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Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- StorageFurniture/46653/hoi_trajectories/handle_3/trajectory.json +0 -0
- StorageFurniture/46653/hoi_trajectories/handle_4/trajectory.json +0 -0
- StorageFurniture/46653/hoi_trajectories/handle_5/trajectory.json +0 -0
- StorageFurniture/46653/partnet_mobility/textured_objs/original-4.mtl +15 -0
- StorageFurniture/46653/partnet_mobility/textured_objs/original-48.mtl +7 -0
- StorageFurniture/46653/partnet_mobility/textured_objs/original-53.mtl +7 -0
- StorageFurniture/47438/partnet_mobility/bounding_box.json +1 -0
- StorageFurniture/47438/partnet_mobility/link_annotation_gapartnet.json +1 -0
- StorageFurniture/47438/partnet_mobility/meta.json +1 -0
- StorageFurniture/47438/partnet_mobility/mobility.urdf +854 -0
- StorageFurniture/47438/partnet_mobility/mobility_annotation_gapartnet.urdf +875 -0
- StorageFurniture/47438/partnet_mobility/mobility_texture_gapartnet.urdf +854 -0
- StorageFurniture/47438/partnet_mobility/mobility_v2.json +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/0.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/1.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/14.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/15.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/16.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/17.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/18.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/19.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/2.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/20.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/21.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/22.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/23.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/24.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/25.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/26.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/27.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/28.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/29.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/3.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/30.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/31.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/32.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/33.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/34.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/35.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/36.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/37.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/38.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/39.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/4.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/40.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/41.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/42.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/46.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/48.txt +1 -0
- StorageFurniture/47438/partnet_mobility/parts_render/49.txt +1 -0
StorageFurniture/46653/hoi_trajectories/handle_3/trajectory.json
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StorageFurniture/46653/hoi_trajectories/handle_4/trajectory.json
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StorageFurniture/46653/hoi_trajectories/handle_5/trajectory.json
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StorageFurniture/46653/partnet_mobility/textured_objs/original-4.mtl
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map_Kd ../images/texture_0.jpg
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StorageFurniture/46653/partnet_mobility/textured_objs/original-48.mtl
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Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
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StorageFurniture/46653/partnet_mobility/textured_objs/original-53.mtl
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StorageFurniture/47438/partnet_mobility/bounding_box.json
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{"min": [-0.485317, -0.801819, -0.571664], "max": [0.456528, 0.745497, 0.600036]}
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StorageFurniture/47438/partnet_mobility/link_annotation_gapartnet.json
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[{"link_name": "link_0", "is_gapart": true, "category": "slider_drawer", "bbox": [[0.39402949185252323, -0.44858101518773275, 0.7389783074115442], [-0.538832965037727, -0.44858101518771293, 0.7389784186173884], [-0.5388329650377073, 0.4783753906136918, 0.7389784186173884], [0.39402949185254293, 0.47837539061367196, 0.7389783074115442], [0.39402945485146385, -0.44858101518773275, 0.4285908501597718], [-0.5388330020387864, -0.44858101518771293, 0.4285909613656159], [-0.5388330020387666, 0.4783753906136918, 0.4285909613656159], [0.39402945485148355, 0.47837539061367196, 0.4285908501597718]]}, {"link_name": "link_1", "is_gapart": true, "category": "slider_drawer", "bbox": [[0.39273029641050117, -0.4485811599751836, 0.41383195116746324], [-0.5388324834343808, -0.4485810489242466, 0.41383184011652296], [-0.5388323729245017, 0.47844300850838967, 0.41383184011652296], [0.3927304069203803, 0.47844289745745266, 0.41383195116746324], [0.392730353472764, -0.44858115997519044, -0.06484099038779008], [-0.5388324263721179, -0.44858104892425343, -0.06484110143873034], [-0.5388323158622388, 0.47844300850838284, -0.06484110143873034], [0.39273046398264316, 0.47844289745744584, -0.06484099038779008]]}, {"link_name": "link_2", "is_gapart": true, "category": "slider_drawer", "bbox": [[0.3927303106508117, -0.44858112984362997, -0.07945561217064655], [-0.5388323711882925, -0.4485810743181589, -0.07945561217064986], [-0.5388323159303177, 0.47849376616803796, -0.07945561217064986], [0.39273036590878657, 0.4784937106425669, -0.07945561217064655], [0.39273031065081354, -0.44858112984362997, -0.5918419372252987], [-0.5388323711882907, -0.4485810743181589, -0.591841937225302], [-0.5388323159303159, 0.47849376616803796, -0.591841937225302], [0.3927303659087884, 0.4784937106425669, -0.5918419372252987]]}, {"link_name": "link_3", "is_gapart": false, "category": "", "bbox": []}, {"link_name": "link_4", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.6000670724159285, 0.2097302719271124, 0.6818980901669794], [-0.6000670724159285, -0.17991562832180263, 0.6818980901669794], [-0.6000670724159285, -0.17991562832180263, 0.6593537390853738], [-0.6000670724159285, 0.2097302719271124, 0.6593537390853738], [-0.5378600957269326, 0.2097302719271124, 0.6818980901669794], [-0.5378600957269326, -0.17991562832180263, 0.6818980901669794], [-0.5378600957269326, -0.17991562832180263, 0.6593537390853738], [-0.5378600957269326, 0.2097302719271124, 0.6593537390853738]]}, {"link_name": "link_5", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.6000670773702567, 0.20979257596260195, 0.35681036002188865], [-0.6000670773702567, -0.17991565945825214, 0.35681036002188865], [-0.6000670773702567, -0.17991565945825214, 0.3341927024687547], [-0.6000670773702567, 0.20979257596260195, 0.3341927024687547], [-0.5378501821163802, 0.20979257596260195, 0.35681036002188865], [-0.5378501821163802, -0.17991565945825214, 0.35681036002188865], [-0.5378501821163802, -0.17991565945825214, 0.3341927024687547], [-0.5378501821163802, 0.20979257596260195, 0.3341927024687547]]}, {"link_name": "link_6", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.6000675251395066, 0.2098387081236151, -0.13647134796044955], [-0.6000675251395066, -0.17991568251280537, -0.13647134796044955], [-0.6000675251395066, -0.17991568251280537, -0.1591543301609393], [-0.6000675251395066, 0.2098387081236151, -0.1591543301609393], [-0.5369541958473466, 0.2098387081236151, -0.13647134796044955], [-0.5369541958473466, -0.17991568251280537, -0.13647134796044955], [-0.5369541958473466, -0.17991568251280537, -0.1591543301609393], [-0.5369541958473466, 0.2098387081236151, -0.1591543301609393]]}]
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StorageFurniture/47438/partnet_mobility/meta.json
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{"model_id": "9166a54bcb06b6c7c59350d819542ec7", "anno_id": "47438", "user_id": "face++wwjing", "time_in_sec": "362", "version": "2", "model_cat": "StorageFurniture"}
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StorageFurniture/47438/partnet_mobility/mobility.urdf
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| 602 |
+
<axis xyz="0 0 1"/>
|
| 603 |
+
<child link="link_2"/>
|
| 604 |
+
<parent link="link_3"/>
|
| 605 |
+
<limit lower="0" upper="0.75"/>
|
| 606 |
+
</joint>
|
| 607 |
+
<link name="link_3">
|
| 608 |
+
<visual name="bottom_panel-46">
|
| 609 |
+
<origin xyz="0 0 0"/>
|
| 610 |
+
<geometry>
|
| 611 |
+
<mesh filename="textured_objs/original-2.obj"/>
|
| 612 |
+
</geometry>
|
| 613 |
+
</visual>
|
| 614 |
+
<visual name="bottom_panel-46">
|
| 615 |
+
<origin xyz="0 0 0"/>
|
| 616 |
+
<geometry>
|
| 617 |
+
<mesh filename="textured_objs/original-8.obj"/>
|
| 618 |
+
</geometry>
|
| 619 |
+
</visual>
|
| 620 |
+
<visual name="frame_vertical_bar-48">
|
| 621 |
+
<origin xyz="0 0 0"/>
|
| 622 |
+
<geometry>
|
| 623 |
+
<mesh filename="textured_objs/original-3.obj"/>
|
| 624 |
+
</geometry>
|
| 625 |
+
</visual>
|
| 626 |
+
<visual name="frame_vertical_bar-49">
|
| 627 |
+
<origin xyz="0 0 0"/>
|
| 628 |
+
<geometry>
|
| 629 |
+
<mesh filename="textured_objs/original-7.obj"/>
|
| 630 |
+
</geometry>
|
| 631 |
+
</visual>
|
| 632 |
+
<visual name="frame_horizontal_bar-50">
|
| 633 |
+
<origin xyz="0 0 0"/>
|
| 634 |
+
<geometry>
|
| 635 |
+
<mesh filename="textured_objs/original-21.obj"/>
|
| 636 |
+
</geometry>
|
| 637 |
+
</visual>
|
| 638 |
+
<visual name="frame_horizontal_bar-51">
|
| 639 |
+
<origin xyz="0 0 0"/>
|
| 640 |
+
<geometry>
|
| 641 |
+
<mesh filename="textured_objs/original-20.obj"/>
|
| 642 |
+
</geometry>
|
| 643 |
+
</visual>
|
| 644 |
+
<visual name="frame_horizontal_bar-52">
|
| 645 |
+
<origin xyz="0 0 0"/>
|
| 646 |
+
<geometry>
|
| 647 |
+
<mesh filename="textured_objs/original-22.obj"/>
|
| 648 |
+
</geometry>
|
| 649 |
+
</visual>
|
| 650 |
+
<visual name="frame_horizontal_bar-53">
|
| 651 |
+
<origin xyz="0 0 0"/>
|
| 652 |
+
<geometry>
|
| 653 |
+
<mesh filename="textured_objs/original-17.obj"/>
|
| 654 |
+
</geometry>
|
| 655 |
+
</visual>
|
| 656 |
+
<visual name="frame_horizontal_bar-54">
|
| 657 |
+
<origin xyz="0 0 0"/>
|
| 658 |
+
<geometry>
|
| 659 |
+
<mesh filename="textured_objs/original-6.obj"/>
|
| 660 |
+
</geometry>
|
| 661 |
+
</visual>
|
| 662 |
+
<visual name="vertical_side_panel-56">
|
| 663 |
+
<origin xyz="0 0 0"/>
|
| 664 |
+
<geometry>
|
| 665 |
+
<mesh filename="textured_objs/original-14.obj"/>
|
| 666 |
+
</geometry>
|
| 667 |
+
</visual>
|
| 668 |
+
<visual name="vertical_side_panel-56">
|
| 669 |
+
<origin xyz="0 0 0"/>
|
| 670 |
+
<geometry>
|
| 671 |
+
<mesh filename="textured_objs/original-15.obj"/>
|
| 672 |
+
</geometry>
|
| 673 |
+
</visual>
|
| 674 |
+
<visual name="back_panel-57">
|
| 675 |
+
<origin xyz="0 0 0"/>
|
| 676 |
+
<geometry>
|
| 677 |
+
<mesh filename="textured_objs/original-5.obj"/>
|
| 678 |
+
</geometry>
|
| 679 |
+
</visual>
|
| 680 |
+
<visual name="frame_horizontal_bar-58">
|
| 681 |
+
<origin xyz="0 0 0"/>
|
| 682 |
+
<geometry>
|
| 683 |
+
<mesh filename="textured_objs/original-4.obj"/>
|
| 684 |
+
</geometry>
|
| 685 |
+
</visual>
|
| 686 |
+
<visual name="vertical_side_panel-59">
|
| 687 |
+
<origin xyz="0 0 0"/>
|
| 688 |
+
<geometry>
|
| 689 |
+
<mesh filename="textured_objs/original-11.obj"/>
|
| 690 |
+
</geometry>
|
| 691 |
+
</visual>
|
| 692 |
+
<visual name="vertical_side_panel-59">
|
| 693 |
+
<origin xyz="0 0 0"/>
|
| 694 |
+
<geometry>
|
| 695 |
+
<mesh filename="textured_objs/original-10.obj"/>
|
| 696 |
+
</geometry>
|
| 697 |
+
</visual>
|
| 698 |
+
<visual name="other_leaf-61">
|
| 699 |
+
<origin xyz="0 0 0"/>
|
| 700 |
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<geometry>
|
| 701 |
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<mesh filename="textured_objs/original-89.obj"/>
|
| 702 |
+
</geometry>
|
| 703 |
+
</visual>
|
| 704 |
+
<visual name="base_side_panel-39">
|
| 705 |
+
<origin xyz="0 0 0"/>
|
| 706 |
+
<geometry>
|
| 707 |
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<mesh filename="textured_objs/original-12.obj"/>
|
| 708 |
+
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|
| 709 |
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</visual>
|
| 710 |
+
<visual name="base_side_panel-40">
|
| 711 |
+
<origin xyz="0 0 0"/>
|
| 712 |
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<geometry>
|
| 713 |
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<mesh filename="textured_objs/original-18.obj"/>
|
| 714 |
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|
| 715 |
+
</visual>
|
| 716 |
+
<visual name="base_side_panel-41">
|
| 717 |
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<origin xyz="0 0 0"/>
|
| 718 |
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|
| 719 |
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<mesh filename="textured_objs/original-16.obj"/>
|
| 720 |
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|
| 721 |
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|
| 722 |
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<visual name="base_side_panel-42">
|
| 723 |
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<origin xyz="0 0 0"/>
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| 724 |
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|
| 725 |
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<mesh filename="textured_objs/original-19.obj"/>
|
| 726 |
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|
| 727 |
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|
| 728 |
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<collision>
|
| 729 |
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<origin xyz="0 0 0"/>
|
| 730 |
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<geometry>
|
| 731 |
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<mesh filename="textured_objs/original-2.obj"/>
|
| 732 |
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|
| 733 |
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|
| 734 |
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|
| 735 |
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<origin xyz="0 0 0"/>
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| 736 |
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|
| 737 |
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| 738 |
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|
| 739 |
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|
| 740 |
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<collision>
|
| 741 |
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<origin xyz="0 0 0"/>
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| 742 |
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| 743 |
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<mesh filename="textured_objs/original-3.obj"/>
|
| 744 |
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|
| 745 |
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| 746 |
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<collision>
|
| 747 |
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<origin xyz="0 0 0"/>
|
| 748 |
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|
| 749 |
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<mesh filename="textured_objs/original-7.obj"/>
|
| 750 |
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|
| 751 |
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|
| 752 |
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<collision>
|
| 753 |
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<origin xyz="0 0 0"/>
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| 754 |
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|
| 755 |
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|
| 756 |
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|
| 757 |
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|
| 758 |
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<collision>
|
| 759 |
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<origin xyz="0 0 0"/>
|
| 760 |
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<geometry>
|
| 761 |
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<mesh filename="textured_objs/original-20.obj"/>
|
| 762 |
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| 763 |
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|
| 764 |
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<collision>
|
| 765 |
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<origin xyz="0 0 0"/>
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| 766 |
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| 767 |
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|
| 768 |
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| 769 |
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| 770 |
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<collision>
|
| 771 |
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<origin xyz="0 0 0"/>
|
| 772 |
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<geometry>
|
| 773 |
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|
| 774 |
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|
| 775 |
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| 776 |
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<collision>
|
| 777 |
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<origin xyz="0 0 0"/>
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| 778 |
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| 779 |
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|
| 780 |
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|
| 781 |
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| 782 |
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<collision>
|
| 783 |
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<origin xyz="0 0 0"/>
|
| 784 |
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<geometry>
|
| 785 |
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<mesh filename="textured_objs/original-14.obj"/>
|
| 786 |
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|
| 787 |
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| 788 |
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<collision>
|
| 789 |
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<origin xyz="0 0 0"/>
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| 790 |
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|
| 791 |
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<mesh filename="textured_objs/original-15.obj"/>
|
| 792 |
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|
| 793 |
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|
| 794 |
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<collision>
|
| 795 |
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<origin xyz="0 0 0"/>
|
| 796 |
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<geometry>
|
| 797 |
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<mesh filename="textured_objs/original-5.obj"/>
|
| 798 |
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|
| 799 |
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</collision>
|
| 800 |
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<collision>
|
| 801 |
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<origin xyz="0 0 0"/>
|
| 802 |
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<geometry>
|
| 803 |
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<mesh filename="textured_objs/original-4.obj"/>
|
| 804 |
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</geometry>
|
| 805 |
+
</collision>
|
| 806 |
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<collision>
|
| 807 |
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<origin xyz="0 0 0"/>
|
| 808 |
+
<geometry>
|
| 809 |
+
<mesh filename="textured_objs/original-11.obj"/>
|
| 810 |
+
</geometry>
|
| 811 |
+
</collision>
|
| 812 |
+
<collision>
|
| 813 |
+
<origin xyz="0 0 0"/>
|
| 814 |
+
<geometry>
|
| 815 |
+
<mesh filename="textured_objs/original-10.obj"/>
|
| 816 |
+
</geometry>
|
| 817 |
+
</collision>
|
| 818 |
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<collision>
|
| 819 |
+
<origin xyz="0 0 0"/>
|
| 820 |
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<geometry>
|
| 821 |
+
<mesh filename="textured_objs/original-89.obj"/>
|
| 822 |
+
</geometry>
|
| 823 |
+
</collision>
|
| 824 |
+
<collision>
|
| 825 |
+
<origin xyz="0 0 0"/>
|
| 826 |
+
<geometry>
|
| 827 |
+
<mesh filename="textured_objs/original-12.obj"/>
|
| 828 |
+
</geometry>
|
| 829 |
+
</collision>
|
| 830 |
+
<collision>
|
| 831 |
+
<origin xyz="0 0 0"/>
|
| 832 |
+
<geometry>
|
| 833 |
+
<mesh filename="textured_objs/original-18.obj"/>
|
| 834 |
+
</geometry>
|
| 835 |
+
</collision>
|
| 836 |
+
<collision>
|
| 837 |
+
<origin xyz="0 0 0"/>
|
| 838 |
+
<geometry>
|
| 839 |
+
<mesh filename="textured_objs/original-16.obj"/>
|
| 840 |
+
</geometry>
|
| 841 |
+
</collision>
|
| 842 |
+
<collision>
|
| 843 |
+
<origin xyz="0 0 0"/>
|
| 844 |
+
<geometry>
|
| 845 |
+
<mesh filename="textured_objs/original-19.obj"/>
|
| 846 |
+
</geometry>
|
| 847 |
+
</collision>
|
| 848 |
+
</link>
|
| 849 |
+
<joint name="joint_3" type="fixed">
|
| 850 |
+
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
|
| 851 |
+
<child link="link_3"/>
|
| 852 |
+
<parent link="base"/>
|
| 853 |
+
</joint>
|
| 854 |
+
</robot>
|
StorageFurniture/47438/partnet_mobility/mobility_annotation_gapartnet.urdf
ADDED
|
@@ -0,0 +1,875 @@
|
|
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<origin xyz="0 0 0"/>
|
| 562 |
+
<geometry>
|
| 563 |
+
<mesh filename="textured_objs/original-15.obj"/>
|
| 564 |
+
</geometry>
|
| 565 |
+
</visual>
|
| 566 |
+
<visual name="back_panel-57">
|
| 567 |
+
<origin xyz="0 0 0"/>
|
| 568 |
+
<geometry>
|
| 569 |
+
<mesh filename="textured_objs/original-5.obj"/>
|
| 570 |
+
</geometry>
|
| 571 |
+
</visual>
|
| 572 |
+
<visual name="frame_horizontal_bar-58">
|
| 573 |
+
<origin xyz="0 0 0"/>
|
| 574 |
+
<geometry>
|
| 575 |
+
<mesh filename="textured_objs/original-4.obj"/>
|
| 576 |
+
</geometry>
|
| 577 |
+
</visual>
|
| 578 |
+
<visual name="vertical_side_panel-59">
|
| 579 |
+
<origin xyz="0 0 0"/>
|
| 580 |
+
<geometry>
|
| 581 |
+
<mesh filename="textured_objs/original-11.obj"/>
|
| 582 |
+
</geometry>
|
| 583 |
+
</visual>
|
| 584 |
+
<visual name="vertical_side_panel-59">
|
| 585 |
+
<origin xyz="0 0 0"/>
|
| 586 |
+
<geometry>
|
| 587 |
+
<mesh filename="textured_objs/original-10.obj"/>
|
| 588 |
+
</geometry>
|
| 589 |
+
</visual>
|
| 590 |
+
<visual name="other_leaf-61">
|
| 591 |
+
<origin xyz="0 0 0"/>
|
| 592 |
+
<geometry>
|
| 593 |
+
<mesh filename="textured_objs/original-89.obj"/>
|
| 594 |
+
</geometry>
|
| 595 |
+
</visual>
|
| 596 |
+
<visual name="base_side_panel-39">
|
| 597 |
+
<origin xyz="0 0 0"/>
|
| 598 |
+
<geometry>
|
| 599 |
+
<mesh filename="textured_objs/original-12.obj"/>
|
| 600 |
+
</geometry>
|
| 601 |
+
</visual>
|
| 602 |
+
<visual name="base_side_panel-40">
|
| 603 |
+
<origin xyz="0 0 0"/>
|
| 604 |
+
<geometry>
|
| 605 |
+
<mesh filename="textured_objs/original-18.obj"/>
|
| 606 |
+
</geometry>
|
| 607 |
+
</visual>
|
| 608 |
+
<visual name="base_side_panel-41">
|
| 609 |
+
<origin xyz="0 0 0"/>
|
| 610 |
+
<geometry>
|
| 611 |
+
<mesh filename="textured_objs/original-16.obj"/>
|
| 612 |
+
</geometry>
|
| 613 |
+
</visual>
|
| 614 |
+
<visual name="base_side_panel-42">
|
| 615 |
+
<origin xyz="0 0 0"/>
|
| 616 |
+
<geometry>
|
| 617 |
+
<mesh filename="textured_objs/original-19.obj"/>
|
| 618 |
+
</geometry>
|
| 619 |
+
</visual>
|
| 620 |
+
<collision>
|
| 621 |
+
<origin xyz="0 0 0"/>
|
| 622 |
+
<geometry>
|
| 623 |
+
<mesh filename="textured_objs/original-2.obj"/>
|
| 624 |
+
</geometry>
|
| 625 |
+
</collision>
|
| 626 |
+
<collision>
|
| 627 |
+
<origin xyz="0 0 0"/>
|
| 628 |
+
<geometry>
|
| 629 |
+
<mesh filename="textured_objs/original-8.obj"/>
|
| 630 |
+
</geometry>
|
| 631 |
+
</collision>
|
| 632 |
+
<collision>
|
| 633 |
+
<origin xyz="0 0 0"/>
|
| 634 |
+
<geometry>
|
| 635 |
+
<mesh filename="textured_objs/original-3.obj"/>
|
| 636 |
+
</geometry>
|
| 637 |
+
</collision>
|
| 638 |
+
<collision>
|
| 639 |
+
<origin xyz="0 0 0"/>
|
| 640 |
+
<geometry>
|
| 641 |
+
<mesh filename="textured_objs/original-7.obj"/>
|
| 642 |
+
</geometry>
|
| 643 |
+
</collision>
|
| 644 |
+
<collision>
|
| 645 |
+
<origin xyz="0 0 0"/>
|
| 646 |
+
<geometry>
|
| 647 |
+
<mesh filename="textured_objs/original-21.obj"/>
|
| 648 |
+
</geometry>
|
| 649 |
+
</collision>
|
| 650 |
+
<collision>
|
| 651 |
+
<origin xyz="0 0 0"/>
|
| 652 |
+
<geometry>
|
| 653 |
+
<mesh filename="textured_objs/original-20.obj"/>
|
| 654 |
+
</geometry>
|
| 655 |
+
</collision>
|
| 656 |
+
<collision>
|
| 657 |
+
<origin xyz="0 0 0"/>
|
| 658 |
+
<geometry>
|
| 659 |
+
<mesh filename="textured_objs/original-22.obj"/>
|
| 660 |
+
</geometry>
|
| 661 |
+
</collision>
|
| 662 |
+
<collision>
|
| 663 |
+
<origin xyz="0 0 0"/>
|
| 664 |
+
<geometry>
|
| 665 |
+
<mesh filename="textured_objs/original-17.obj"/>
|
| 666 |
+
</geometry>
|
| 667 |
+
</collision>
|
| 668 |
+
<collision>
|
| 669 |
+
<origin xyz="0 0 0"/>
|
| 670 |
+
<geometry>
|
| 671 |
+
<mesh filename="textured_objs/original-6.obj"/>
|
| 672 |
+
</geometry>
|
| 673 |
+
</collision>
|
| 674 |
+
<collision>
|
| 675 |
+
<origin xyz="0 0 0"/>
|
| 676 |
+
<geometry>
|
| 677 |
+
<mesh filename="textured_objs/original-14.obj"/>
|
| 678 |
+
</geometry>
|
| 679 |
+
</collision>
|
| 680 |
+
<collision>
|
| 681 |
+
<origin xyz="0 0 0"/>
|
| 682 |
+
<geometry>
|
| 683 |
+
<mesh filename="textured_objs/original-15.obj"/>
|
| 684 |
+
</geometry>
|
| 685 |
+
</collision>
|
| 686 |
+
<collision>
|
| 687 |
+
<origin xyz="0 0 0"/>
|
| 688 |
+
<geometry>
|
| 689 |
+
<mesh filename="textured_objs/original-5.obj"/>
|
| 690 |
+
</geometry>
|
| 691 |
+
</collision>
|
| 692 |
+
<collision>
|
| 693 |
+
<origin xyz="0 0 0"/>
|
| 694 |
+
<geometry>
|
| 695 |
+
<mesh filename="textured_objs/original-4.obj"/>
|
| 696 |
+
</geometry>
|
| 697 |
+
</collision>
|
| 698 |
+
<collision>
|
| 699 |
+
<origin xyz="0 0 0"/>
|
| 700 |
+
<geometry>
|
| 701 |
+
<mesh filename="textured_objs/original-11.obj"/>
|
| 702 |
+
</geometry>
|
| 703 |
+
</collision>
|
| 704 |
+
<collision>
|
| 705 |
+
<origin xyz="0 0 0"/>
|
| 706 |
+
<geometry>
|
| 707 |
+
<mesh filename="textured_objs/original-10.obj"/>
|
| 708 |
+
</geometry>
|
| 709 |
+
</collision>
|
| 710 |
+
<collision>
|
| 711 |
+
<origin xyz="0 0 0"/>
|
| 712 |
+
<geometry>
|
| 713 |
+
<mesh filename="textured_objs/original-89.obj"/>
|
| 714 |
+
</geometry>
|
| 715 |
+
</collision>
|
| 716 |
+
<collision>
|
| 717 |
+
<origin xyz="0 0 0"/>
|
| 718 |
+
<geometry>
|
| 719 |
+
<mesh filename="textured_objs/original-12.obj"/>
|
| 720 |
+
</geometry>
|
| 721 |
+
</collision>
|
| 722 |
+
<collision>
|
| 723 |
+
<origin xyz="0 0 0"/>
|
| 724 |
+
<geometry>
|
| 725 |
+
<mesh filename="textured_objs/original-18.obj"/>
|
| 726 |
+
</geometry>
|
| 727 |
+
</collision>
|
| 728 |
+
<collision>
|
| 729 |
+
<origin xyz="0 0 0"/>
|
| 730 |
+
<geometry>
|
| 731 |
+
<mesh filename="textured_objs/original-16.obj"/>
|
| 732 |
+
</geometry>
|
| 733 |
+
</collision>
|
| 734 |
+
<collision>
|
| 735 |
+
<origin xyz="0 0 0"/>
|
| 736 |
+
<geometry>
|
| 737 |
+
<mesh filename="textured_objs/original-19.obj"/>
|
| 738 |
+
</geometry>
|
| 739 |
+
</collision>
|
| 740 |
+
</link>
|
| 741 |
+
<joint name="joint_3" type="fixed">
|
| 742 |
+
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
|
| 743 |
+
<child link="link_3"/>
|
| 744 |
+
<parent link="base"/>
|
| 745 |
+
</joint>
|
| 746 |
+
<link name="link_4">
|
| 747 |
+
<visual name="handle-1">
|
| 748 |
+
<origin xyz="0 0 0"/>
|
| 749 |
+
<geometry>
|
| 750 |
+
<mesh filename="textured_objs/original-88.obj"/>
|
| 751 |
+
</geometry>
|
| 752 |
+
</visual>
|
| 753 |
+
<visual name="handle-1">
|
| 754 |
+
<origin xyz="0 0 0"/>
|
| 755 |
+
<geometry>
|
| 756 |
+
<mesh filename="textured_objs/original-87.obj"/>
|
| 757 |
+
</geometry>
|
| 758 |
+
</visual>
|
| 759 |
+
<visual name="handle-1">
|
| 760 |
+
<origin xyz="0 0 0"/>
|
| 761 |
+
<geometry>
|
| 762 |
+
<mesh filename="textured_objs/original-86.obj"/>
|
| 763 |
+
</geometry>
|
| 764 |
+
</visual>
|
| 765 |
+
<collision>
|
| 766 |
+
<origin xyz="0 0 0"/>
|
| 767 |
+
<geometry>
|
| 768 |
+
<mesh filename="textured_objs/original-88.obj"/>
|
| 769 |
+
</geometry>
|
| 770 |
+
</collision>
|
| 771 |
+
<collision>
|
| 772 |
+
<origin xyz="0 0 0"/>
|
| 773 |
+
<geometry>
|
| 774 |
+
<mesh filename="textured_objs/original-87.obj"/>
|
| 775 |
+
</geometry>
|
| 776 |
+
</collision>
|
| 777 |
+
<collision>
|
| 778 |
+
<origin xyz="0 0 0"/>
|
| 779 |
+
<geometry>
|
| 780 |
+
<mesh filename="textured_objs/original-86.obj"/>
|
| 781 |
+
</geometry>
|
| 782 |
+
</collision>
|
| 783 |
+
</link>
|
| 784 |
+
<joint name="joint_4" type="fixed">
|
| 785 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 786 |
+
<child link="link_4"/>
|
| 787 |
+
<parent link="link_0"/>
|
| 788 |
+
</joint>
|
| 789 |
+
<link name="link_5">
|
| 790 |
+
<visual name="handle-1">
|
| 791 |
+
<origin xyz="0 0 0"/>
|
| 792 |
+
<geometry>
|
| 793 |
+
<mesh filename="textured_objs/original-66.obj"/>
|
| 794 |
+
</geometry>
|
| 795 |
+
</visual>
|
| 796 |
+
<visual name="handle-1">
|
| 797 |
+
<origin xyz="0 0 0"/>
|
| 798 |
+
<geometry>
|
| 799 |
+
<mesh filename="textured_objs/original-64.obj"/>
|
| 800 |
+
</geometry>
|
| 801 |
+
</visual>
|
| 802 |
+
<visual name="handle-1">
|
| 803 |
+
<origin xyz="0 0 0"/>
|
| 804 |
+
<geometry>
|
| 805 |
+
<mesh filename="textured_objs/original-65.obj"/>
|
| 806 |
+
</geometry>
|
| 807 |
+
</visual>
|
| 808 |
+
<collision>
|
| 809 |
+
<origin xyz="0 0 0"/>
|
| 810 |
+
<geometry>
|
| 811 |
+
<mesh filename="textured_objs/original-66.obj"/>
|
| 812 |
+
</geometry>
|
| 813 |
+
</collision>
|
| 814 |
+
<collision>
|
| 815 |
+
<origin xyz="0 0 0"/>
|
| 816 |
+
<geometry>
|
| 817 |
+
<mesh filename="textured_objs/original-64.obj"/>
|
| 818 |
+
</geometry>
|
| 819 |
+
</collision>
|
| 820 |
+
<collision>
|
| 821 |
+
<origin xyz="0 0 0"/>
|
| 822 |
+
<geometry>
|
| 823 |
+
<mesh filename="textured_objs/original-65.obj"/>
|
| 824 |
+
</geometry>
|
| 825 |
+
</collision>
|
| 826 |
+
</link>
|
| 827 |
+
<joint name="joint_5" type="fixed">
|
| 828 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 829 |
+
<child link="link_5"/>
|
| 830 |
+
<parent link="link_1"/>
|
| 831 |
+
</joint>
|
| 832 |
+
<link name="link_6">
|
| 833 |
+
<visual name="handle-1">
|
| 834 |
+
<origin xyz="0 0 0"/>
|
| 835 |
+
<geometry>
|
| 836 |
+
<mesh filename="textured_objs/original-44.obj"/>
|
| 837 |
+
</geometry>
|
| 838 |
+
</visual>
|
| 839 |
+
<visual name="handle-1">
|
| 840 |
+
<origin xyz="0 0 0"/>
|
| 841 |
+
<geometry>
|
| 842 |
+
<mesh filename="textured_objs/original-42.obj"/>
|
| 843 |
+
</geometry>
|
| 844 |
+
</visual>
|
| 845 |
+
<visual name="handle-1">
|
| 846 |
+
<origin xyz="0 0 0"/>
|
| 847 |
+
<geometry>
|
| 848 |
+
<mesh filename="textured_objs/original-43.obj"/>
|
| 849 |
+
</geometry>
|
| 850 |
+
</visual>
|
| 851 |
+
<collision>
|
| 852 |
+
<origin xyz="0 0 0"/>
|
| 853 |
+
<geometry>
|
| 854 |
+
<mesh filename="textured_objs/original-44.obj"/>
|
| 855 |
+
</geometry>
|
| 856 |
+
</collision>
|
| 857 |
+
<collision>
|
| 858 |
+
<origin xyz="0 0 0"/>
|
| 859 |
+
<geometry>
|
| 860 |
+
<mesh filename="textured_objs/original-42.obj"/>
|
| 861 |
+
</geometry>
|
| 862 |
+
</collision>
|
| 863 |
+
<collision>
|
| 864 |
+
<origin xyz="0 0 0"/>
|
| 865 |
+
<geometry>
|
| 866 |
+
<mesh filename="textured_objs/original-43.obj"/>
|
| 867 |
+
</geometry>
|
| 868 |
+
</collision>
|
| 869 |
+
</link>
|
| 870 |
+
<joint name="joint_6" type="fixed">
|
| 871 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 872 |
+
<child link="link_6"/>
|
| 873 |
+
<parent link="link_2"/>
|
| 874 |
+
</joint>
|
| 875 |
+
</robot>
|
StorageFurniture/47438/partnet_mobility/mobility_texture_gapartnet.urdf
ADDED
|
@@ -0,0 +1,854 @@
|
|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
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|
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|
|
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|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
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|
|
|
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|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
|
|
|
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|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
| 512 |
+
<mesh filename="textured_objs/original-37.obj"/>
|
| 513 |
+
</geometry>
|
| 514 |
+
</collision>
|
| 515 |
+
<collision>
|
| 516 |
+
<origin xyz="0 0 0"/>
|
| 517 |
+
<geometry>
|
| 518 |
+
<mesh filename="textured_objs/original-34.obj"/>
|
| 519 |
+
</geometry>
|
| 520 |
+
</collision>
|
| 521 |
+
<collision>
|
| 522 |
+
<origin xyz="0 0 0"/>
|
| 523 |
+
<geometry>
|
| 524 |
+
<mesh filename="textured_objs/original-36.obj"/>
|
| 525 |
+
</geometry>
|
| 526 |
+
</collision>
|
| 527 |
+
<collision>
|
| 528 |
+
<origin xyz="0 0 0"/>
|
| 529 |
+
<geometry>
|
| 530 |
+
<mesh filename="textured_objs/original-35.obj"/>
|
| 531 |
+
</geometry>
|
| 532 |
+
</collision>
|
| 533 |
+
<collision>
|
| 534 |
+
<origin xyz="0 0 0"/>
|
| 535 |
+
<geometry>
|
| 536 |
+
<mesh filename="textured_objs/original-26.obj"/>
|
| 537 |
+
</geometry>
|
| 538 |
+
</collision>
|
| 539 |
+
<collision>
|
| 540 |
+
<origin xyz="0 0 0"/>
|
| 541 |
+
<geometry>
|
| 542 |
+
<mesh filename="textured_objs/original-39.obj"/>
|
| 543 |
+
</geometry>
|
| 544 |
+
</collision>
|
| 545 |
+
<collision>
|
| 546 |
+
<origin xyz="0 0 0"/>
|
| 547 |
+
<geometry>
|
| 548 |
+
<mesh filename="textured_objs/original-30.obj"/>
|
| 549 |
+
</geometry>
|
| 550 |
+
</collision>
|
| 551 |
+
<collision>
|
| 552 |
+
<origin xyz="0 0 0"/>
|
| 553 |
+
<geometry>
|
| 554 |
+
<mesh filename="textured_objs/original-25.obj"/>
|
| 555 |
+
</geometry>
|
| 556 |
+
</collision>
|
| 557 |
+
<collision>
|
| 558 |
+
<origin xyz="0 0 0"/>
|
| 559 |
+
<geometry>
|
| 560 |
+
<mesh filename="textured_objs/original-31.obj"/>
|
| 561 |
+
</geometry>
|
| 562 |
+
</collision>
|
| 563 |
+
<collision>
|
| 564 |
+
<origin xyz="0 0 0"/>
|
| 565 |
+
<geometry>
|
| 566 |
+
<mesh filename="textured_objs/original-29.obj"/>
|
| 567 |
+
</geometry>
|
| 568 |
+
</collision>
|
| 569 |
+
<collision>
|
| 570 |
+
<origin xyz="0 0 0"/>
|
| 571 |
+
<geometry>
|
| 572 |
+
<mesh filename="textured_objs/original-28.obj"/>
|
| 573 |
+
</geometry>
|
| 574 |
+
</collision>
|
| 575 |
+
<collision>
|
| 576 |
+
<origin xyz="0 0 0"/>
|
| 577 |
+
<geometry>
|
| 578 |
+
<mesh filename="textured_objs/original-32.obj"/>
|
| 579 |
+
</geometry>
|
| 580 |
+
</collision>
|
| 581 |
+
<collision>
|
| 582 |
+
<origin xyz="0 0 0"/>
|
| 583 |
+
<geometry>
|
| 584 |
+
<mesh filename="textured_objs/original-44.obj"/>
|
| 585 |
+
</geometry>
|
| 586 |
+
</collision>
|
| 587 |
+
<collision>
|
| 588 |
+
<origin xyz="0 0 0"/>
|
| 589 |
+
<geometry>
|
| 590 |
+
<mesh filename="textured_objs/original-42.obj"/>
|
| 591 |
+
</geometry>
|
| 592 |
+
</collision>
|
| 593 |
+
<collision>
|
| 594 |
+
<origin xyz="0 0 0"/>
|
| 595 |
+
<geometry>
|
| 596 |
+
<mesh filename="textured_objs/original-43.obj"/>
|
| 597 |
+
</geometry>
|
| 598 |
+
</collision>
|
| 599 |
+
</link>
|
| 600 |
+
<joint name="joint_2" type="prismatic">
|
| 601 |
+
<origin xyz="0 0 0"/>
|
| 602 |
+
<axis xyz="0 0 1"/>
|
| 603 |
+
<child link="link_2"/>
|
| 604 |
+
<parent link="link_3"/>
|
| 605 |
+
<limit lower="0" upper="0.75"/>
|
| 606 |
+
</joint>
|
| 607 |
+
<link name="link_3">
|
| 608 |
+
<visual name="bottom_panel-46">
|
| 609 |
+
<origin xyz="0 0 0"/>
|
| 610 |
+
<geometry>
|
| 611 |
+
<mesh filename="textured_objs/original-2.obj"/>
|
| 612 |
+
</geometry>
|
| 613 |
+
</visual>
|
| 614 |
+
<visual name="bottom_panel-46">
|
| 615 |
+
<origin xyz="0 0 0"/>
|
| 616 |
+
<geometry>
|
| 617 |
+
<mesh filename="textured_objs/original-8.obj"/>
|
| 618 |
+
</geometry>
|
| 619 |
+
</visual>
|
| 620 |
+
<visual name="frame_vertical_bar-48">
|
| 621 |
+
<origin xyz="0 0 0"/>
|
| 622 |
+
<geometry>
|
| 623 |
+
<mesh filename="textured_objs/original-3.obj"/>
|
| 624 |
+
</geometry>
|
| 625 |
+
</visual>
|
| 626 |
+
<visual name="frame_vertical_bar-49">
|
| 627 |
+
<origin xyz="0 0 0"/>
|
| 628 |
+
<geometry>
|
| 629 |
+
<mesh filename="textured_objs/original-7.obj"/>
|
| 630 |
+
</geometry>
|
| 631 |
+
</visual>
|
| 632 |
+
<visual name="frame_horizontal_bar-50">
|
| 633 |
+
<origin xyz="0 0 0"/>
|
| 634 |
+
<geometry>
|
| 635 |
+
<mesh filename="textured_objs/original-21.obj"/>
|
| 636 |
+
</geometry>
|
| 637 |
+
</visual>
|
| 638 |
+
<visual name="frame_horizontal_bar-51">
|
| 639 |
+
<origin xyz="0 0 0"/>
|
| 640 |
+
<geometry>
|
| 641 |
+
<mesh filename="textured_objs/original-20.obj"/>
|
| 642 |
+
</geometry>
|
| 643 |
+
</visual>
|
| 644 |
+
<visual name="frame_horizontal_bar-52">
|
| 645 |
+
<origin xyz="0 0 0"/>
|
| 646 |
+
<geometry>
|
| 647 |
+
<mesh filename="textured_objs/original-22.obj"/>
|
| 648 |
+
</geometry>
|
| 649 |
+
</visual>
|
| 650 |
+
<visual name="frame_horizontal_bar-53">
|
| 651 |
+
<origin xyz="0 0 0"/>
|
| 652 |
+
<geometry>
|
| 653 |
+
<mesh filename="textured_objs/original-17.obj"/>
|
| 654 |
+
</geometry>
|
| 655 |
+
</visual>
|
| 656 |
+
<visual name="frame_horizontal_bar-54">
|
| 657 |
+
<origin xyz="0 0 0"/>
|
| 658 |
+
<geometry>
|
| 659 |
+
<mesh filename="textured_objs/original-6.obj"/>
|
| 660 |
+
</geometry>
|
| 661 |
+
</visual>
|
| 662 |
+
<visual name="vertical_side_panel-56">
|
| 663 |
+
<origin xyz="0 0 0"/>
|
| 664 |
+
<geometry>
|
| 665 |
+
<mesh filename="textured_objs/original-14.obj"/>
|
| 666 |
+
</geometry>
|
| 667 |
+
</visual>
|
| 668 |
+
<visual name="vertical_side_panel-56">
|
| 669 |
+
<origin xyz="0 0 0"/>
|
| 670 |
+
<geometry>
|
| 671 |
+
<mesh filename="textured_objs/original-15.obj"/>
|
| 672 |
+
</geometry>
|
| 673 |
+
</visual>
|
| 674 |
+
<visual name="back_panel-57">
|
| 675 |
+
<origin xyz="0 0 0"/>
|
| 676 |
+
<geometry>
|
| 677 |
+
<mesh filename="textured_objs/original-5.obj"/>
|
| 678 |
+
</geometry>
|
| 679 |
+
</visual>
|
| 680 |
+
<visual name="frame_horizontal_bar-58">
|
| 681 |
+
<origin xyz="0 0 0"/>
|
| 682 |
+
<geometry>
|
| 683 |
+
<mesh filename="textured_objs/original-4.obj"/>
|
| 684 |
+
</geometry>
|
| 685 |
+
</visual>
|
| 686 |
+
<visual name="vertical_side_panel-59">
|
| 687 |
+
<origin xyz="0 0 0"/>
|
| 688 |
+
<geometry>
|
| 689 |
+
<mesh filename="textured_objs/original-11.obj"/>
|
| 690 |
+
</geometry>
|
| 691 |
+
</visual>
|
| 692 |
+
<visual name="vertical_side_panel-59">
|
| 693 |
+
<origin xyz="0 0 0"/>
|
| 694 |
+
<geometry>
|
| 695 |
+
<mesh filename="textured_objs/original-10.obj"/>
|
| 696 |
+
</geometry>
|
| 697 |
+
</visual>
|
| 698 |
+
<visual name="other_leaf-61">
|
| 699 |
+
<origin xyz="0 0 0"/>
|
| 700 |
+
<geometry>
|
| 701 |
+
<mesh filename="textured_objs/original-89.obj"/>
|
| 702 |
+
</geometry>
|
| 703 |
+
</visual>
|
| 704 |
+
<visual name="base_side_panel-39">
|
| 705 |
+
<origin xyz="0 0 0"/>
|
| 706 |
+
<geometry>
|
| 707 |
+
<mesh filename="textured_objs/original-12.obj"/>
|
| 708 |
+
</geometry>
|
| 709 |
+
</visual>
|
| 710 |
+
<visual name="base_side_panel-40">
|
| 711 |
+
<origin xyz="0 0 0"/>
|
| 712 |
+
<geometry>
|
| 713 |
+
<mesh filename="textured_objs/original-18.obj"/>
|
| 714 |
+
</geometry>
|
| 715 |
+
</visual>
|
| 716 |
+
<visual name="base_side_panel-41">
|
| 717 |
+
<origin xyz="0 0 0"/>
|
| 718 |
+
<geometry>
|
| 719 |
+
<mesh filename="textured_objs/original-16.obj"/>
|
| 720 |
+
</geometry>
|
| 721 |
+
</visual>
|
| 722 |
+
<visual name="base_side_panel-42">
|
| 723 |
+
<origin xyz="0 0 0"/>
|
| 724 |
+
<geometry>
|
| 725 |
+
<mesh filename="textured_objs/original-19.obj"/>
|
| 726 |
+
</geometry>
|
| 727 |
+
</visual>
|
| 728 |
+
<collision>
|
| 729 |
+
<origin xyz="0 0 0"/>
|
| 730 |
+
<geometry>
|
| 731 |
+
<mesh filename="textured_objs/original-2.obj"/>
|
| 732 |
+
</geometry>
|
| 733 |
+
</collision>
|
| 734 |
+
<collision>
|
| 735 |
+
<origin xyz="0 0 0"/>
|
| 736 |
+
<geometry>
|
| 737 |
+
<mesh filename="textured_objs/original-8.obj"/>
|
| 738 |
+
</geometry>
|
| 739 |
+
</collision>
|
| 740 |
+
<collision>
|
| 741 |
+
<origin xyz="0 0 0"/>
|
| 742 |
+
<geometry>
|
| 743 |
+
<mesh filename="textured_objs/original-3.obj"/>
|
| 744 |
+
</geometry>
|
| 745 |
+
</collision>
|
| 746 |
+
<collision>
|
| 747 |
+
<origin xyz="0 0 0"/>
|
| 748 |
+
<geometry>
|
| 749 |
+
<mesh filename="textured_objs/original-7.obj"/>
|
| 750 |
+
</geometry>
|
| 751 |
+
</collision>
|
| 752 |
+
<collision>
|
| 753 |
+
<origin xyz="0 0 0"/>
|
| 754 |
+
<geometry>
|
| 755 |
+
<mesh filename="textured_objs/original-21.obj"/>
|
| 756 |
+
</geometry>
|
| 757 |
+
</collision>
|
| 758 |
+
<collision>
|
| 759 |
+
<origin xyz="0 0 0"/>
|
| 760 |
+
<geometry>
|
| 761 |
+
<mesh filename="textured_objs/original-20.obj"/>
|
| 762 |
+
</geometry>
|
| 763 |
+
</collision>
|
| 764 |
+
<collision>
|
| 765 |
+
<origin xyz="0 0 0"/>
|
| 766 |
+
<geometry>
|
| 767 |
+
<mesh filename="textured_objs/original-22.obj"/>
|
| 768 |
+
</geometry>
|
| 769 |
+
</collision>
|
| 770 |
+
<collision>
|
| 771 |
+
<origin xyz="0 0 0"/>
|
| 772 |
+
<geometry>
|
| 773 |
+
<mesh filename="textured_objs/original-17.obj"/>
|
| 774 |
+
</geometry>
|
| 775 |
+
</collision>
|
| 776 |
+
<collision>
|
| 777 |
+
<origin xyz="0 0 0"/>
|
| 778 |
+
<geometry>
|
| 779 |
+
<mesh filename="textured_objs/original-6.obj"/>
|
| 780 |
+
</geometry>
|
| 781 |
+
</collision>
|
| 782 |
+
<collision>
|
| 783 |
+
<origin xyz="0 0 0"/>
|
| 784 |
+
<geometry>
|
| 785 |
+
<mesh filename="textured_objs/original-14.obj"/>
|
| 786 |
+
</geometry>
|
| 787 |
+
</collision>
|
| 788 |
+
<collision>
|
| 789 |
+
<origin xyz="0 0 0"/>
|
| 790 |
+
<geometry>
|
| 791 |
+
<mesh filename="textured_objs/original-15.obj"/>
|
| 792 |
+
</geometry>
|
| 793 |
+
</collision>
|
| 794 |
+
<collision>
|
| 795 |
+
<origin xyz="0 0 0"/>
|
| 796 |
+
<geometry>
|
| 797 |
+
<mesh filename="textured_objs/original-5.obj"/>
|
| 798 |
+
</geometry>
|
| 799 |
+
</collision>
|
| 800 |
+
<collision>
|
| 801 |
+
<origin xyz="0 0 0"/>
|
| 802 |
+
<geometry>
|
| 803 |
+
<mesh filename="textured_objs/original-4.obj"/>
|
| 804 |
+
</geometry>
|
| 805 |
+
</collision>
|
| 806 |
+
<collision>
|
| 807 |
+
<origin xyz="0 0 0"/>
|
| 808 |
+
<geometry>
|
| 809 |
+
<mesh filename="textured_objs/original-11.obj"/>
|
| 810 |
+
</geometry>
|
| 811 |
+
</collision>
|
| 812 |
+
<collision>
|
| 813 |
+
<origin xyz="0 0 0"/>
|
| 814 |
+
<geometry>
|
| 815 |
+
<mesh filename="textured_objs/original-10.obj"/>
|
| 816 |
+
</geometry>
|
| 817 |
+
</collision>
|
| 818 |
+
<collision>
|
| 819 |
+
<origin xyz="0 0 0"/>
|
| 820 |
+
<geometry>
|
| 821 |
+
<mesh filename="textured_objs/original-89.obj"/>
|
| 822 |
+
</geometry>
|
| 823 |
+
</collision>
|
| 824 |
+
<collision>
|
| 825 |
+
<origin xyz="0 0 0"/>
|
| 826 |
+
<geometry>
|
| 827 |
+
<mesh filename="textured_objs/original-12.obj"/>
|
| 828 |
+
</geometry>
|
| 829 |
+
</collision>
|
| 830 |
+
<collision>
|
| 831 |
+
<origin xyz="0 0 0"/>
|
| 832 |
+
<geometry>
|
| 833 |
+
<mesh filename="textured_objs/original-18.obj"/>
|
| 834 |
+
</geometry>
|
| 835 |
+
</collision>
|
| 836 |
+
<collision>
|
| 837 |
+
<origin xyz="0 0 0"/>
|
| 838 |
+
<geometry>
|
| 839 |
+
<mesh filename="textured_objs/original-16.obj"/>
|
| 840 |
+
</geometry>
|
| 841 |
+
</collision>
|
| 842 |
+
<collision>
|
| 843 |
+
<origin xyz="0 0 0"/>
|
| 844 |
+
<geometry>
|
| 845 |
+
<mesh filename="textured_objs/original-19.obj"/>
|
| 846 |
+
</geometry>
|
| 847 |
+
</collision>
|
| 848 |
+
</link>
|
| 849 |
+
<joint name="joint_3" type="fixed">
|
| 850 |
+
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
|
| 851 |
+
<child link="link_3"/>
|
| 852 |
+
<parent link="base"/>
|
| 853 |
+
</joint>
|
| 854 |
+
</robot>
|
StorageFurniture/47438/partnet_mobility/mobility_v2.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id":0,"parent":3,"joint":"slider","name":"drawer","parts":[{"id":31,"name":"drawer_front","children":[]},{"id":32,"name":"drawer_side","children":[]},{"id":33,"name":"drawer_side","children":[]},{"id":34,"name":"drawer_back","children":[]},{"id":35,"name":"drawer_bottom","children":[]},{"id":37,"name":"other_leaf","children":[]},{"id":30,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.7500000000000002,"noLimit":false}}},{"id":1,"parent":3,"joint":"slider","name":"drawer","parts":[{"id":22,"name":"drawer_front","children":[]},{"id":23,"name":"drawer_side","children":[]},{"id":24,"name":"drawer_side","children":[]},{"id":25,"name":"drawer_back","children":[]},{"id":26,"name":"drawer_bottom","children":[]},{"id":28,"name":"other_leaf","children":[]},{"id":21,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.75,"noLimit":false}}},{"id":2,"parent":3,"joint":"slider","name":"drawer","parts":[{"id":9,"name":"drawer_front","children":[]},{"id":14,"name":"drawer_side","children":[]},{"id":15,"name":"drawer_side","children":[]},{"id":16,"name":"drawer_back","children":[]},{"id":17,"name":"drawer_bottom","children":[]},{"id":19,"name":"other_leaf","children":[]},{"id":8,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.75,"noLimit":false}}},{"id":3,"parent":-1,"joint":"heavy","name":"cabinet_frame","parts":[{"id":46,"name":"bottom_panel","children":[]},{"id":48,"name":"frame_vertical_bar","children":[]},{"id":49,"name":"frame_vertical_bar","children":[]},{"id":50,"name":"frame_horizontal_bar","children":[]},{"id":51,"name":"frame_horizontal_bar","children":[]},{"id":52,"name":"frame_horizontal_bar","children":[]},{"id":53,"name":"frame_horizontal_bar","children":[]},{"id":54,"name":"frame_horizontal_bar","children":[]},{"id":56,"name":"vertical_side_panel","children":[]},{"id":57,"name":"back_panel","children":[]},{"id":58,"name":"frame_horizontal_bar","children":[]},{"id":59,"name":"vertical_side_panel","children":[]},{"id":61,"name":"other_leaf","children":[]},{"id":39,"name":"base_side_panel","children":[]},{"id":40,"name":"base_side_panel","children":[]},{"id":41,"name":"base_side_panel","children":[]},{"id":42,"name":"base_side_panel","children":[]}],"jointData":{}}]
|
StorageFurniture/47438/partnet_mobility/parts_render/0.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
0 storage_furniture Storage Furniture
|
StorageFurniture/47438/partnet_mobility/parts_render/1.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
1 cabinet Cabinet
|
StorageFurniture/47438/partnet_mobility/parts_render/14.txt
ADDED
|
@@ -0,0 +1 @@
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14 drawer_side Drawer side
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StorageFurniture/47438/partnet_mobility/parts_render/15.txt
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15 drawer_side Drawer side
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StorageFurniture/47438/partnet_mobility/parts_render/16.txt
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16 drawer_back Drawer back
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StorageFurniture/47438/partnet_mobility/parts_render/17.txt
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17 drawer_bottom Drawer bottom
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StorageFurniture/47438/partnet_mobility/parts_render/18.txt
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18 other rectangle (other)
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StorageFurniture/47438/partnet_mobility/parts_render/19.txt
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19 other_leaf other_leaf
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StorageFurniture/47438/partnet_mobility/parts_render/2.txt
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2 cabinet_frame Cabinet frame
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StorageFurniture/47438/partnet_mobility/parts_render/20.txt
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20 drawer_box Drawer box
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StorageFurniture/47438/partnet_mobility/parts_render/21.txt
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21 handle Handle
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StorageFurniture/47438/partnet_mobility/parts_render/22.txt
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22 drawer_front Drawer front
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StorageFurniture/47438/partnet_mobility/parts_render/23.txt
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23 drawer_side Drawer side
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StorageFurniture/47438/partnet_mobility/parts_render/24.txt
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24 drawer_side Drawer side
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StorageFurniture/47438/partnet_mobility/parts_render/25.txt
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25 drawer_back Drawer back
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StorageFurniture/47438/partnet_mobility/parts_render/26.txt
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26 drawer_bottom Drawer bottom
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StorageFurniture/47438/partnet_mobility/parts_render/27.txt
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27 other rectangle (other)
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StorageFurniture/47438/partnet_mobility/parts_render/28.txt
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28 other_leaf other_leaf
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StorageFurniture/47438/partnet_mobility/parts_render/29.txt
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29 drawer_box Drawer box
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StorageFurniture/47438/partnet_mobility/parts_render/3.txt
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3 cabinet_base Cabinet Base
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StorageFurniture/47438/partnet_mobility/parts_render/30.txt
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30 handle Handle
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StorageFurniture/47438/partnet_mobility/parts_render/31.txt
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31 drawer_front Drawer front
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StorageFurniture/47438/partnet_mobility/parts_render/32.txt
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32 drawer_side Drawer side
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StorageFurniture/47438/partnet_mobility/parts_render/33.txt
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33 drawer_side Drawer side
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StorageFurniture/47438/partnet_mobility/parts_render/34.txt
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34 drawer_back Drawer back
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StorageFurniture/47438/partnet_mobility/parts_render/35.txt
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35 drawer_bottom Drawer bottom
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StorageFurniture/47438/partnet_mobility/parts_render/36.txt
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36 other rectangle (other)
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StorageFurniture/47438/partnet_mobility/parts_render/37.txt
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37 other_leaf other_leaf
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StorageFurniture/47438/partnet_mobility/parts_render/38.txt
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+
38 panel_base Panel Base
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StorageFurniture/47438/partnet_mobility/parts_render/39.txt
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+
39 base_side_panel Base side panel
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StorageFurniture/47438/partnet_mobility/parts_render/4.txt
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+
4 drawer Drawer
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StorageFurniture/47438/partnet_mobility/parts_render/40.txt
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+
40 base_side_panel Base side panel
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StorageFurniture/47438/partnet_mobility/parts_render/41.txt
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+
41 base_side_panel Base side panel
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StorageFurniture/47438/partnet_mobility/parts_render/42.txt
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+
42 base_side_panel Base side panel
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StorageFurniture/47438/partnet_mobility/parts_render/46.txt
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+
46 bottom_panel Bottom panel
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StorageFurniture/47438/partnet_mobility/parts_render/48.txt
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+
48 frame_vertical_bar Vertical support bar
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StorageFurniture/47438/partnet_mobility/parts_render/49.txt
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+
49 frame_vertical_bar Vertical support bar
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