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assets/objects/010_pen/101685/textured_objs/original-14.obj

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assets/objects/010_pen/101727/meta.json

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assets/objects/010_pen/101727/mobility.urdf

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assets/objects/010_pen/101727/textured_objs/original-2.obj

@@ -0,0 +1,1079 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
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assets/objects/010_pen/101732/bounding_box.json

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+{"min": [-0.141579, -0.997302, -0.13871], "max": [0.142641, 0.938942, 0.145509]}

assets/objects/010_pen/101732/meta.json

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+{"user_id": "kent0318", "model_cat": "Pen", "model_id": "8c948916421bd72d51012ba52856ea7a", "version": "2", "anno_id": "1732", "time_in_sec": "37"}

assets/objects/010_pen/101732/mobility.urdf

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+<?xml version="1.0" ?>
+<robot name="partnet_8c948916421bd72d51012ba52856ea7a">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="cap-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.016000000000000014" upper="0.31200000000000006"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>

assets/objects/010_pen/101732/model_data.json

@@ -0,0 +1,44 @@
+{
+    "scale": 0.05,
+    "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": [],
+    "target_points": [],
+    "contact_points": [],
+    "functional_points": [],
+    "orientation_point": [],
+    "contact_points_group": [],
+    "contact_points_mask": [],
+    "target_points_discription": [],
+    "contact_points_discription": [],
+    "functional_points_discription": [],
+    "orientation_point_discription": [],
+    "mass": {
+        "link_0": 0.001,
+        "link_1": 0.1
+    }
+}

assets/objects/010_pen/101732/result_original.json

@@ -0,0 +1 @@
+[{"id": 0, "name": "Pen", "text": "Pen", "children": [{"id": 2, "name": "cap", "text": "cap", "objs": ["original-2"]}]}]

assets/objects/010_pen/101732/textured_objs/original-1.mtl

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+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.9372549019607843 1 0.12156862745098039 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.8823529411764706 0.8823529411764706 0.7843137254901961 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 0.8313725490196079 0.9764705882352941 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

assets/objects/010_pen/101732/textured_objs/original-2.mtl

@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.9372549019607843 1 0.12156862745098039 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.8823529411764706 0.8823529411764706 0.7843137254901961 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

assets/objects/010_pen/101732/textured_objs/original-2.obj

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assets/objects/010_pen/101736/meta.json

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+{"user_id": "kent0318", "model_cat": "Pen", "model_id": "91d7c6803207afa09d46068d27fb8249", "version": "1", "anno_id": "1736", "time_in_sec": "24"}

assets/objects/010_pen/101736/mobility.urdf

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+<?xml version="1.0" ?>
+<robot name="partnet_91d7c6803207afa09d46068d27fb8249">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="cap-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cap-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.016000000000000014" upper="0.3959999999999999"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>

assets/objects/010_pen/101736/mobility_v2.json

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assets/objects/010_pen/101736/result.json

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+[{"text": "Pen", "name": "Pen", "id": 0, "children": [{"text": "cap", "name": "cap", "id": 1, "objs": ["original-2", "original-3"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-4"]}]}]

assets/objects/010_pen/101736/result_original.json

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+[{"id": 0, "name": "Pen", "text": "Pen", "children": [{"id": 1, "name": "cap", "text": "cap", "objs": ["original-2", "original-3"]}]}]

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+illum 3
+d 1
+Ns 30
+Kd 0 0 0.4 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
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+
+newmtl material_2_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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assets/objects/010_pen/101786/bounding_box.json

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assets/objects/010_pen/101786/meta.json

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assets/objects/010_pen/101786/mobility.urdf

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+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
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+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<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-21.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-4.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-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-8.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-6.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-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-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>

assets/objects/010_pen/101786/mobility_v2.json

@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "slider", "name": "cap", "parts": [{"id": 1, "name": "cap", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": -0.5920000000000001, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 1, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}]

assets/objects/010_pen/101786/model_data.json

@@ -0,0 +1,544 @@
+{
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+    "transform_matrix": [
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+            "base": "link_0"
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+    ],
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+    "orientation_point": [],
+    "contact_points_group": [
+        [
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+        true,
+        true,
+        true
+    ],
+    "target_points_discription": [],
+    "contact_points_discription": [],
+    "functional_points_discription": [],
+    "orientation_point_discription": [],
+    "mass": {
+        "link_0": 0.001,
+        "link_1": 0.1
+    }
+}

assets/objects/010_pen/101786/result.json

@@ -0,0 +1 @@
+[{"text": "Pen", "name": "Pen", "id": 0, "children": [{"text": "cap", "name": "cap", "id": 1, "objs": ["original-30", "original-28", "original-29", "original-26"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-21", "original-22", "original-4", "original-3", "original-2", "original-16", "original-8", "original-13", "original-9", "original-5", "original-6", "original-15", "original-23", "original-11", "original-18", "original-17", "original-12", "original-24", "original-20", "original-7", "original-10", "original-14", "original-19"]}]}]

assets/objects/010_pen/101786/result_original.json

@@ -0,0 +1 @@
+[{"id": 0, "name": "Pen", "text": "Pen", "children": [{"id": 1, "name": "cap", "text": "cap", "objs": ["original-30", "original-28", "original-29", "original-26"]}]}]

assets/objects/010_pen/101786/semantics.txt

@@ -0,0 +1,2 @@
+link_0 slider cap
+link_1 free pen_body

assets/objects/010_pen/101786/textured_objs/original-10.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

assets/objects/010_pen/101786/textured_objs/original-10.obj

@@ -0,0 +1,40 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o mesh9/mesh9-geometry#mesh9-geometry
+v 0.029763 0.997722 0.002916
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+f 9//1 10//1 8//1
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+f 8//1 10//1 11//1
+f 11//2 10//2 8//2

assets/objects/010_pen/101786/textured_objs/original-11.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

assets/objects/010_pen/101786/textured_objs/original-11.obj

@@ -0,0 +1,159 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
+o mesh10/mesh10-geometry#mesh10-geometry
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assets/objects/010_pen/101786/textured_objs/original-12.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+