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assets/urdf/Camera/101362/textured_objs/original-10.obj

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assets/urdf/Camera/101362/textured_objs/original-17.obj

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assets/urdf/Camera/101362/textured_objs/original-5.obj

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assets/urdf/Camera/102403/bounding_box.json

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+{"min": [-0.719223, -0.521406, -0.325084], "max": [0.907691, 0.539528, 0.330586]}

assets/urdf/Camera/102403/grasp_poses.json

@@ -0,0 +1,70 @@
+{
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+}

assets/urdf/Camera/102403/meta.json

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+{"user_id": "kaichun", "model_cat": "Camera", "model_id": "317a7ea24e661ce3bfc146552c7aa5d2", "version": "2", "anno_id": "2403", "time_in_sec": "161"}

assets/urdf/Camera/102403/mobility.urdf

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+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.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-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-99.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-98.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-102.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.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-105.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-101.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-84.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-94.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-97.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_6"/>
+		<parent link="base"/>
+	</joint>
+</robot>

assets/urdf/Camera/102403/mobility_v2.json

@@ -0,0 +1 @@
+[{"id": 0, "parent": 6, "joint": "slider", "name": "button", "parts": [{"id": 1, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0.0040000000000000036, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 1, "parent": 6, "joint": "slider", "name": "button", "parts": [{"id": 2, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0.016000000000000014, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 2, "parent": 6, "joint": "slider", "name": "button", "parts": [{"id": 3, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0.008000000000000007, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 3, "parent": 6, "joint": "slider", "name": "button", "parts": [{"id": 4, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0.004000000000000007, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 4, "parent": 6, "joint": "slider", "name": "button", "parts": [{"id": 5, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0.0040000000000000036, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 5, "parent": 6, "joint": "slider", "name": "button", "parts": [{"id": 6, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": -0.016000000000000014, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 6, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 7, "name": "base_body", "children": []}], "jointData": {}}]

assets/urdf/Camera/102403/model_data.json

@@ -0,0 +1,96 @@
+{
+    "scale": 0.1,
+    "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": {
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
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+                        -0.9998900294303894,
+                        -0.015130000188946724,
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+                        0.9961900115013123,
+                        -0.953279972076416
+                    ],
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+                        -0.0006500000017695129,
+                        0.08583000302314758,
+                        0.016009999439120293
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        -0.0,
+                        -1.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        -0.0,
+                        -0.0,
+                        -1.0,
+                        0.800000011920929
+                    ],
+                    [
+                        1.0,
+                        -0.0,
+                        -0.0,
+                        0.10000000149011612
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Camera/102403/result.json

@@ -0,0 +1 @@
+[{"text": "Camera", "name": "Camera", "id": 0, "children": [{"text": "button", "name": "button", "id": 1, "objs": ["original-56"]}, {"text": "button", "name": "button", "id": 2, "objs": ["original-55", "original-87", "original-29", "original-2", "original-4", "original-88", "original-3"]}, {"text": "button", "name": "button", "id": 3, "objs": ["original-57", "original-90", "original-53", "original-28", "original-89"]}, {"text": "button", "name": "button", "id": 4, "objs": ["original-59", "original-91", "original-51", "original-27"]}, {"text": "button", "name": "button", "id": 5, "objs": ["original-86"]}, {"text": "button", "name": "button", "id": 6, "objs": ["original-60", "original-95"]}, {"text": "base_body", "name": "base_body", "id": 7, "objs": ["original-103", "original-100", "original-21", "original-30", "original-36", "original-41", "original-96", "original-64", "original-43", "original-71", "original-52", "original-83", "original-22", "original-26", "original-104", "original-65", "original-33", "original-44", "original-106", "original-16", "original-8", "original-13", "original-9", "original-45", "original-35", "original-49", "original-93", "original-61", "original-39", "original-77", "original-54", "original-63", "original-50", "original-6", "original-31", "original-37", "original-48", "original-15", "original-85", "original-76", "original-72", "original-99", "original-62", "original-75", "original-23", "original-66", "original-58", "original-98", "original-67", "original-69", "original-11", "original-38", "original-68", "original-80", "original-34", "original-18", "original-70", "original-74", "original-25", "original-17", "original-73", "original-92", "original-42", "original-79", "original-102", "original-24", "original-20", "original-32", "original-47", "original-7", "original-105", "original-101", "original-81", "original-84", "original-94", "original-78", "original-97", "original-10", "original-14", "original-82", "original-40", "original-46"]}]}]

assets/urdf/Camera/102403/result_original.json

@@ -0,0 +1 @@
+[{"id": 0, "name": "Camera", "text": "Camera", "children": [{"id": 1, "name": "button", "text": "button", "objs": ["original-56"]}, {"id": 2, "name": "button", "text": "button", "objs": ["original-55", "original-87", "original-29", "original-2", "original-4", "original-88", "original-3"]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-57", "original-90", "original-53", "original-28", "original-89"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-59", "original-91", "original-51", "original-27"]}, {"id": 5, "name": "button", "text": "button", "objs": ["original-86"]}, {"id": 6, "name": "button", "text": "button", "objs": ["original-60", "original-95"]}]}]

assets/urdf/Camera/102403/semantics.txt

@@ -0,0 +1,7 @@
+link_0 slider button
+link_1 slider button
+link_2 slider button
+link_3 slider button
+link_4 slider button
+link_5 slider button
+link_6 free camera_body

assets/urdf/Camera/102407/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.812002, -0.628436, -0.708441], "max": [0.892365, 0.747645, 0.597286]}

assets/urdf/Camera/102407/grasp_poses.json

@@ -0,0 +1,70 @@
+{
+    "object_name": "102407",
+    "scale": 0.1,
+    "grasp_parts": {
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.13773000240325928,
+                        -0.9692599773406982,
+                        0.20388999581336975,
+                        -0.09004999697208405
+                    ],
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+                        0.242139995098114,
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+                        -0.9085699915885925
+                    ],
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+                        -0.40828999876976013,
+                        -0.07767999917268753
+                    ],
+                    [
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+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        0.04814999923110008,
+                        0.9922599792480469,
+                        0.11444000154733658,
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+                    ],
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+                        0.8716700077056885
+                    ],
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+                        -0.21195000410079956,
+                        0.22064000368118286
+                    ],
+                    [
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+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Camera/102407/meta.json

@@ -0,0 +1 @@
+{"user_id": "kaichun", "model_cat": "Camera", "model_id": "31829918-976f-4d5f-abef-bebda42ef480", "version": "1", "anno_id": "2407", "time_in_sec": "42"}

assets/urdf/Camera/102407/mobility.urdf

@@ -0,0 +1,616 @@
+<?xml version="1.0" ?>
+<robot name="partnet_31829918-976f-4d5f-abef-bebda42ef480">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="knob-2">
+			<origin xyz="-0.4511105 0 -0.2280865"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-2">
+			<origin xyz="-0.4511105 0 -0.2280865"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-2">
+			<origin xyz="-0.4511105 0 -0.2280865"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.4511105 0 -0.2280865"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
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+			<origin xyz="0 0 0"/>
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+		<collision>
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+		<collision>
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+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+</robot>

assets/urdf/Camera/102407/mobility_v2.json

@@ -0,0 +1 @@
+[{"id": 0, "parent": 2, "joint": "hinge", "name": "knob", "parts": [{"id": 2, "name": "knob", "children": []}], "jointData": {"axis": {"origin": [0.4511105, 0, 0.2280865], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": 2, "joint": "slider", "name": "button", "parts": [{"id": 3, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.4511105, 0, 0.2280865], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": -0.1160000000000001, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 2, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 4, "name": "base_body", "children": []}], "jointData": {}}]

assets/urdf/Camera/102407/model_data.json

@@ -0,0 +1,96 @@
+{
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+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
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+            0.0,
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+    "init_qpos": [],
+    "grasp_parts": {
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+                "base": "base",
+                "description": ""
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+                "matrix": [
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+                        0.22064000368118286
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Camera/102407/result.json

@@ -0,0 +1 @@
+[{"text": "Camera", "name": "Camera", "id": 0, "children": [{"text": "knob (other)", "name": "other", "id": 1, "children": [{"text": "other_leaf", "name": "knob", "id": 2, "objs": ["original-39", "original-31", "original-40"]}]}, {"text": "button", "name": "button", "id": 3, "objs": ["original-29"]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-21", "original-30", "original-36", "original-41", "original-52", "original-22", "original-26", "original-4", "original-3", "original-33", "original-2", "original-44", "original-16", "original-8", "original-13", "original-9", "original-45", "original-35", "original-49", "original-5", "original-27", "original-51", "original-50", "original-6", "original-37", "original-48", "original-15", "original-23", "original-11", "original-38", "original-34", "original-18", "original-25", "original-17", "original-12", "original-42", "original-24", "original-20", "original-32", "original-47", "original-53", "original-7", "original-10", "original-14", "original-46"]}]}]

assets/urdf/Camera/102407/result_original.json

@@ -0,0 +1 @@
+[{"id": 0, "name": "Camera", "text": "Camera", "children": [{"id": 1, "name": "other", "text": "knob (other)", "children": [{"id": 2, "name": "other_leaf", "text": "other_leaf", "objs": ["original-39", "original-31", "original-40"]}]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-29"]}]}]

assets/urdf/Camera/102407/semantics.txt

@@ -0,0 +1,3 @@
+link_0 hinge knob
+link_1 slider button
+link_2 free camera_body

assets/urdf/Camera/102417/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.88187, -0.57233, -0.348001], "max": [0.883847, 0.588185, 0.796981]}

assets/urdf/Camera/102417/grasp_poses.json

@@ -0,0 +1,103 @@
+{
+    "object_name": "102417",
+    "scale": 0.1,
+    "grasp_parts": {
+        "lens": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.9998400211334229,
+                        -0.017400000244379044,
+                        0.004290000069886446,
+                        -0.43994998931884766
+                    ],
+                    [
+                        -0.0173799991607666,
+                        -0.9998400211334229,
+                        -0.0037899999879300594,
+                        0.2639699876308441
+                    ],
+                    [
+                        0.004350000061094761,
+                        0.003719999920576811,
+                        -0.9999799728393555,
+                        0.18511000275611877
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.20092999935150146,
+                        0.9672300219535828,
+                        -0.15523000061511993,
+                        0.05534999817609787
+                    ],
+                    [
+                        0.07033000141382217,
+                        -0.17228999733924866,
+                        -0.9825299978256226,
+                        0.8217399716377258
+                    ],
+                    [
+                        -0.9770799875259399,
+                        0.18649999797344208,
+                        -0.1026500016450882,
+                        -0.07545000314712524
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        -0.3420200049877167,
+                        0.9396899938583374,
+                        0.0,
+                        0.05490000173449516
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0,
+                        -0.8999999761581421
+                    ],
+                    [
+                        0.9396899938583374,
+                        0.3420200049877167,
+                        -0.0,
+                        0.12151999771595001
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Camera/102417/mobility.urdf

@@ -0,0 +1,1247 @@
+<?xml version="1.0" ?>
+<robot name="partnet_3d2c8bbab810c2de8ec5129c0f183bb9">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lens-1">
+			<origin xyz="0.23602050000000002 -0.007778355714815319 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-1">
+			<origin xyz="0.23602050000000002 -0.007778355714815319 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.23602050000000002 -0.007778355714815319 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.23602050000000002 -0.007778355714815319 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.23602050000000002 0.007778355714815319 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_0"/>
+		<parent link="link_19"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lens-2">
+			<origin xyz="0.23602050000000002 -0.007778355714815319 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.23602050000000002 -0.007778355714815319 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.23602050000000002 0.007778355714815319 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
+		<parent link="link_19"/>
+	</joint>
+	<link name="link_2">
+		<visual name="lens-3">
+			<origin xyz="0.23602050000000002 -0.007778355714815319 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.23602050000000002 -0.007778355714815319 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="-0.23602050000000002 0.007778355714815319 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_2"/>
+		<parent link="link_19"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_3"/>
+		<parent link="link_19"/>
+		<limit lower="0" upper="0.01200000000000001"/>
+	</joint>
+	<link name="link_4">
+		<visual name="button-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_4"/>
+		<parent link="link_19"/>
+		<limit lower="0" upper="0.01200000000000001"/>
+	</joint>
+	<link name="link_5">
+		<visual name="button-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_5"/>
+		<parent link="link_19"/>
+		<limit lower="0" upper="0.01200000000000001"/>
+	</joint>
+	<link name="link_6">
+		<visual name="button-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_6"/>
+		<parent link="link_19"/>
+		<limit lower="0" upper="0.01200000000000001"/>
+	</joint>
+	<link name="link_7">
+		<visual name="button-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_7"/>
+		<parent link="link_19"/>
+		<limit lower="0" upper="0.01200000000000001"/>
+	</joint>
+	<link name="link_8">
+		<visual name="button-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_8"/>
+		<parent link="link_19"/>
+		<limit lower="0" upper="0.01200000000000001"/>
+	</joint>
+	<link name="link_9">
+		<visual name="button-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_9"/>
+		<parent link="link_19"/>
+		<limit lower="0" upper="0.01200000000000001"/>
+	</joint>
+	<link name="link_10">
+		<visual name="button-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_10"/>
+		<parent link="link_19"/>
+		<limit lower="0" upper="0.01200000000000001"/>
+	</joint>
+	<link name="link_11">
+		<visual name="button-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_11"/>
+		<parent link="link_19"/>
+		<limit lower="0" upper="0.01200000000000001"/>
+	</joint>
+	<link name="link_12">
+		<visual name="button-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_12"/>
+		<parent link="link_19"/>
+		<limit lower="0" upper="0.01200000000000001"/>
+	</joint>
+	<link name="link_13">
+		<visual name="button-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_13"/>
+		<parent link="link_19"/>
+		<limit lower="0" upper="0.01200000000000001"/>
+	</joint>
+	<link name="link_14">
+		<visual name="button-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_14"/>
+		<parent link="link_19"/>
+		<limit lower="0" upper="0.01200000000000001"/>
+	</joint>
+	<link name="link_15">
+		<visual name="button-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_15" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_15"/>
+		<parent link="link_19"/>
+		<limit lower="0" upper="0.01200000000000001"/>
+	</joint>
+	<link name="link_16">
+		<visual name="button-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_16" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_16"/>
+		<parent link="link_19"/>
+		<limit lower="0" upper="0.01200000000000001"/>
+	</joint>
+	<link name="link_17">
+		<visual name="button-22">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_17" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_17"/>
+		<parent link="link_19"/>
+		<limit lower="0" upper="0.01200000000000001"/>
+	</joint>
+	<link name="link_18">
+		<visual name="button-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_18" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_18"/>
+		<parent link="link_19"/>
+		<limit lower="0" upper="0.01200000000000001"/>
+	</joint>
+	<link name="link_19">
+		<visual name="base_body-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-83.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_19" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_19"/>
+		<parent link="base"/>
+	</joint>
+</robot>

assets/urdf/Camera/102417/mobility_v2.json

@@ -0,0 +1 @@
+[{"id": 0, "parent": 19, "joint": "hinge", "name": "lens", "parts": [{"id": 1, "name": "lens", "children": []}], "jointData": {"axis": {"origin": [-0.23602050000000002, 0.007778355714815319, 0], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": 19, "joint": "hinge", "name": "lens", "parts": [{"id": 2, "name": "lens", "children": []}], "jointData": {"axis": {"origin": [-0.23602050000000002, 0.007778355714815319, 0], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 2, "parent": 19, "joint": "hinge", "name": "lens", "parts": [{"id": 3, "name": "lens", "children": []}], "jointData": {"axis": {"origin": [-0.23602050000000002, 0.007778355714815319, 0], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 3, "parent": 19, "joint": "slider", "name": "button", "parts": [{"id": 4, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0.01200000000000001, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 4, "parent": 19, "joint": "slider", "name": "button", "parts": [{"id": 5, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0.01200000000000001, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 5, "parent": 19, "joint": "slider", "name": "button", "parts": [{"id": 6, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0.01200000000000001, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 6, "parent": 19, "joint": "slider", "name": "button", "parts": [{"id": 7, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0.01200000000000001, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 7, "parent": 19, "joint": "slider", "name": "button", "parts": [{"id": 8, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0.01200000000000001, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 8, "parent": 19, "joint": "slider", "name": "button", "parts": [{"id": 9, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0.01200000000000001, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 9, "parent": 19, "joint": "slider", "name": "button", "parts": [{"id": 10, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0.01200000000000001, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 10, "parent": 19, "joint": "slider", "name": "button", "parts": [{"id": 11, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0.01200000000000001, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 11, "parent": 19, "joint": "slider", "name": "button", "parts": [{"id": 12, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0.01200000000000001, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 12, "parent": 19, "joint": "slider", "name": "button", "parts": [{"id": 13, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0.01200000000000001, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 13, "parent": 19, "joint": "slider", "name": "button", "parts": [{"id": 18, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0.01200000000000001, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 14, "parent": 19, "joint": "slider", "name": "button", "parts": [{"id": 19, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0.01200000000000001, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 15, "parent": 19, "joint": "slider", "name": "button", "parts": [{"id": 20, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0.01200000000000001, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 16, "parent": 19, "joint": "slider", "name": "button", "parts": [{"id": 21, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0.01200000000000001, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 17, "parent": 19, "joint": "slider", "name": "button", "parts": [{"id": 22, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0.01200000000000001, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 18, "parent": 19, "joint": "slider", "name": "button", "parts": [{"id": 23, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0.01200000000000001, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 19, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 24, "name": "base_body", "children": []}], "jointData": {}}]

assets/urdf/Camera/102417/model_data.json

@@ -0,0 +1,129 @@
+{
+    "scale": 0.1,
+    "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": {
+        "lens": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.9998400211334229,
+                        -0.017400000244379044,
+                        0.004290000069886446,
+                        -0.43994998931884766
+                    ],
+                    [
+                        -0.0173799991607666,
+                        -0.9998400211334229,
+                        -0.0037899999879300594,
+                        0.2639699876308441
+                    ],
+                    [
+                        0.004350000061094761,
+                        0.003719999920576811,
+                        -0.9999799728393555,
+                        0.18511000275611877
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.20092999935150146,
+                        0.9672300219535828,
+                        -0.15523000061511993,
+                        0.05534999817609787
+                    ],
+                    [
+                        0.07033000141382217,
+                        -0.17228999733924866,
+                        -0.9825299978256226,
+                        0.8217399716377258
+                    ],
+                    [
+                        -0.9770799875259399,
+                        0.18649999797344208,
+                        -0.1026500016450882,
+                        -0.07545000314712524
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        -0.3420200049877167,
+                        0.9396899938583374,
+                        0.0,
+                        0.05490000173449516
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0,
+                        -0.8999999761581421
+                    ],
+                    [
+                        0.9396899938583374,
+                        0.3420200049877167,
+                        -0.0,
+                        0.12151999771595001
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Camera/102417/result.json

@@ -0,0 +1 @@
+[{"text": "Camera", "name": "Camera", "id": 0, "children": [{"text": "lens", "name": "lens", "id": 1, "objs": ["original-38", "original-48"]}, {"text": "lens", "name": "lens", "id": 2, "objs": ["original-46"]}, {"text": "lens", "name": "lens", "id": 3, "objs": ["original-47"]}, {"text": "button", "name": "button", "id": 4, "objs": ["original-10"]}, {"text": "button", "name": "button", "id": 5, "objs": ["original-16"]}, {"text": "button", "name": "button", "id": 6, "objs": ["original-31"]}, {"text": "button", "name": "button", "id": 7, "objs": ["original-42"]}, {"text": "button", "name": "button", "id": 8, "objs": ["original-28"]}, {"text": "button", "name": "button", "id": 9, "objs": ["original-15"]}, {"text": "button", "name": "button", "id": 10, "objs": ["original-56"]}, {"text": "button", "name": "button", "id": 11, "objs": ["original-30"]}, {"text": "button", "name": "button", "id": 12, "objs": ["original-61"]}, {"text": "button", "name": "button", "id": 13, "objs": ["original-58"]}, {"text": "button", "name": "button", "id": 18, "objs": ["original-22"]}, {"text": "button", "name": "button", "id": 19, "objs": ["original-13"]}, {"text": "button", "name": "button", "id": 20, "objs": ["original-20"]}, {"text": "button", "name": "button", "id": 21, "objs": ["original-9"]}, {"text": "button", "name": "button", "id": 22, "objs": ["original-5"]}, {"text": "button", "name": "button", "id": 23, "objs": ["original-40"]}, {"text": "base_body", "name": "base_body", "id": 24, "objs": ["original-29", "original-21", "original-36", "original-41", "original-64", "original-43", "original-71", "original-52", "original-83", "original-26", "original-4", "original-3", "original-65", "original-33", "original-2", "original-44", "original-86", "original-8", "original-45", "original-35", "original-49", "original-39", "original-59", "original-77", "original-54", "original-63", "original-27", "original-87", "original-55", "original-50", "original-6", "original-37", "original-85", "original-76", "original-72", "original-62", "original-75", "original-23", "original-66", "original-67", "original-69", "original-11", "original-68", "original-80", "original-34", "original-18", "original-70", "original-91", "original-25", "original-17", "original-73", "original-12", "original-92", "original-79", "original-24", "original-88", "original-32", "original-53", "original-7", "original-1", "original-84", "original-78", "original-89", "original-14", "original-82", "original-60", "original-19", "original-90", "original-57"]}]}]

assets/urdf/Camera/102417/result_original.json

@@ -0,0 +1 @@
+[{"id": 0, "name": "Camera", "text": "Camera", "children": [{"id": 1, "name": "lens", "text": "lens", "objs": ["original-38", "original-48"]}, {"id": 2, "name": "lens", "text": "lens", "objs": ["original-46"]}, {"id": 3, "name": "lens", "text": "lens", "objs": ["original-47"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-10"]}, {"id": 5, "name": "button", "text": "button", "objs": ["original-16"]}, {"id": 6, "name": "button", "text": "button", "objs": ["original-31"]}, {"id": 7, "name": "button", "text": "button", "objs": ["original-42"]}, {"id": 8, "name": "button", "text": "button", "objs": ["original-28"]}, {"id": 9, "name": "button", "text": "button", "objs": ["original-15"]}, {"id": 10, "name": "button", "text": "button", "objs": ["original-56"]}, {"id": 11, "name": "button", "text": "button", "objs": ["original-30"]}, {"id": 12, "name": "button", "text": "button", "objs": ["original-61"]}, {"id": 13, "name": "button", "text": "button", "objs": ["original-58"]}, {"id": 18, "name": "button", "text": "button", "objs": ["original-22"]}, {"id": 19, "name": "button", "text": "button", "objs": ["original-13"]}, {"id": 20, "name": "button", "text": "button", "objs": ["original-20"]}, {"id": 21, "name": "button", "text": "button", "objs": ["original-9"]}, {"id": 22, "name": "button", "text": "button", "objs": ["original-5"]}, {"id": 23, "name": "button", "text": "button", "objs": ["original-40"]}]}]

assets/urdf/Camera/102417/semantics.txt

@@ -0,0 +1,20 @@
+link_0 hinge lens
+link_1 hinge lens
+link_2 hinge lens
+link_3 slider button
+link_4 slider button
+link_5 slider button
+link_6 slider button
+link_7 slider button
+link_8 slider button
+link_9 slider button
+link_10 slider button
+link_11 slider button
+link_12 slider button
+link_13 slider button
+link_14 slider button
+link_15 slider button
+link_16 slider button
+link_17 slider button
+link_18 slider button
+link_19 free camera_body

assets/urdf/Camera/102431/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.846086, -0.46446, -0.226351], "max": [0.88451, 0.483712, 0.353765]}

assets/urdf/Camera/102431/grasp_poses.json

@@ -0,0 +1,103 @@
+{
+    "object_name": "102431",
+    "scale": 0.1,
+    "grasp_parts": {
+        "lens": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -1.0,
+                        -0.0,
+                        -0.0,
+                        -0.4000000059604645
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        -1.0,
+                        0.30000001192092896
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.00033000000985339284,
+                        -0.9961699843406677,
+                        -0.08748999983072281,
+                        -0.020519999787211418
+                    ],
+                    [
+                        0.007600000128149986,
+                        -0.08748000115156174,
+                        0.9961400032043457,
+                        -0.8969200253486633
+                    ],
+                    [
+                        -0.999970018863678,
+                        -0.0009899999713525176,
+                        0.007540000136941671,
+                        -0.006850000005215406
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        0.08715999871492386,
+                        0.9810600280761719,
+                        -0.17298999428749084,
+                        0.06972000002861023
+                    ],
+                    [
+                        0.0,
+                        -0.17364999651908875,
+                        -0.9848099946975708,
+                        0.8999999761581421
+                    ],
+                    [
+                        -0.9961900115013123,
+                        0.08583000302314758,
+                        -0.015130000188946724,
+                        0.0030400000978261232
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Camera/102431/meta.json

@@ -0,0 +1 @@
+{"user_id": "kaichun", "model_cat": "Camera", "model_id": "4852ee95e7bd8556c60396a717ba6c7e", "version": "2", "anno_id": "2431", "time_in_sec": "136"}

assets/urdf/Camera/102431/mobility.urdf

@@ -0,0 +1,433 @@
+<?xml version="1.0" ?>
+<robot name="partnet_4852ee95e7bd8556c60396a717ba6c7e">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="button-4">
+			<origin xyz="0.641563 0 0.004707531979695432"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.641563 0 0.004707531979695432"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="-0.641563 0 -0.004707531979695432"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_3"/>
+		<limit lower="0" upper="0.028000000000000025"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lens-6">
+			<origin xyz="0.03075599999999999 0.0037803944425470193 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-6">
+			<origin xyz="0.03075599999999999 0.0037803944425470193 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.03075599999999999 0.0037803944425470193 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.03075599999999999 0.0037803944425470193 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.03075599999999999 -0.0037803944425470193 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
+		<parent link="link_3"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-8">
+			<origin xyz="0 0.035045999999999994 -0.19"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.035045999999999994 -0.19"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="revolute">
+		<origin xyz="0 -0.035045999999999994 0.19"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_2"/>
+		<parent link="link_3"/>
+		<limit lower="-0.17453292519943295" upper="0.17453292519943295"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.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-33.obj"/>
+			</geometry>
+		</collision>
+		<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-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.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-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.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-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="base"/>
+	</joint>
+</robot>

assets/urdf/Camera/102431/mobility_v2.json

@@ -0,0 +1 @@
+[{"id":0,"parent":3,"joint":"slider","name":"button","parts":[{"id":4,"name":"button"}],"jointData":{"axis":{"origin":[-0.641563,0,-0.004707531979695432],"direction":[0,-1,0]},"limit":{"a":0,"b":0.028000000000000025,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":3,"joint":"hinge","name":"lens","parts":[{"id":6,"name":"lens"}],"jointData":{"axis":{"origin":[-0.03075599999999999,-0.0037803944425470193,0],"direction":[0,0,-1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":3,"joint":"hinge","name":"toggle_button","parts":[{"id":8,"name":"button"}],"jointData":{"axis":{"origin":[0,-0.035045999999999994,0.19],"direction":[-1,0,0]},"limit":{"a":10,"b":-10,"noLimit":false}}},{"id":3,"parent":-1,"joint":"free","name":"button","parts":[{"id":5,"name":"button"},{"id":9,"name":"base_body"}],"jointData":{}}]

assets/urdf/Camera/102431/model_data.json

@@ -0,0 +1,129 @@
+{
+    "scale": 0.1,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
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+            1.0,
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+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "init_qpos": [],
+    "grasp_parts": {
+        "lens": [
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+                "matrix": [
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+                        -0.0,
+                        -0.0,
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+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
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+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
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+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
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+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Camera/102431/result.json

@@ -0,0 +1 @@
+[{"text": "Camera", "name": "Camera", "id": 0, "children": [{"text": "button", "name": "button", "id": 4, "objs": ["original-35"]}, {"text": "button", "name": "button", "id": 5, "objs": ["original-32", "original-37"]}, {"text": "lens", "name": "lens", "id": 6, "objs": ["original-39", "original-38"]}, {"text": "button", "name": "button", "id": 8, "objs": ["original-36"]}, {"text": "base_body", "name": "base_body", "id": 9, "objs": ["original-29", "original-21", "original-30", "original-28", "original-22", "original-3", "original-33", "original-2", "original-16", "original-13", "original-9", "original-5", "original-27", "original-6", "original-31", "original-15", "original-23", "original-11", "original-34", "original-18", "original-17", "original-12", "original-24", "original-20", "original-7", "original-10", "original-19"]}]}]

assets/urdf/Camera/102472/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.851873, -0.497043, -0.209726], "max": [0.869375, 0.487827, 0.343296]}

assets/urdf/Camera/102472/grasp_poses.json

@@ -0,0 +1,103 @@
+{
+    "object_name": "102472",
+    "scale": 0.1,
+    "grasp_parts": {
+        "lens": [
+            {
+                "id": 0,
+                "matrix": [
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+                        0.07195000350475311,
+                        -0.3462800085544586
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+                    ],
+                    [
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+                        0.0,
+                        0.0,
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+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
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+                    [
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+                        0.0,
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+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
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+                        -0.0,
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+                    [
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+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Camera/102472/meta.json

@@ -0,0 +1 @@
+{"user_id": "kaichun", "model_cat": "Camera", "model_id": "57cdb436bd641de67e1c85c5c15da7fb", "version": "3", "anno_id": "2472", "time_in_sec": "241"}

assets/urdf/Camera/102472/mobility.urdf

@@ -0,0 +1,1588 @@
+<?xml version="1.0" ?>
+<robot name="partnet_57cdb436bd641de67e1c85c5c15da7fb">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lens-1">
+			<origin xyz="-0.37291799999999997 0.043791500000000004 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-125.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-1">
+			<origin xyz="-0.37291799999999997 0.043791500000000004 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-127.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-1">
+			<origin xyz="-0.37291799999999997 0.043791500000000004 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-1">
+			<origin xyz="-0.37291799999999997 0.043791500000000004 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-1">
+			<origin xyz="-0.37291799999999997 0.043791500000000004 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-1">
+			<origin xyz="-0.37291799999999997 0.043791500000000004 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-1">
+			<origin xyz="-0.37291799999999997 0.043791500000000004 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-1">
+			<origin xyz="-0.37291799999999997 0.043791500000000004 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-1">
+			<origin xyz="-0.37291799999999997 0.043791500000000004 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-1">
+			<origin xyz="-0.37291799999999997 0.043791500000000004 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-1">
+			<origin xyz="-0.37291799999999997 0.043791500000000004 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-1">
+			<origin xyz="-0.37291799999999997 0.043791500000000004 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-1">
+			<origin xyz="-0.37291799999999997 0.043791500000000004 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-1">
+			<origin xyz="-0.37291799999999997 0.043791500000000004 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-1">
+			<origin xyz="-0.37291799999999997 0.043791500000000004 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-1">
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+		<collision>
+			<origin xyz="0 0 0"/>
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+		<collision>
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+		<collision>
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+		<collision>
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+		<collision>
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+		<collision>
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+		<collision>
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+		<collision>
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+		<collision>
+			<origin xyz="0 0 0"/>
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+		<collision>
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+		<collision>
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+		<collision>
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+		<collision>
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+				<mesh filename="textured_objs/original-70.obj"/>
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+		<collision>
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+		<collision>
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+		<collision>
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+		<collision>
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+		<collision>
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+		<collision>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
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+		</collision>
+	</link>
+	<joint name="joint_6" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_6"/>
+		<parent link="base"/>
+	</joint>
+</robot>

assets/urdf/Camera/102472/mobility_v2.json

@@ -0,0 +1 @@
+[{"id":0,"parent":6,"joint":"hinge","name":"lens","parts":[{"id":1,"name":"lens"}],"jointData":{"axis":{"origin":[0.37291799999999997,-0.043791500000000004,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":6,"joint":"hinge","name":"toggle_button","parts":[{"id":4,"name":"button"}],"jointData":{"axis":{"origin":[-0.7240979999999999,0,-0.164351],"direction":[0,1,0]},"limit":{"a":2.52,"b":-2.52,"noLimit":false}}},{"id":2,"parent":6,"joint":"slider","name":"button","parts":[{"id":5,"name":"button"}],"jointData":{"axis":{"origin":[-0.6652515639895923,-0.12295643601040779,0],"direction":[0,0,-1]},"limit":{"a":0,"b":-0.020000000000000018,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":3,"parent":6,"joint":"slider","name":"button","parts":[{"id":6,"name":"button"}],"jointData":{"axis":{"origin":[-0.6652515639895923,-0.12295643601040779,0],"direction":[0,0,-1]},"limit":{"a":0,"b":-0.008000000000000007,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":4,"parent":6,"joint":"slider","name":"button","parts":[{"id":7,"name":"button"}],"jointData":{"axis":{"origin":[-0.6652515639895923,-0.12295643601040779,0],"direction":[0,0,-1]},"limit":{"a":0,"b":-0.008000000000000007,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":5,"parent":6,"joint":"slider","name":"button","parts":[{"id":10,"name":"button"}],"jointData":{"axis":{"origin":[-0.6652515639895923,-0.12295643601040779,0],"direction":[0,0,-1]},"limit":{"a":0,"b":-0.020000000000000018,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":6,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":11,"name":"base_body"}],"jointData":{}}]

assets/urdf/Camera/102472/model_data.json

@@ -0,0 +1,129 @@
+{
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+}

assets/urdf/Camera/102472/result.json

@@ -0,0 +1 @@
+[{"text": "Camera", "name": "Camera", "id": 0, "children": [{"text": "lens", "name": "lens", "id": 1, "objs": ["original-125", "original-127", "original-12", "original-13", "original-14", "original-21", "original-6", "original-7", "original-8", "original-9", "original-10", "original-11", "original-15", "original-16", "original-17", "original-18", "original-19", "original-20", "original-22", "original-24", "original-25", "original-26", "original-27", "original-28", "original-29", "original-30", "original-31", "original-32", "original-33", "original-34", "original-35", "original-36", "original-37", "original-38", "original-39", "original-40", "original-41", "original-42", "original-43", "original-44", "original-46", "original-45", "original-47", "original-48", "original-49", "original-50", "original-51", "original-52", "original-105", "original-53", "original-131", "original-1", "original-114", "original-117", "original-129"]}, {"text": "button", "name": "button", "id": 4, "objs": ["original-64", "original-63", "original-107", "original-122", "original-123"]}, {"text": "button", "name": "button", "id": 5, "objs": ["original-90", "original-89", "original-88", "original-94", "original-93", "original-92", "original-91", "original-121", "original-111"]}, {"text": "button", "name": "button", "id": 6, "objs": ["original-110"]}, {"text": "button", "name": "button", "id": 7, "objs": ["original-112", "original-95"]}, {"text": "button", "name": "button", "id": 10, "objs": ["original-109", "original-118"]}, {"text": "base_body", "name": "base_body", "id": 11, "objs": ["original-100", "original-132", "original-126", "original-119", "original-124", "original-134", "original-71", "original-83", "original-4", "original-3", "original-128", "original-2", "original-130", "original-106", "original-86", "original-61", "original-120", "original-59", "original-77", "original-55", "original-113", "original-116", "original-85", "original-56", "original-135", "original-76", "original-108", "original-72", "original-99", "original-136", "original-62", "original-75", "original-133", "original-66", "original-58", "original-98", "original-67", "original-69", "original-68", "original-80", "original-70", "original-74", "original-73", "original-79", "original-102", "original-115", "original-101", "original-81", "original-84", "original-97", "original-82", "original-60", "original-57"]}]}]

assets/urdf/Camera/102472/result_original.json

@@ -0,0 +1 @@
+[{"id": 0, "name": "Camera", "text": "Camera", "children": [{"id": 1, "name": "lens", "text": "lens", "objs": ["original-125", "original-127", "original-12", "original-13", "original-14", "original-21", "original-6", "original-7", "original-8", "original-9", "original-10", "original-11", "original-15", "original-16", "original-17", "original-18", "original-19", "original-20", "original-22", "original-24", "original-25", "original-26", "original-27", "original-28", "original-29", "original-30", "original-31", "original-32", "original-33", "original-34", "original-35", "original-36", "original-37", "original-38", "original-39", "original-40", "original-41", "original-42", "original-43", "original-44", "original-46", "original-45", "original-47", "original-48", "original-49", "original-50", "original-51", "original-52", "original-105", "original-53", "original-131", "original-1", "original-114", "original-117", "original-129"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-64", "original-63", "original-107", "original-122", "original-123"]}, {"id": 5, "name": "button", "text": "button", "objs": ["original-90", "original-89", "original-88", "original-94", "original-93", "original-92", "original-91", "original-121", "original-111"]}, {"id": 6, "name": "button", "text": "button", "objs": ["original-110"]}, {"id": 7, "name": "button", "text": "button", "objs": ["original-112", "original-95"]}, {"id": 10, "name": "button", "text": "button", "objs": ["original-109", "original-118"]}]}]

assets/urdf/Camera/102472/semantics.txt

@@ -0,0 +1,7 @@
+link_0 hinge lens
+link_1 hinge toggle_button
+link_2 slider button
+link_3 slider button
+link_4 slider button
+link_5 slider button
+link_6 free camera_body

assets/urdf/Camera/102834/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.85836, -0.480297, -0.31296], "max": [0.858145, 0.535617, 0.681168]}

assets/urdf/Camera/102834/grasp_poses.json

@@ -0,0 +1,103 @@
+{
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+}

assets/urdf/Camera/102834/meta.json

@@ -0,0 +1 @@
+{"user_id": "kaichun", "model_cat": "Camera", "model_id": "c3a410e532cbf900e5a8b3dc188dc518", "version": "1", "anno_id": "2834", "time_in_sec": "57"}