Add files using upload-large-folder tool

assets/urdf/Dispenser/101336/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.443764, -0.750158, -0.441661], "max": [0.436518, 0.993963, 0.438621]}

assets/urdf/Dispenser/101336/grasp_poses.json

@@ -0,0 +1,72 @@
+{
+    "object_name": "101336",
+    "scale": 0.1,
+    "grasp_parts": {
+        "mouth": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9848399758338928,
+                        0.007600000128149986,
+                        -0.1733199954032898,
+                        -0.035610001534223557
+                    ],
+                    [
+                        0.007540000136941671,
+                        0.999970018863678,
+                        0.0009899999713525176,
+                        0.6000199913978577
+                    ],
+                    [
+                        0.1733199954032898,
+                        -0.00033000000985339284,
+                        -0.9848700165748596,
+                        1.2945799827575684
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.08583000302314758,
+                        -0.17364999651908875,
+                        0.9810600280761719,
+                        -0.3924199938774109
+                    ],
+                    [
+                        0.015130000188946724,
+                        0.9848099946975708,
+                        0.17298999428749084,
+                        -0.06919000297784805
+                    ],
+                    [
+                        -0.9961900115013123,
+                        0.0,
+                        0.08715999871492386,
+                        -0.034860000014305115
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Dispenser/101336/meta.json

@@ -0,0 +1 @@
+{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "0482edcd-c21f-4bbb-aa35-7339057aa7b5", "version": "3", "anno_id": "1336", "time_in_sec": "88"}

assets/urdf/Dispenser/101336/mobility.urdf

@@ -0,0 +1,108 @@
+<?xml version="1.0" ?>
+<robot name="partnet_0482edcd-c21f-4bbb-aa35-7339057aa7b5">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="pressing_lid-4">
+			<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_0" type="prismatic">
+		<origin xyz="0.017747506009423705 0 -0.027269471877080162"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.05"/>
+	</joint>
+	<link name="link_1">
+		<visual name="head-6">
+			<origin xyz="0.017747506009423705 0 -0.027269471877080162"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-6">
+			<origin xyz="0.017747506009423705 0 -0.027269471877080162"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-6">
+			<origin xyz="0.017747506009423705 0 -0.027269471877080162"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.017747506009423705 0 -0.027269471877080162"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.017747506009423705 0 -0.027269471877080162"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.017747506009423705 0 -0.027269471877080162"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_1_helper"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<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-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_1_helper"/>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="-0.017747506009423705 0 0.027269471877080162"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1_helper"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.05"/>
+	</joint>
+</robot>

assets/urdf/Dispenser/101336/mobility_v2.json

@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"button","parts":[{"id":4,"name":"pressing_lid"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":-0.05,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":2,"joint":"slider","name":"head","parts":[{"id":6,"name":"head"}],"jointData":{"axis":{"origin":[-0.017747506009423705,0,0.027269471877080162],"direction":[0,1,0]},"limit":{"a":0,"b":0.05,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":2,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":7,"name":"base_body"}],"jointData":{}}]

assets/urdf/Dispenser/101336/model_data.json

@@ -0,0 +1,98 @@
+{
+    "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": {
+        "mouth": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9848399758338928,
+                        0.007600000128149986,
+                        -0.1733199954032898,
+                        -0.035610001534223557
+                    ],
+                    [
+                        0.007540000136941671,
+                        0.999970018863678,
+                        0.0009899999713525176,
+                        0.6000199913978577
+                    ],
+                    [
+                        0.1733199954032898,
+                        -0.00033000000985339284,
+                        -0.9848700165748596,
+                        1.2945799827575684
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.08583000302314758,
+                        -0.17364999651908875,
+                        0.9810600280761719,
+                        -0.3924199938774109
+                    ],
+                    [
+                        0.015130000188946724,
+                        0.9848099946975708,
+                        0.17298999428749084,
+                        -0.06919000297784805
+                    ],
+                    [
+                        -0.9961900115013123,
+                        0.0,
+                        0.08715999871492386,
+                        -0.034860000014305115
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Dispenser/101336/result.json

@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 4, "objs": ["original-5"]}, {"text": "head (other)", "name": "other", "id": 5, "children": [{"text": "other_leaf", "name": "head", "id": 6, "objs": ["original-4", "original-6", "original-3"]}]}, {"text": "base_body", "name": "base_body", "id": 7, "objs": ["original-2", "original-1"]}]}]

assets/urdf/Dispenser/101336/result_original.json

@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 4, "name": "pressing_lid", "text": "pressing_lid", "objs": ["original-5"]}, {"id": 5, "name": "other", "text": "head (other)", "children": [{"id": 6, "name": "other_leaf", "text": "other_leaf", "objs": ["original-4", "original-6", "original-3"]}]}]}]

assets/urdf/Dispenser/101336/semantics.txt

@@ -0,0 +1,3 @@
+link_0 slider pressing_lid
+link_1 slider+ lid
+link_2 free dispenser_body

assets/urdf/Dispenser/101490/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.355455, -0.731782, -0.360405], "max": [0.337945, 0.975877, 0.409043]}

assets/urdf/Dispenser/101490/grasp_poses.json

@@ -0,0 +1,72 @@
+{
+    "object_name": "101490",
+    "scale": 0.1,
+    "grasp_parts": {
+        "mouth": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9799200296401978,
+                        0.16166000068187714,
+                        -0.11666999757289886,
+                        0.10057000070810318
+                    ],
+                    [
+                        0.16518999636173248,
+                        0.9860299825668335,
+                        -0.021159999072551727,
+                        0.6135299801826477
+                    ],
+                    [
+                        0.11162000149488449,
+                        -0.0400100015103817,
+                        -0.9929500222206116,
+                        1.2184499502182007
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.07846999913454056,
+                        0.25488999485969543,
+                        0.9637799859046936,
+                        -0.2654300034046173
+                    ],
+                    [
+                        0.06699000298976898,
+                        0.9659299850463867,
+                        -0.25,
+                        0.059119999408721924
+                    ],
+                    [
+                        -0.9946600198745728,
+                        0.04493999853730202,
+                        -0.09286999702453613,
+                        0.267630010843277
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Dispenser/101490/meta.json

@@ -0,0 +1 @@
+{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "5ca994bd512be485db3bac7ad77ae88e", "version": "1", "anno_id": "1490", "time_in_sec": "342"}

assets/urdf/Dispenser/101490/mobility.urdf

@@ -0,0 +1,75 @@
+<?xml version="1.0" ?>
+<robot name="partnet_5ca994bd512be485db3bac7ad77ae88e">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="pressing_lid-4">
+			<origin xyz="0.008755063991076967 0 0.01370572210229435"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.008755063991076967 0 0.01370572210229435"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.008755063991076967 0 0.01370572210229435"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.008755063991076967 0 0.01370572210229435"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.008755063991076967 0 0.01370572210229435"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.008755063991076967 0 0.01370572210229435"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-5">
+			<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-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>
+	<link name="link_0_helper"/>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="-0.008755063991076967 0 -0.01370572210229435"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.0960000000000001"/>
+	</joint>
+</robot>

assets/urdf/Dispenser/101490/mobility_v2.json

@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "slider", "name": "pressing_lid", "parts": [{"id": 4, "name": "pressing_lid"}], "jointData": {"axis": {"origin": [-0.008755063991076967, 0, -0.01370572210229435], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": -0.0960000000000001, "noLimit": false, "rotates": true, "noRotationLimit": true, "rotationLimit": 0}}}, {"id": 1, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 5, "name": "base_body"}], "jointData": {}}]

assets/urdf/Dispenser/101490/model_data.json

@@ -0,0 +1,98 @@
+{
+    "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": {
+        "mouth": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9799200296401978,
+                        0.16166000068187714,
+                        -0.11666999757289886,
+                        0.10057000070810318
+                    ],
+                    [
+                        0.16518999636173248,
+                        0.9860299825668335,
+                        -0.021159999072551727,
+                        0.6135299801826477
+                    ],
+                    [
+                        0.11162000149488449,
+                        -0.0400100015103817,
+                        -0.9929500222206116,
+                        1.2184499502182007
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.07846999913454056,
+                        0.25488999485969543,
+                        0.9637799859046936,
+                        -0.2654300034046173
+                    ],
+                    [
+                        0.06699000298976898,
+                        0.9659299850463867,
+                        -0.25,
+                        0.059119999408721924
+                    ],
+                    [
+                        -0.9946600198745728,
+                        0.04493999853730202,
+                        -0.09286999702453613,
+                        0.267630010843277
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Dispenser/101490/result.json

@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 4, "objs": ["original-2", "original-3", "original-4"]}, {"text": "base_body", "name": "base_body", "id": 5, "objs": ["original-1"]}]}]

assets/urdf/Dispenser/101490/result_original.json

@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 4, "name": "pressing_lid", "text": "pressing_lid", "objs": ["original-2", "original-3", "original-4"]}]}]

assets/urdf/Dispenser/101490/semantics.txt

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

assets/urdf/Dispenser/101531/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.438207, -0.64297, -0.471639], "max": [0.467277, 0.959396, 0.433845]}

assets/urdf/Dispenser/101531/grasp_poses.json

@@ -0,0 +1,72 @@
+{
+    "object_name": "101531",
+    "scale": 0.1,
+    "grasp_parts": {
+        "mouth": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9961400032043457,
+                        0.08780000358819962,
+                        -0.0013299999991431832,
+                        -0.033720001578330994
+                    ],
+                    [
+                        0.08781000226736069,
+                        0.9960200190544128,
+                        -0.015130000188946724,
+                        -0.5802099704742432
+                    ],
+                    [
+                        -9.999999747378752e-06,
+                        -0.015189999714493752,
+                        -0.9998800158500671,
+                        1.210479974746704
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0006699999794363976,
+                        0.0013200000394135714,
+                        1.0,
+                        -0.39987000823020935
+                    ],
+                    [
+                        -0.015130000188946724,
+                        0.9998800158500671,
+                        -0.0013299999991431832,
+                        0.00039000000106170774
+                    ],
+                    [
+                        -0.9998900294303894,
+                        -0.015130000188946724,
+                        -0.0006500000017695129,
+                        -0.0013200000394135714
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Dispenser/101531/meta.json

@@ -0,0 +1 @@
+{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "8cd07794-5a60-405b-bd40-f1c577f65f36", "version": "1", "anno_id": "1531", "time_in_sec": "34"}

assets/urdf/Dispenser/101531/mobility.urdf

@@ -0,0 +1,127 @@
+<?xml version="1.0" ?>
+<robot name="partnet_8cd07794-5a60-405b-bd40-f1c577f65f36">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="pressing_lid-1">
+			<origin xyz="-0.014534499999999999 0 0.018897229657148674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-1">
+			<origin xyz="-0.014534499999999999 0 0.018897229657148674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.014534499999999999 0 0.018897229657148674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.014534499999999999 0 0.018897229657148674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="head-3">
+			<origin xyz="-0.014534765318885312 0 0.018896999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.014534765318885312 0 0.018896999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_1_helper"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<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-8.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-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="-2.653188853132815e-07 0 -2.2965714867664855e-07"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.13"/>
+	</joint>
+	<link name="link_1_helper"/>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="0.014534765318885312 0 -0.018896999999999997"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1_helper"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+</robot>

assets/urdf/Dispenser/101531/mobility_v2.json

@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"pressing_lid","parts":[{"id":1,"name":"pressing_lid"}],"jointData":{"axis":{"origin":[0.014534499999999999,0,-0.018897229657148674],"direction":[0,1,0]},"limit":{"a":0,"b":-0.13,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":1,"parent":3,"joint":"slider","name":"head","parts":[{"id":3,"name":"head"}],"jointData":{"axis":{"origin":[0.014534765318885312,0,-0.018896999999999997],"direction":[0,1,0]},"limit":{"a":0,"b":0.02,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":2,"parent":-1,"joint":"junk","name":"outlier","parts":[{"id":4,"name":"outlier"}],"jointData":{}},{"id":3,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":5,"name":"base_body"}],"jointData":{}}]

assets/urdf/Dispenser/101531/model_data.json

@@ -0,0 +1,98 @@
+{
+    "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": {
+        "mouth": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9961400032043457,
+                        0.08780000358819962,
+                        -0.0013299999991431832,
+                        -0.033720001578330994
+                    ],
+                    [
+                        0.08781000226736069,
+                        0.9960200190544128,
+                        -0.015130000188946724,
+                        -0.5802099704742432
+                    ],
+                    [
+                        -9.999999747378752e-06,
+                        -0.015189999714493752,
+                        -0.9998800158500671,
+                        1.210479974746704
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0006699999794363976,
+                        0.0013200000394135714,
+                        1.0,
+                        -0.39987000823020935
+                    ],
+                    [
+                        -0.015130000188946724,
+                        0.9998800158500671,
+                        -0.0013299999991431832,
+                        0.00039000000106170774
+                    ],
+                    [
+                        -0.9998900294303894,
+                        -0.015130000188946724,
+                        -0.0006500000017695129,
+                        -0.0013200000394135714
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Dispenser/101531/result.json

@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 1, "objs": ["original-2", "original-3"]}, {"text": "head (other)", "name": "other", "id": 2, "children": [{"text": "other_leaf", "name": "head", "id": 3, "objs": ["original-4"]}]}, {"text": "outlier", "name": "outlier", "id": 4, "objs": ["original-6"]}, {"text": "base_body", "name": "base_body", "id": 5, "objs": ["original-8", "original-5", "original-7", "original-1"]}]}]

assets/urdf/Dispenser/101531/result_original.json

@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 1, "name": "pressing_lid", "text": "pressing_lid", "objs": ["original-2", "original-3"]}, {"id": 2, "name": "other", "text": "head (other)", "children": [{"id": 3, "name": "other_leaf", "text": "other_leaf", "objs": ["original-4"]}]}, {"id": 4, "name": "outlier", "text": "outlier", "objs": ["original-6"]}]}]

assets/urdf/Dispenser/101531/semantics.txt

@@ -0,0 +1,3 @@
+link_0 slider+ lid
+link_1 slider+ lid
+link_2 free dispenser_body

assets/urdf/Dispenser/101539/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.437693, -0.872953, -0.425537], "max": [0.446662, 1.049271, 0.458818]}

assets/urdf/Dispenser/101539/grasp_poses.json

@@ -0,0 +1,72 @@
+{
+    "object_name": "101539",
+    "scale": 0.1,
+    "grasp_parts": {
+        "mouth": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.9961900115013123,
+                        -0.08715999871492386,
+                        0.0,
+                        0.05229000002145767
+                    ],
+                    [
+                        -0.08715999871492386,
+                        -0.9961900115013123,
+                        0.0,
+                        0.5977200269699097
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        -1.0,
+                        1.2999999523162842
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.07568000257015228,
+                        0.044360000640153885,
+                        0.996150016784668,
+                        -0.49807000160217285
+                    ],
+                    [
+                        0.1186399981379509,
+                        0.9923099875450134,
+                        -0.03517000004649162,
+                        0.017589999362826347
+                    ],
+                    [
+                        -0.9900500178337097,
+                        0.11552000045776367,
+                        -0.08036000281572342,
+                        0.04018000140786171
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Dispenser/101539/meta.json

@@ -0,0 +1 @@
+{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "a1c91a0d66c865b0c0ea4586d3cf4a4", "version": "1", "anno_id": "1539", "time_in_sec": "15"}

assets/urdf/Dispenser/101539/mobility.urdf

@@ -0,0 +1,63 @@
+<?xml version="1.0" ?>
+<robot name="partnet_a1c91a0d66c865b0c0ea4586d3cf4a4">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="pressing_lid-1">
+			<origin xyz="0.010711499999999999 0 -0.015151500000000002"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-1">
+			<origin xyz="0.010711499999999999 0 -0.015151500000000002"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.010711499999999999 0 -0.015151500000000002"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.010711499999999999 0 -0.015151500000000002"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<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-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>
+	<link name="link_0_helper"/>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="-0.010711499999999999 0 0.015151500000000002"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.0040000000000000036"/>
+	</joint>
+</robot>

assets/urdf/Dispenser/101539/mobility_v2.json

@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"pressing_lid","parts":[{"id":1,"name":"pressing_lid"}],"jointData":{"axis":{"origin":[-0.010711499999999999,0,0.015151500000000002],"direction":[0,1,0]},"limit":{"a":0,"b":-0.0040000000000000036,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":1,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]

assets/urdf/Dispenser/101539/model_data.json

@@ -0,0 +1,98 @@
+{
+    "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": {
+        "mouth": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.9961900115013123,
+                        -0.08715999871492386,
+                        0.0,
+                        0.05229000002145767
+                    ],
+                    [
+                        -0.08715999871492386,
+                        -0.9961900115013123,
+                        0.0,
+                        0.5977200269699097
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        -1.0,
+                        1.2999999523162842
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.07568000257015228,
+                        0.044360000640153885,
+                        0.996150016784668,
+                        -0.49807000160217285
+                    ],
+                    [
+                        0.1186399981379509,
+                        0.9923099875450134,
+                        -0.03517000004649162,
+                        0.017589999362826347
+                    ],
+                    [
+                        -0.9900500178337097,
+                        0.11552000045776367,
+                        -0.08036000281572342,
+                        0.04018000140786171
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Dispenser/101539/result.json

@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 1, "objs": ["original-2", "original-3"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-1"]}]}]

assets/urdf/Dispenser/101539/result_original.json

@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 1, "name": "pressing_lid", "text": "pressing_lid", "objs": ["original-2", "original-3"]}]}]

assets/urdf/Dispenser/101539/semantics.txt

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

assets/urdf/Dispenser/101558/textured_objs/original-1.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

assets/urdf/Dispenser/101558/textured_objs/original-108.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

assets/urdf/Dispenser/101558/textured_objs/original-108.obj

@@ -0,0 +1,31 @@
+# SSTK version 0.8.0
+# 108
+mtllib original-108.mtl
+o mesh101/mesh101-geometry#mesh101-geometry
+v -0.035880 0.908333 0.358607
+v -0.036390 0.908328 0.358497
+v -0.038612 0.906303 0.371113
+v -0.033390 0.910082 0.345970
+v -0.033899 0.910078 0.345857
+v -0.031135 0.911550 0.333170
+vn -0.03896148303208608 0.9892942519574496 0.14063742703807927
+vn -0.038415541511205825 0.9898231897916863 0.13701933849282924
+vn -0.041247350594569715 0.9876234165534731 0.1513229762599646
+vn 0.041247350594569715 -0.9876234165534731 -0.1513229762599646
+vn 0.038415541511205825 -0.9898231897916863 -0.13701933849282924
+vn 0.03896148303208608 -0.9892942519574496 -0.14063742703807927
+vn -0.035508859423501425 0.9918143701942868 0.12265144099663898
+vn 0.035508859423501425 -0.9918143701942868 -0.12265144099663898
+vn -0.03492736422512963 0.9922789367506544 0.11900668430502676
+vn 0.03492736422512963 -0.9922789367506544 -0.11900668430502676
+vn -0.032527241256466555 0.9935946773589952 0.10822012613242438
+vn 0.032527241256466555 -0.9935946773589952 -0.10822012613242438
+usemtl material_0_0
+f 1//1 2//2 3//3
+f 3//4 2//5 1//6
+f 4//7 2//2 1//1
+f 1//6 2//5 4//8
+f 4//7 5//9 2//2
+f 2//5 5//10 4//8
+f 6//11 5//9 4//7
+f 4//8 5//10 6//12

assets/urdf/Dispenser/101558/textured_objs/original-111.obj

@@ -0,0 +1,31 @@
+# SSTK version 0.8.0
+# 111
+mtllib original-111.mtl
+o mesh104/mesh104-geometry#mesh104-geometry
+v -0.068253 0.857582 0.522936
+v -0.068763 0.857578 0.522832
+v -0.069071 0.856189 0.525751
+v -0.067687 0.858959 0.520060
+v -0.068198 0.858956 0.519955
+v -0.067373 0.860322 0.517122
+vn -0.09205929213553914 0.9039122338882251 0.41769338055408844
+vn -0.09190183044861572 0.9042625381037179 0.4169692023907952
+vn -0.09249824845058861 0.9028559445244698 0.4198752403636116
+vn 0.09249824845058861 -0.9028559445244698 -0.4198752403636116
+vn 0.09190183044861572 -0.9042625381037179 -0.4169692023907952
+vn 0.09205929213553914 -0.9039122338882251 -0.41769338055408844
+vn -0.09130264130362876 0.9056610057296646 0.4140555160744914
+vn 0.09130264130362876 -0.9056610057296646 -0.4140555160744914
+vn -0.09114429520122268 0.9060089293122802 0.4133286071138652
+vn 0.09114429520122268 -0.9060089293122802 -0.4133286071138652
+vn -0.09070048439102653 0.9070507515837771 0.4111354474896783
+vn 0.09070048439102653 -0.9070507515837771 -0.4111354474896783
+usemtl material_0_0
+f 1//1 2//2 3//3
+f 3//4 2//5 1//6
+f 4//7 2//2 1//1
+f 1//6 2//5 4//8
+f 4//7 5//9 2//2
+f 2//5 5//10 4//8
+f 6//11 5//9 4//7
+f 4//8 5//10 6//12

assets/urdf/Dispenser/101558/textured_objs/original-112.obj

@@ -0,0 +1,31 @@
+# SSTK version 0.8.0
+# 112
+mtllib original-112.mtl
+o mesh105/mesh105-geometry#mesh105-geometry
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