Add files using upload-large-folder tool

assets/urdf/Kettle/101305/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.557643, -0.368836, -0.850167], "max": [0.584201, 0.525641, 0.986247]}

assets/urdf/Kettle/101305/grasp_poses.json

@@ -0,0 +1,70 @@
+{
+    "object_name": "101305",
+    "scale": 0.2,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.5,
+                        0.0,
+                        -0.8660200238227844,
+                        0.8069599866867065
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        0.8660200238227844,
+                        0.0,
+                        -0.5,
+                        0.10638999938964844
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        -0.08715999871492386,
+                        0.0,
+                        -0.9961900115013123,
+                        0.7124500274658203
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        0.9961900115013123,
+                        0.0,
+                        -0.08715999871492386,
+                        -0.10216999799013138
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Kettle/101305/meta.json

@@ -0,0 +1 @@
+{"user_id": "haozhu", "model_cat": "Kettle", "model_id": "13961f08fe5b4c549ef60e9225cbea3a", "version": "1", "anno_id": "1305", "time_in_sec": "15"}

assets/urdf/Kettle/101305/mobility.urdf

@@ -0,0 +1,68 @@
+<?xml version="1.0" ?>
+<robot name="partnet_13961f08fe5b4c549ef60e9225cbea3a">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.03200000000000003"/>
+	</joint>
+	<link name="link_1">
+		<visual name="handle-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>

assets/urdf/Kettle/101305/mobility_v2.json

@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":1,"name":"lid"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.03200000000000003,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":2,"name":"handle"},{"id":3,"name":"base_body"}],"jointData":{}}]

assets/urdf/Kettle/101305/model_data.json

@@ -0,0 +1,96 @@
+{
+    "scale": 0.2,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "init_qpos": [],
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.5,
+                        0.0,
+                        -0.8660200238227844,
+                        0.8069599866867065
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        0.8660200238227844,
+                        0.0,
+                        -0.5,
+                        0.10638999938964844
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        -0.08715999871492386,
+                        0.0,
+                        -0.9961900115013123,
+                        0.7124500274658203
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
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+                        0.0,
+                        -0.08715999871492386,
+                        -0.10216999799013138
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Kettle/101305/result.json

@@ -0,0 +1 @@
+[{"text": "Kettle", "name": "Kettle", "id": 0, "children": [{"text": "lid", "name": "lid", "id": 1, "objs": ["original-4"]}, {"text": "handle", "name": "handle", "id": 2, "objs": ["original-2"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-3", "original-1"]}]}]

assets/urdf/Kettle/101305/result_original.json

@@ -0,0 +1 @@
+[{"id": 0, "name": "Kettle", "text": "Kettle", "children": [{"id": 1, "name": "lid", "text": "lid", "objs": ["original-4"]}, {"id": 2, "name": "handle", "text": "handle", "objs": ["original-2"]}]}]

assets/urdf/Kettle/101305/semantics.txt

@@ -0,0 +1,2 @@
+link_0 slider lid
+link_1 free kettle_body

assets/urdf/Kettle/101305/textured_objs/original-1.mtl

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

assets/urdf/Kettle/101305/textured_objs/original-2.mtl

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

assets/urdf/Kettle/101305/textured_objs/original-2.obj

@@ -0,0 +1,1845 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
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assets/urdf/Kettle/101305/textured_objs/original-3.mtl

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assets/urdf/Kettle/101305/textured_objs/original-3.obj

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assets/urdf/Kettle/101305/textured_objs/original-4.mtl

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

assets/urdf/Kettle/101313/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.538691, -0.269092, -0.547967], "max": [0.536297, 1.011364, 0.691336]}

assets/urdf/Kettle/101313/grasp_poses.json

@@ -0,0 +1,132 @@
+{
+    "object_name": "101313",
+    "scale": 0.2,
+    "grasp_parts": {
+        "handle": [
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+                "base": "base",
+                "description": ""
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+                "matrix": [
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+                "base": "base",
+                "description": ""
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+            {
+                "id": 2,
+                "matrix": [
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+                "base": "base",
+                "description": ""
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+            {
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+                "matrix": [
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+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Kettle/101313/meta.json

@@ -0,0 +1 @@
+{"user_id": "haozhu", "model_cat": "Kettle", "model_id": "3630022147222c39189226f9c63ba590", "version": "1", "anno_id": "1313", "time_in_sec": "14"}

assets/urdf/Kettle/101313/mobility.urdf

@@ -0,0 +1,92 @@
+<?xml version="1.0" ?>
+<robot name="partnet_3630022147222c39189226f9c63ba590">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.12400000000000011" upper="-0.1080000000000001"/>
+	</joint>
+	<link name="link_1">
+		<visual name="handle-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>

assets/urdf/Kettle/101313/mobility_v2.json

@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":1,"name":"lid"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":-0.12400000000000011,"b":-0.1080000000000001,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":2,"name":"handle"},{"id":3,"name":"base_body"}],"jointData":{}}]

assets/urdf/Kettle/101313/model_data.json

@@ -0,0 +1,158 @@
+{
+    "scale": 0.2,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
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+            0.0
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+        [
+            0.0,
+            0.0,
+            0.0,
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+    ],
+    "init_qpos": [],
+    "grasp_parts": {
+        "handle": [
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+                "matrix": [
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+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
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+                ],
+                "base": "base",
+                "description": ""
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+            {
+                "id": 2,
+                "matrix": [
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+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 3,
+                "matrix": [
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+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Kettle/101313/result.json

@@ -0,0 +1 @@
+[{"text": "Kettle", "name": "Kettle", "id": 0, "children": [{"text": "lid", "name": "lid", "id": 1, "objs": ["original-3"]}, {"text": "handle", "name": "handle", "id": 2, "objs": ["original-8", "original-7", "original-6"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-4", "original-2"]}]}]

assets/urdf/Kettle/101313/result_original.json

@@ -0,0 +1 @@
+[{"id": 0, "name": "Kettle", "text": "Kettle", "children": [{"id": 1, "name": "lid", "text": "lid", "objs": ["original-3"]}, {"id": 2, "name": "handle", "text": "handle", "objs": ["original-8", "original-7", "original-6"]}]}]

assets/urdf/Kettle/101313/semantics.txt

@@ -0,0 +1,2 @@
+link_0 slider lid
+link_1 free kettle_body

assets/urdf/Kettle/101313/textured_objs/original-2.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.23137254901960785 0.10980392156862745 0.0196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

assets/urdf/Kettle/101313/textured_objs/original-3.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.23137254901960785 0.10980392156862745 0.0196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

assets/urdf/Kettle/101313/textured_objs/original-4.mtl

@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.23137254901960785 0.10980392156862745 0.0196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

assets/urdf/Kettle/101313/textured_objs/original-4.obj

@@ -0,0 +1,584 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
+o teapot02_1/teapot02/mesh15/mesh15-geometry#mesh15-geometry
+v 0.009790 0.111773 0.681301
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+v 0.009723 0.111773 0.662511
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+v 0.001748 0.111773 0.690722
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