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Refrigerator/11712/partnet_mobility/bounding_box.json

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+{"min": [-0.325758, -0.889797, -0.361296], "max": [0.339282, 0.871329, 0.412295]}

Refrigerator/11712/partnet_mobility/link_annotation_gapartnet.json

@@ -0,0 +1 @@
+[{"link_name": "link_0", "is_gapart": true, "category": "hinge_door", "bbox": [[-0.37765668879429803, 0.32756340658361716, 0.45239016172514507], [-0.37765670372079685, 0.3275633739883069, 0.8725110726227024], [-0.37765670372079685, -0.33961528865427176, 0.8725110208592816], [-0.37765668879429803, -0.33961525605896153, 0.45239010996172424], [-0.34026584855359054, 0.32756340658361727, 0.4523901620574223], [-0.34026586348008936, 0.3275633739883069, 0.8725110729549796], [-0.3402658634800894, -0.33961528865427176, 0.8725110211915588], [-0.34026584855359054, -0.33961525605896153, 0.45239011029400145]]}, {"link_name": "link_1", "is_gapart": true, "category": "hinge_door", "bbox": [[-0.3781043387829039, 0.32799059932053065, -0.8904687495403927], [-0.378104207472522, 0.3279906112350939, 0.4542825120392877], [-0.378104207472522, -0.33961546955591737, 0.4542825179543109], [-0.3781043387829039, -0.3396154814704807, -0.8904687436253698], [-0.3406733878612801, 0.32799059932053065, -0.8904687496376211], [-0.34067325655089814, 0.327990611235094, 0.45428251194205954], [-0.34067325655089814, -0.3396154695559174, 0.45428251785708273], [-0.3406733878612801, -0.3396154814704807, -0.8904687437225975]]}, {"link_name": "link_2", "is_gapart": false, "category": "", "bbox": []}, {"link_name": "link_3", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.4123234795, 0.2540645875077717, 0.5682201419371049], [-0.41232347950000003, 0.25406458750777183, 0.7541219838526555], [-0.41232347950000003, 0.22791493823712772, 0.7541219838526555], [-0.4123234795, 0.2279149382371276, 0.5682201419371049], [-0.3553075205, 0.2540645875077717, 0.5682201419371049], [-0.35530752049999986, 0.25406458750777183, 0.7541219838526554], [-0.3553075204999999, 0.2279149382371276, 0.7541219838526554], [-0.3553075205, 0.2279149382371276, 0.5682201419371049]]}, {"link_name": "link_4", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.4127197580069605, 0.25420511943500745, 0.12716063300000002], [-0.41271975800696054, 0.25420511943500745, 0.31207936700000005], [-0.41271975800696054, 0.22791486800627925, 0.31207936700000005], [-0.4127197580069605, 0.22791486800627925, 0.12716063300000002], [-0.35530732245976665, 0.25420511943500734, 0.12716063300000002], [-0.35530732245976665, 0.25420511943500734, 0.31207936700000005], [-0.35530732245976665, 0.22791486800627936, 0.31207936700000016], [-0.35530732245976665, 0.22791486800627936, 0.12716063300000002]]}]

Refrigerator/11712/partnet_mobility/meta.json

@@ -0,0 +1 @@
+{"model_id": "f7e0a103c97469d5a168e247bb97e471", "anno_id": "11712", "user_id": "yz-majinghua", "time_in_sec": "183", "version": "3", "model_cat": "Refrigerator"}

Refrigerator/11712/partnet_mobility/mobility.urdf

@@ -0,0 +1,197 @@
+<?xml version="1.0" ?>
+<robot name="partnet_f7e0a103c97469d5a168e247bb97e471">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door_frame-21">
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+		<visual name="door_frame-19">
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+	<joint name="joint_1" type="revolute">
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+	<link name="link_2">
+		<visual name="frame-15">
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+			<geometry>
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+		<visual name="frame-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
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+		</visual>
+		<visual name="shelf-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
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+		<collision>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.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>
+</robot>

Refrigerator/11712/partnet_mobility/mobility_annotation_gapartnet.urdf

@@ -0,0 +1,211 @@
+<?xml version="1.0" ?>
+<robot name="partnet_f7e0a103c97469d5a168e247bb97e471">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door_frame-21">
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.3222042194546104 0.8713290095329285 0.3357881237454305"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_1">
+		<visual name="door_frame-19">
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.3222042194546104 0.8713290095329285 0.3357881237454305"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_2">
+		<visual name="frame-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
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+		</visual>
+		<visual name="frame-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="shelf-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.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-9.obj"/>
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+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
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+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
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+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
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+	<link name="link_3">
+		<visual name="handle-1">
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
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+		<visual name="handle-1">
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+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="0 0 0" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="link_0"/>
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+	<link name="link_4">
+		<visual name="handle-1">
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
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+		</visual>
+		<visual name="handle-1">
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+			<geometry>
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+		<visual name="handle-1">
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+		</collision>
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+	<joint name="joint_4" type="fixed">
+		<origin rpy="0 0 0" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="link_1"/>
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+</robot>

Refrigerator/11712/partnet_mobility/mobility_texture_gapartnet.urdf

@@ -0,0 +1,197 @@
+<?xml version="1.0" ?>
+<robot name="partnet_f7e0a103c97469d5a168e247bb97e471">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door_frame-21">
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-22">
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-22">
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-22">
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.3222042194546104 0.8713290095329285 0.3357881237454305"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_1">
+		<visual name="door_frame-19">
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-20">
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-20">
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-20">
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.3222042194546104 0.8713290095329285 0.3357881237454305"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_2">
+		<visual name="frame-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="shelf-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.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-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.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-16.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>
+</robot>

Refrigerator/11712/partnet_mobility/mobility_v2.json

@@ -0,0 +1 @@
+[{"id":0,"parent":2,"joint":"hinge","name":"door","parts":[{"id":21,"name":"door_frame","children":[]},{"id":22,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0.3222042194546104,0.8713290095329285,0.3357881237454305],"direction":[0,1,0]},"limit":{"a":0,"b":90,"noLimit":false}}},{"id":1,"parent":2,"joint":"hinge","name":"door","parts":[{"id":19,"name":"door_frame","children":[]},{"id":20,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0.3222042194546104,0.8713290095329285,0.3357881237454305],"direction":[0,1,0]},"limit":{"a":0,"b":90,"noLimit":false}}},{"id":2,"parent":-1,"joint":"heavy","name":"frame","parts":[{"id":15,"name":"frame","children":[]},{"id":23,"name":"shelf","children":[]}],"jointData":{}}]

Refrigerator/11712/partnet_mobility/parts_render/0.txt

@@ -0,0 +1 @@
+0 refrigerator Refrigerator

Refrigerator/11712/partnet_mobility/parts_render/14.txt

@@ -0,0 +1 @@
+14 body Body

Refrigerator/11712/partnet_mobility/parts_render/15.txt

@@ -0,0 +1 @@
+15 frame Frame

Refrigerator/11712/partnet_mobility/parts_render/16.txt

@@ -0,0 +1 @@
+16 body_interior Body Interior

Refrigerator/11712/partnet_mobility/parts_render/18.txt

@@ -0,0 +1 @@
+18 door Door

Refrigerator/11712/partnet_mobility/parts_render/19.txt

@@ -0,0 +1 @@
+19 door_frame Door Frame

Refrigerator/11712/partnet_mobility/parts_render/20.txt

@@ -0,0 +1 @@
+20 handle Handle

Refrigerator/11712/partnet_mobility/parts_render/21.txt

@@ -0,0 +1 @@
+21 door_frame Door Frame

Refrigerator/11712/partnet_mobility/parts_render/22.txt

@@ -0,0 +1 @@
+22 handle Handle

Refrigerator/11712/partnet_mobility/parts_render/23.txt

@@ -0,0 +1 @@
+23 shelf Shelf

Refrigerator/11712/partnet_mobility/parts_render_after_merging/0.txt

@@ -0,0 +1 @@
+0 refrigerator refrigerator

Refrigerator/11712/partnet_mobility/parts_render_after_merging/2.txt

@@ -0,0 +1 @@
+2 frame frame

Refrigerator/11712/partnet_mobility/result.json

@@ -0,0 +1 @@
+[{"text": "Refrigerator", "children": [{"text": "Body", "children": [{"text": "Frame", "objs": ["original-4", "original-2", "original-9", "original-1", "original-10"], "id": 15, "name": "frame"}, {"text": "Body Interior", "children": [{"text": "Shelf", "objs": ["original-16"], "id": 23, "name": "shelf"}], "id": 16, "name": "body_interior"}, {"text": "Door", "children": [{"text": "Door Frame", "objs": ["original-15"], "id": 21, "name": "door_frame"}, {"text": "Handle", "objs": ["original-12", "original-14", "original-13"], "id": 22, "name": "handle"}], "id": 17, "name": "door"}, {"text": "Door", "children": [{"text": "Door Frame", "objs": ["original-3"], "id": 19, "name": "door_frame"}, {"text": "Handle", "objs": ["original-6", "original-8", "original-7"], "id": 20, "name": "handle"}], "id": 18, "name": "door"}], "id": 14, "name": "body"}], "id": 0, "name": "refrigerator"}]

Refrigerator/11712/partnet_mobility/result_after_merging.json

@@ -0,0 +1 @@
+[{"children": [{"children": [{"name": "frame", "objs": ["original-4", "original-2", "original-9", "original-1", "original-10"], "id": 2, "text": "frame", "ori_id": 15}, {"children": [{"name": "shelf", "objs": ["original-16"], "id": 4, "text": "shelf", "ori_id": 23}], "name": "body_interior", "ori_id": 16, "id": 3, "objs": ["original-16"], "text": "body_interior"}, {"children": [{"name": "door_frame", "objs": ["original-15"], "id": 6, "text": "door_frame", "ori_id": 21}, {"name": "handle", "objs": ["original-12", "original-14", "original-13"], "id": 7, "text": "handle", "ori_id": 22}], "name": "door", "ori_id": 17, "id": 5, "objs": ["original-15", "original-12", "original-14", "original-13"], "text": "door"}, {"children": [{"name": "door_frame", "objs": ["original-3"], "id": 9, "text": "door_frame", "ori_id": 19}, {"name": "handle", "objs": ["original-6", "original-8", "original-7"], "id": 10, "text": "handle", "ori_id": 20}], "name": "door", "ori_id": 18, "id": 8, "objs": ["original-3", "original-6", "original-8", "original-7"], "text": "door"}], "name": "body", "ori_id": 14, "id": 1, "objs": ["original-4", "original-2", "original-9", "original-1", "original-10", "original-16", "original-15", "original-12", "original-14", "original-13", "original-3", "original-6", "original-8", "original-7"], "text": "body"}], "name": "refrigerator", "ori_id": 0, "id": 0, "objs": ["original-4", "original-2", "original-9", "original-1", "original-10", "original-16", "original-15", "original-12", "original-14", "original-13", "original-3", "original-6", "original-8", "original-7"], "text": "refrigerator"}]

Refrigerator/11712/partnet_mobility/semantics.txt

@@ -0,0 +1,3 @@
+link_0 hinge door
+link_1 hinge door
+link_2 heavy refrigerator_body

Refrigerator/11712/partnet_mobility/semantics_gapartnet.txt

@@ -0,0 +1,5 @@
+link_0 hinge door
+link_1 hinge door
+link_2 heavy refrigerator_body
+link_3 fixed handle
+link_4 fixed handle

Refrigerator/11712/partnet_mobility/tree_hier.html

@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 refrigerator Refrigerator</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>14 body Body</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td></tr><tr><td><p>15 frame Frame</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 body_interior Body Interior</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>17 door Door</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>18 door Door</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td><p>23 shelf Shelf</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>21 door_frame Door Frame</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 handle Handle</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>19 door_frame Door Frame</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 handle Handle</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td></tr></table></body></html>

Refrigerator/11712/partnet_mobility/tree_hier_after_merging.html

@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 refrigerator refrigerator</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 body body</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 frame frame</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 body_interior body_interior</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>5 door door</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>8 door door</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td><p>4 shelf shelf</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>6 door_frame door_frame</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 handle handle</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>9 door_frame door_frame</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 handle handle</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td></tr></table></body></html>

StorageFurniture/45271/partnet_mobility/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.851941, -0.519993, -0.268683], "max": [0.860021, 0.464385, 0.305538]}

StorageFurniture/45271/partnet_mobility/link_annotation_gapartnet.json

@@ -0,0 +1 @@
+[{"link_name": "link_0", "is_gapart": true, "category": "slider_drawer", "bbox": [[0.15643734870061177, -0.8549229079157725, 0.4604667022544228], [-0.26651629514484004, -0.8549228827057679, 0.460466727464423], [-0.26651626508803095, -0.3506533637274924, 0.460466727464423], [0.15643737875742086, -0.3506533889374971, 0.4604667022544228], [0.15643733691716308, -0.8549229079157717, 0.26277322697119126], [-0.2665163069282887, -0.8549228827057671, 0.26277325218119146], [-0.2665162768714796, -0.35065336372749173, 0.26277325218119146], [0.15643736697397218, -0.3506533889374964, 0.26277322697119126]]}, {"link_name": "link_1", "is_gapart": true, "category": "slider_drawer", "bbox": [[0.15620207769933897, 0.34345015552647323, 0.46027656662168703], [-0.2665161775794599, 0.3434501807224454, 0.460276591817657], [-0.26651614753022235, 0.8475927164036108, 0.460276591817657], [0.15620210774857654, 0.8475926912076387, 0.46027656662168703], [0.15620206592722893, 0.3434501555264739, 0.2627733220055277], 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StorageFurniture/45271/partnet_mobility/meta.json

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StorageFurniture/45271/partnet_mobility/mobility.urdf

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StorageFurniture/45271/partnet_mobility/mobility_annotation_gapartnet.urdf

@@ -0,0 +1,1607 @@
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StorageFurniture/45271/partnet_mobility/mobility_texture_gapartnet.urdf

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+		</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-14.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-2.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-17.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-25.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-3.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-21.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-8.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-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-154.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-20.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-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_6"/>
+		<parent link="base"/>
+	</joint>
+</robot>

StorageFurniture/45271/partnet_mobility/mobility_v2.json

@@ -0,0 +1 @@
+[{"id":0,"parent":6,"joint":"slider","name":"drawer","parts":[{"id":22,"name":"drawer_side","children":[]},{"id":23,"name":"drawer_side","children":[]},{"id":24,"name":"drawer_back","children":[]},{"id":25,"name":"drawer_bottom","children":[]},{"id":26,"name":"drawer_front","children":[]},{"id":20,"name":"handle","children":[]},{"id":69,"name":"other_leaf","children":[]}],"jointData":{"axis":{"origin":[0.6006671652710841,0.3467362533627538,0.25954899191856384],"direction":[0,0,1]},"limit":{"a":0,"b":0.33599999999999985,"noLimit":false}}},{"id":1,"parent":6,"joint":"slider","name":"drawer","parts":[{"id":12,"name":"drawer_front","children":[]},{"id":13,"name":"drawer_side","children":[]},{"id":14,"name":"drawer_side","children":[]},{"id":15,"name":"drawer_back","children":[]},{"id":16,"name":"drawer_bottom","children":[]},{"id":11,"name":"handle","children":[]},{"id":18,"name":"other_leaf","children":[]}],"jointData":{"axis":{"origin":[-0.5942383689449297,0.35007119497034633,-0.23658399283885956],"direction":[0,0,1]},"limit":{"a":0,"b":0.33599999999999985,"noLimit":false}}},{"id":2,"parent":6,"joint":"hinge","name":"cabinet_door","parts":[{"id":44,"name":"cabinet_door_surface","children":[]},{"id":45,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[-0.8383239887822403,-0.3862459957599639,0.25502622012434306],"direction":[0,-1,0]},"limit":{"a":0,"b":102.96,"noLimit":false}}},{"id":3,"parent":6,"joint":"hinge","name":"cabinet_door","parts":[{"id":42,"name":"cabinet_door_surface","children":[]},{"id":43,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0.8461857530370025,0.2521730065345764,0.25547107511628014],"direction":[0,1,0]},"limit":{"a":0,"b":101.88,"noLimit":false}}},{"id":4,"parent":6,"joint":"hinge","name":"cabinet_door","parts":[{"id":40,"name":"cabinet_door_surface","children":[]},{"id":41,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0.3342512778944623,0.2521730065345765,0.2542510958239247],"direction":[0,1,0]},"limit":{"a":0,"b":91.8,"noLimit":false}}},{"id":5,"parent":6,"joint":"hinge","name":"cabinet_door","parts":[{"id":38,"name":"cabinet_door_surface","children":[]},{"id":39,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[-0.3240121786379081,-0.386245995759964,0.2554327047150163],"direction":[0,-1,0]},"limit":{"a":0,"b":90.72,"noLimit":false}}},{"id":6,"parent":-1,"joint":"heavy","name":"drawer_front","parts":[{"id":37,"name":"drawer_front","children":[]},{"id":51,"name":"vertical_side_panel","children":[]},{"id":52,"name":"vertical_side_panel","children":[]},{"id":53,"name":"back_panel","children":[]},{"id":54,"name":"bottom_panel","children":[]},{"id":55,"name":"frame_vertical_bar","children":[]},{"id":56,"name":"frame_vertical_bar","children":[]},{"id":57,"name":"frame_vertical_bar","children":[]},{"id":58,"name":"frame_vertical_bar","children":[]},{"id":59,"name":"frame_horizontal_bar","children":[]},{"id":60,"name":"frame_horizontal_bar","children":[]},{"id":61,"name":"frame_horizontal_bar","children":[]},{"id":62,"name":"frame_horizontal_bar","children":[]},{"id":63,"name":"frame_horizontal_bar","children":[]},{"id":64,"name":"frame_horizontal_bar","children":[]},{"id":71,"name":"other_leaf","children":[]},{"id":47,"name":"base_side_panel","children":[]},{"id":48,"name":"base_side_panel","children":[]},{"id":49,"name":"base_side_panel","children":[]},{"id":50,"name":"base_side_panel","children":[]}],"jointData":{}}]

StorageFurniture/45271/partnet_mobility/parts_render/0.txt

@@ -0,0 +1 @@
+0 storage_furniture Storage Furniture

StorageFurniture/45271/partnet_mobility/parts_render/1.txt

@@ -0,0 +1 @@
+1 cabinet Cabinet

StorageFurniture/45271/partnet_mobility/parts_render/10.txt

@@ -0,0 +1 @@
+10 drawer_box Drawer box

StorageFurniture/45271/partnet_mobility/parts_render/11.txt

@@ -0,0 +1 @@
+11 handle Handle

StorageFurniture/45271/partnet_mobility/parts_render/12.txt

@@ -0,0 +1 @@
+12 drawer_front Drawer front

StorageFurniture/45271/partnet_mobility/parts_render/13.txt

@@ -0,0 +1 @@
+13 drawer_side Drawer side

StorageFurniture/45271/partnet_mobility/parts_render/14.txt

@@ -0,0 +1 @@
+14 drawer_side Drawer side

StorageFurniture/45271/partnet_mobility/parts_render/15.txt

@@ -0,0 +1 @@
+15 drawer_back Drawer back

StorageFurniture/45271/partnet_mobility/parts_render/16.txt

@@ -0,0 +1 @@
+16 drawer_bottom Drawer bottom

StorageFurniture/45271/partnet_mobility/parts_render/17.txt

@@ -0,0 +1 @@
+17 other rectangle (other)

StorageFurniture/45271/partnet_mobility/parts_render/18.txt

@@ -0,0 +1 @@
+18 other_leaf other_leaf

StorageFurniture/45271/partnet_mobility/parts_render/19.txt

@@ -0,0 +1 @@
+19 drawer_box Drawer box

StorageFurniture/45271/partnet_mobility/parts_render/20.txt

@@ -0,0 +1 @@
+20 handle Handle