+ <geometry>
236
+ <mesh filename="textured_objs/original-23.obj"/>
237
+ </geometry>
238
+ </collision>
239
+ <collision>
240
+ <origin xyz="0 0 0"/>
241
+ <geometry>
242
+ <mesh filename="textured_objs/original-24.obj"/>
243
+ </geometry>
244
+ </collision>
245
+ <collision>
246
+ <origin xyz="0 0 0"/>
247
+ <geometry>
248
+ <mesh filename="textured_objs/original-26.obj"/>
249
+ </geometry>
250
+ </collision>
251
+ <collision>
252
+ <origin xyz="0 0 0"/>
253
+ <geometry>
254
+ <mesh filename="textured_objs/original-21.obj"/>
255
+ </geometry>
256
+ </collision>
257
+ <collision>
258
+ <origin xyz="0 0 0"/>
259
+ <geometry>
260
+ <mesh filename="textured_objs/original-22.obj"/>
261
+ </geometry>
262
+ </collision>
263
+ <collision>
264
+ <origin xyz="0 0 0"/>
265
+ <geometry>
266
+ <mesh filename="textured_objs/original-30.obj"/>
267
+ </geometry>
268
+ </collision>
269
+ <collision>
270
+ <origin xyz="0 0 0"/>
271
+ <geometry>
272
+ <mesh filename="textured_objs/original-32.obj"/>
273
+ </geometry>
274
+ </collision>
275
+ <collision>
276
+ <origin xyz="0 0 0"/>
277
+ <geometry>
278
+ <mesh filename="textured_objs/original-31.obj"/>
279
+ </geometry>
280
+ </collision>
281
+ <collision>
282
+ <origin xyz="0 0 0"/>
283
+ <geometry>
284
+ <mesh filename="textured_objs/original-27.obj"/>
285
+ </geometry>
286
+ </collision>
287
+ <collision>
288
+ <origin xyz="0 0 0"/>
289
+ <geometry>
290
+ <mesh filename="textured_objs/original-28.obj"/>
291
+ </geometry>
292
+ </collision>
293
+ </link>
294
+ <joint name="joint_1" type="prismatic">
295
+ <origin xyz="0 0 0"/>
296
+ <axis xyz="0 0 1"/>
297
+ <child link="link_1"/>
298
+ <parent link="link_0"/>
299
+ <limit lower="0" upper="0.6600000000000001"/>
300
+ </joint>
301
+ <link name="link_2">
302
+ <visual name="drawer_front-16">
303
+ <origin xyz="0 0 0"/>
304
+ <geometry>
305
+ <mesh filename="textured_objs/original-34.obj"/>
306
+ </geometry>
307
+ </visual>
308
+ <visual name="drawer_front-16">
309
+ <origin xyz="0 0 0"/>
310
+ <geometry>
311
+ <mesh filename="textured_objs/original-41.obj"/>
312
+ </geometry>
313
+ </visual>
314
+ <visual name="drawer_side-17">
315
+ <origin xyz="0 0 0"/>
316
+ <geometry>
317
+ <mesh filename="textured_objs/original-40.obj"/>
318
+ </geometry>
319
+ </visual>
320
+ <visual name="drawer_side-18">
321
+ <origin xyz="0 0 0"/>
322
+ <geometry>
323
+ <mesh filename="textured_objs/original-39.obj"/>
324
+ </geometry>
325
+ </visual>
326
+ <visual name="drawer_back-19">
327
+ <origin xyz="0 0 0"/>
328
+ <geometry>
329
+ <mesh filename="textured_objs/original-42.obj"/>
330
+ </geometry>
331
+ </visual>
332
+ <visual name="drawer_bottom-20">
333
+ <origin xyz="0 0 0"/>
334
+ <geometry>
335
+ <mesh filename="textured_objs/original-37.obj"/>
336
+ </geometry>
337
+ </visual>
338
+ <visual name="drawer_bottom-20">
339
+ <origin xyz="0 0 0"/>
340
+ <geometry>
341
+ <mesh filename="textured_objs/original-38.obj"/>
342
+ </geometry>
343
+ </visual>
344
+ <visual name="handle-15">
345
+ <origin xyz="0 0 0"/>
346
+ <geometry>
347
+ <mesh filename="textured_objs/original-47.obj"/>
348
+ </geometry>
349
+ </visual>
350
+ <visual name="handle-15">
351
+ <origin xyz="0 0 0"/>
352
+ <geometry>
353
+ <mesh filename="textured_objs/original-46.obj"/>
354
+ </geometry>
355
+ </visual>
356
+ <visual name="handle-15">
357
+ <origin xyz="0 0 0"/>
358
+ <geometry>
359
+ <mesh filename="textured_objs/original-48.obj"/>
360
+ </geometry>
361
+ </visual>
362
+ <visual name="drawer_rails-21">
363
+ <origin xyz="0 0 0"/>
364
+ <geometry>
365
+ <mesh filename="textured_objs/original-43.obj"/>
366
+ </geometry>
367
+ </visual>
368
+ <visual name="drawer_rails-22">
369
+ <origin xyz="0 0 0"/>
370
+ <geometry>
371
+ <mesh filename="textured_objs/original-44.obj"/>
372
+ </geometry>
373
+ </visual>
374
+ <collision>
375
+ <origin xyz="0 0 0"/>
376
+ <geometry>
377
+ <mesh filename="textured_objs/original-34.obj"/>
378
+ </geometry>
379
+ </collision>
380
+ <collision>
381
+ <origin xyz="0 0 0"/>
382
+ <geometry>
383
+ <mesh filename="textured_objs/original-41.obj"/>
384
+ </geometry>
385
+ </collision>
386
+ <collision>
387
+ <origin xyz="0 0 0"/>
388
+ <geometry>
389
+ <mesh filename="textured_objs/original-40.obj"/>
390
+ </geometry>
391
+ </collision>
392
+ <collision>
393
+ <origin xyz="0 0 0"/>
394
+ <geometry>
395
+ <mesh filename="textured_objs/original-39.obj"/>
396
+ </geometry>
397
+ </collision>
398
+ <collision>
399
+ <origin xyz="0 0 0"/>
400
+ <geometry>
401
+ <mesh filename="textured_objs/original-42.obj"/>
402
+ </geometry>
403
+ </collision>
404
+ <collision>
405
+ <origin xyz="0 0 0"/>
406
+ <geometry>
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409
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+ <collision>
411
+ <origin xyz="0 0 0"/>
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+ <geometry>
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+ <mesh filename="textured_objs/original-38.obj"/>
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415
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416
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+ <geometry>
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+ <geometry>
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+ <collision>
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+ <origin xyz="0 0 0"/>
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+ </link>
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+ <joint name="joint_2" type="prismatic">
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+ <origin xyz="0 0 0"/>
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+ <child link="link_2"/>
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+ <parent link="link_0"/>
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+ <limit lower="0" upper="0.6600000000000001"/>
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+ <link name="link_3">
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+ <visual name="drawer_front-8">
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+ <origin xyz="0 0 0"/>
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+ <geometry>
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+ <mesh filename="textured_objs/original-57.obj"/>
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+ <visual name="drawer_front-8">
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+ <origin xyz="0 0 0"/>
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+ <mesh filename="textured_objs/original-50.obj"/>
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+ <visual name="drawer_side-9">
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+ <origin xyz="0 0 0"/>
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+ <geometry>
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+ <mesh filename="textured_objs/original-55.obj"/>
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+ <visual name="drawer_side-9">
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+ <origin xyz="0 0 0"/>
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+ <visual name="drawer_side-10">
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+ <origin xyz="0 0 0"/>
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+ <geometry>
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+ <mesh filename="textured_objs/original-56.obj"/>
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+ <visual name="drawer_back-11">
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+ <origin xyz="0 0 0"/>
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+ <visual name="drawer_bottom-12">
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+ <origin xyz="0 0 0"/>
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+ <mesh filename="textured_objs/original-54.obj"/>
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+ <visual name="handle-7">
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+ <origin xyz="0 0 0"/>
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+ <geometry>
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+ </visual>
509
+ <visual name="handle-7">
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+ <origin xyz="0 0 0"/>
511
+ <geometry>
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+ <mesh filename="textured_objs/original-64.obj"/>
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+ </visual>
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+ <visual name="handle-7">
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+ <origin xyz="0 0 0"/>
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+ <geometry>
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+ <mesh filename="textured_objs/original-63.obj"/>
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+ <visual name="drawer_rails-13">
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+ <origin xyz="0 0 0"/>
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+ <geometry>
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+ <mesh filename="textured_objs/original-59.obj"/>
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+ <mesh filename="textured_objs/original-50.obj"/>
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+ <limit lower="0" upper="0.6600000000000001"/>
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+ </joint>
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+ </robot>
objects/036_cabinet_bac/mobility_v2.json ADDED
@@ -0,0 +1 @@
 
 
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_bac/model_data.json ADDED
@@ -0,0 +1,295 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {
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+ "center": [
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+ 0.33824649999999995,
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+ 0.7417460000000001,
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+ 0.4398975
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+ ],
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+ "extents": [
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+ 0.07119500000000001,
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+ 0.016928000000000054,
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+ 0.051170999999999967
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+ ],
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+ "scale": [
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+ 0.27,
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+ 0.27,
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+ 0.27
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+ ],
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+ "target_pose": [
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+ [
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+ [
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+ 0.0,
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+ -0.8
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+ [
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+ [
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+ [
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+ 0.0,
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+ ]
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+ ]
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+ ],
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+ "contact_points_pose": [
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+ [
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+ [
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+ 0.0,
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+ -6.123233995736766e-17,
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+ [
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+ [
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+ 1.0,
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+ -0.33
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+ [
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+ 0.0,
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+ ]
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+ ],
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+ [
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+ [
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+ -6.123233995736766e-17,
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+ -0.59
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+ ],
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+ [
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+ -1.0,
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+ -7.498798913309288e-33,
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+ 1.2246467991473532e-16,
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+ 0.0
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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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+ -6.123233995736766e-17,
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+ -0.59
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+ ],
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+ [
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+ -1.0,
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+ -7.498798913309288e-33,
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+ 1.2246467991473532e-16,
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+ 0.2
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+ ],
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+ [
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+ 6.123233995736766e-17,
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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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+ -6.123233995736766e-17,
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+ -0.33
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+ ],
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+ [
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+ 0.0,
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+ 0.0,
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+ 0.0,
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+ 1.0
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+ ]
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+ ],
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+ [
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+ [
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+ -1.0,
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+ -6.123233995736766e-17,
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+ -0.59
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+ ],
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+ [
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+ -1.0,
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+ -7.498798913309288e-33,
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+ 1.2246467991473532e-16,
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+ -0.2
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+ ],
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+ [
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+ -1.2246467991473532e-16,
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+ 6.123233995736766e-17,
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+ -1.0,
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+ -0.33
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+ ],
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+ [
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+ 0.0,
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+ 0.0,
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+ 0.0,
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+ 1.0
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+ ]
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+ ]
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+ ],
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+ "transform_matrix": [
204
+ [
205
+ 1.0,
206
+ 0.0,
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+ 0.0,
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+ 0.0
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+ ],
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+ [
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+ 0.0,
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+ 1.0,
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+ 0.0,
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+ 0.0
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+ ],
216
+ [
217
+ -0.0,
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+ 0.0,
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+ 1.0,
220
+ 0.0
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+ ],
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+ [
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+ 0.0,
224
+ 0.0,
225
+ 0.0,
226
+ 1.0
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+ ]
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+ ],
229
+ "functional_matrix": [
230
+ [
231
+ [
232
+ 0.0,
233
+ 1.0,
234
+ -6.123233995736766e-17,
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+ -0.8
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+ ],
237
+ [
238
+ 1.0,
239
+ 0.0,
240
+ 0.0,
241
+ -0.2
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+ ],
243
+ [
244
+ 0.0,
245
+ -6.123233995736766e-17,
246
+ -1.0,
247
+ -0.4
248
+ ],
249
+ [
250
+ 0.0,
251
+ 0.0,
252
+ 0.0,
253
+ 1.0
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+ ]
255
+ ]
256
+ ],
257
+ "orientation_point": [],
258
+ "contact_points_group": [
259
+ [
260
+ 0,
261
+ 1
262
+ ],
263
+ [
264
+ 2,
265
+ 3
266
+ ],
267
+ [
268
+ 4,
269
+ 5
270
+ ]
271
+ ],
272
+ "contact_points_mask": [
273
+ true,
274
+ true,
275
+ true
276
+ ],
277
+ "contact_points_discription": [
278
+ "Handle center grip position for cabinet",
279
+ "Handle center grip position for cabinet",
280
+ "Handle left grip position for cabinet",
281
+ "Handle left grip position for cabinet",
282
+ "Handle right grip position for cabinet",
283
+ "Handle right grip position for cabinet"
284
+ ],
285
+ "target_point_discription": [
286
+ "The center of the cabinet."
287
+ ],
288
+ "functional_point_discription": [
289
+ "Point0: Points where objects are placed inside the cabinet"
290
+ ],
291
+ "orientation_point_discription": [
292
+ ""
293
+ ],
294
+ "model_type": "urdf"
295
+ }
objects/036_cabinet_bac/models.py ADDED
@@ -0,0 +1,129 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ import trimesh
2
+ import json
3
+ import numpy as np
4
+
5
+
6
+ PI = np.pi
7
+ URDF_MATRIX = np.array([[0,0,-1,0],[1,0,0,0],[0,-1,0,0],[0,0,0,1]])
8
+
9
+ def create_model_data(id):
10
+ save_path = f"./model_data{id}.json"
11
+
12
+ # with open(save_path, 'r') as json_file:
13
+ # data = json.load(json_file)
14
+
15
+ scene = trimesh.Scene()
16
+ id_lst = [3,4,6,7,9,10,12,13,14,15,16,18,21,22,23,24,25,26,27,28,30,31,32,34,37,38,39,40,41,42,43,44,46,47,48,50,53,54,55,56,57,58,59,60,62,63,64]
17
+
18
+ for id in id_lst:
19
+ file_path = f"./textured_objs/original-{id}.obj"
20
+ with open(file_path, 'rb') as file_obj:
21
+ mesh = trimesh.load(file_obj, file_type='obj')
22
+ scene.add_geometry(mesh)
23
+
24
+ # file_path = f"./textured_objs/original-21.obj"
25
+ # with open(file_path, 'rb') as file_obj:
26
+ # mesh = trimesh.load(file_obj, file_type='obj')
27
+ # scene.add_geometry(mesh)
28
+
29
+ # file_path = f"./textured_objs/original-22.obj"
30
+ # with open(file_path, 'rb') as file_obj:
31
+ # mesh = trimesh.load(file_obj, file_type='obj')
32
+ # scene.add_geometry(mesh)
33
+
34
+ oriented_bounding_box = mesh.bounding_box_oriented
35
+ red_color = [1.0, 0.0, 0.0, 0.5] # 红色, A=1 表示不透明
36
+
37
+ scale = [0.25] * 3
38
+
39
+ target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.01)
40
+ target_trans_matrix_sphere = URDF_MATRIX @ trimesh.transformations.translation_matrix([-0.2,0.4,0.8])
41
+
42
+ target_sphere.apply_transform(target_trans_matrix_sphere)
43
+ target_sphere.visual.vertex_colors = np.array([red_color] * len(target_sphere.vertices))
44
+ target_points_list = [target_trans_matrix_sphere.tolist()]
45
+
46
+ # # 可视化网格和坐标轴
47
+ scene.add_geometry(target_sphere)
48
+
49
+ contact_points_list = []
50
+ contact_point_discription_list = []
51
+ orientation_point_list = []
52
+ functional_matrix = []
53
+
54
+ def add_contact_point(point_radius, pose:list, euler:list, discription: str):
55
+ contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=point_radius)
56
+ contact_trans_matrix_sphere = URDF_MATRIX @ trimesh.transformations.translation_matrix(pose) @ trimesh.transformations.euler_matrix(euler[0], euler[1], euler[2])
57
+ contact_sphere.apply_transform(contact_trans_matrix_sphere)
58
+ contact_sphere.visual.vertex_colors = np.array([red_color] * len(contact_sphere.vertices))
59
+ contact_points_list.append(contact_trans_matrix_sphere.tolist())
60
+
61
+ axis = trimesh.creation.axis(axis_length=0.6,origin_size= 0.01)
62
+ axis.apply_transform(contact_trans_matrix_sphere)
63
+ scene.add_geometry(axis)
64
+ scene.add_geometry(contact_sphere)
65
+ contact_point_discription_list.append(discription)
66
+
67
+ # old
68
+ add_contact_point(0.02, [0, 0.33, 0.59], [PI/2, 0, 0], "Handle center grip position for cabinet")
69
+ add_contact_point(0.02, [0, 0.33, 0.59], [PI/2, 0, PI], "Handle center grip position for cabinet")
70
+ add_contact_point(0.02, [0.2, 0.33, 0.59], [PI/2, 0, 0], "Handle left grip position for cabinet")
71
+ add_contact_point(0.02, [0.2, 0.33, 0.59], [PI/2, 0, PI], "Handle left grip position for cabinet")
72
+ add_contact_point(0.02, [-0.2, 0.33, 0.59], [PI/2, 0, 0], "Handle right grip position for cabinet")
73
+ add_contact_point(0.02, [-0.2, 0.33, 0.59], [PI/2, 0, PI], "Handle right grip position for cabinet")
74
+
75
+
76
+ # 旋转矩阵的参数顺序是 (X, Y, Z) to endpose axis
77
+ transform_matrix = trimesh.transformations.euler_matrix(0,0,0)
78
+ transform_matrix = transform_matrix.tolist()
79
+
80
+ # 方向点
81
+ # orientation_point = trimesh.creation.icosphere(subdivisions=2, radius=0.1)
82
+ # orientation_point_sphere = trimesh.transformations.translation_matrix([0,oriented_bounding_box.extents[1]/2,0])
83
+ # orientation_point.apply_transform(orientation_point_sphere)
84
+ # orientation_point.visual.vertex_colors = np.array([red_color] * len(orientation_point.vertices))
85
+ # orientation_point_list = orientation_point_sphere.tolist()
86
+ # scene.add_geometry(orientation_point)
87
+
88
+ # axis1
89
+ axis1 = trimesh.creation.axis(axis_length=2)
90
+ axis1.apply_transform(transform_matrix)
91
+
92
+ functional_sphere = trimesh.creation.icosphere(subdivisions=0.7, radius=0.01)
93
+ functional_trans_matrix_sphere = URDF_MATRIX @ trimesh.transformations.translation_matrix([-0.2,0.4,0.8]) @ trimesh.transformations.euler_matrix(-PI/2,0,0)
94
+ functional_sphere.apply_transform(functional_trans_matrix_sphere)
95
+ functional_sphere.visual.vertex_colors = np.array([red_color] * len(functional_sphere.vertices))
96
+ functional_matrix = functional_trans_matrix_sphere.tolist()
97
+ axis = trimesh.creation.axis(axis_length=1.5)
98
+ axis.apply_transform(functional_trans_matrix_sphere)
99
+ scene.add_geometry(axis)
100
+ scene.add_geometry(functional_sphere)
101
+
102
+ data = {
103
+ 'center': oriented_bounding_box.centroid.tolist(), # 中心点
104
+ 'extents': oriented_bounding_box.extents.tolist(), # 尺寸
105
+ 'scale': scale, # 缩放
106
+ 'target_pose': target_points_list, # 目标点矩阵
107
+ 'contact_points_pose' : contact_points_list, # 抓取点矩阵（多个）
108
+ 'transform_matrix': transform_matrix, # 模型到标轴的旋转矩阵
109
+ "functional_matrix": [functional_matrix], # 功能点矩阵
110
+ 'orientation_point': orientation_point_list,
111
+ 'contact_points_group': [[0,1],[2,3],[4,5]],
112
+ 'contact_points_mask': [True, True, True],
113
+ 'contact_points_discription': contact_point_discription_list, # 抓取点描述
114
+ 'target_point_discription': ["The center of the cabinet."], # 目标点描述
115
+ 'functional_point_discription': ["Point0: Points where objects are placed inside the cabinet"],
116
+ 'orientation_point_discription': [""],
117
+ "model_type": "urdf"
118
+ }
119
+ with open(save_path, 'w') as json_file:
120
+ json.dump(data, json_file, indent=4, separators=(',', ': '))
121
+
122
+ # 将坐标轴添加到场景
123
+ # axis = trimesh.creation.axis(axis_length=1.5,origin_size= 0.05)
124
+ scene.add_geometry(axis1)
125
+ scene.show()
126
+
127
+ if __name__ == "__main__":
128
+ id = ""
129
+ create_model_data(id)
objects/036_cabinet_bac/result.json ADDED
@@ -0,0 +1 @@
 
 
1
+ [{"text": "Storage Furniture", "children": [{"text": "Cabinet", "children": [{"text": "Cabinet frame", "children": [{"text": "Vertical side panel", "objs": ["original-7", "original-6"], "id": 32, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-4", "original-3"], "id": 33, "name": "vertical_side_panel"}, {"text": "Back panel", "objs": ["original-15"], "id": 34, "name": "back_panel"}, {"text": "Bottom panel", "objs": ["original-10", "original-9"], "id": 35, "name": "bottom_panel"}, {"text": "Top panel", "objs": ["original-13", "original-12"], "id": 36, "name": "top_panel"}, {"text": "Horizontal support bar", "objs": ["original-14"], "id": 37, "name": "frame_horizontal_bar"}, {"text": "Horizontal support bar", "objs": ["original-16"], "id": 38, "name": "frame_horizontal_bar"}], "id": 2, "name": "cabinet_frame"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-18", "original-25"], "id": 25, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-23"], "id": 26, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-24"], "id": 27, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-26"], "id": 28, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-21", "original-22"], "id": 29, "name": "drawer_bottom"}], "id": 23, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-30", "original-32", "original-31"], "id": 24, "name": "handle"}, {"text": "Drawer rails", "objs": ["original-27"], "id": 30, "name": "drawer_rails"}, {"text": "Drawer rails", "objs": ["original-28"], "id": 31, "name": "drawer_rails"}], "id": 3, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-34", "original-41"], "id": 16, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-40"], "id": 17, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-39"], "id": 18, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-42"], "id": 19, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-37", "original-38"], "id": 20, "name": "drawer_bottom"}], "id": 14, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-47", "original-46", "original-48"], "id": 15, "name": "handle"}, {"text": "Drawer rails", "objs": ["original-43"], "id": 21, "name": "drawer_rails"}, {"text": "Drawer rails", "objs": ["original-44"], "id": 22, "name": "drawer_rails"}], "id": 4, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-57", "original-50"], "id": 8, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-55", "original-60"], "id": 9, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-56"], "id": 10, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-58"], "id": 11, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-53", "original-54"], "id": 12, "name": "drawer_bottom"}], "id": 6, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-62", "original-64", "original-63"], "id": 7, "name": "handle"}, {"text": "Drawer rails", "objs": ["original-59"], "id": 13, "name": "drawer_rails"}], "id": 5, "name": "drawer"}], "id": 1, "name": "cabinet"}], "id": 0, "name": "storage_furniture"}]
objects/036_cabinet_bac/result_after_merging.json ADDED
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+ <table><tr><td><p>0 storage_furniture Storage Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 cabinet Cabinet</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 cabinet_frame Cabinet frame</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>3 drawer Drawer</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>4 drawer Drawer</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>5 drawer Drawer</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td></tr><tr><td><p>32 vertical_side_panel Vertical side panel</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 vertical_side_panel Vertical side panel</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 back_panel Back panel</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 bottom_panel Bottom panel</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 top_panel Top panel</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 frame_horizontal_bar Horizontal support bar</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 frame_horizontal_bar Horizontal support bar</p><a href="parts_render/38.png"><img src="parts_render/38.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>23 drawer_box Drawer box</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>24 handle Handle</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>30 drawer_rails Drawer rails</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 drawer_rails Drawer rails</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>14 drawer_box Drawer box</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>15 handle Handle</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td><p>21 drawer_rails Drawer rails</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 drawer_rails Drawer rails</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>6 drawer_box Drawer box</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>7 handle Handle</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>13 drawer_rails Drawer rails</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>25 drawer_front Drawer front</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 drawer_side Drawer side</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 drawer_side Drawer side</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 drawer_back Drawer back</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 drawer_bottom Drawer bottom</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>16 drawer_front Drawer front</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 drawer_side Drawer side</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 drawer_side Drawer side</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 drawer_back Drawer back</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 drawer_bottom Drawer bottom</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>8 drawer_front Drawer front</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 drawer_side Drawer side</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 drawer_side Drawer side</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 drawer_back Drawer back</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 drawer_bottom Drawer bottom</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td></tr></table></body></html>
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