Upload data, demo_data, and generated (part 74)

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data/PartNet-Mobility/Dispenser/103371/bounding_box.json

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+{"min": [-0.240903, -0.734037, -0.245006], "max": [0.24253, 0.994201, 0.389227]}

data/PartNet-Mobility/Dispenser/103371/meta.json

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+{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "50e0970b-a234-4c61-b3ff-b60265059b89-0", "version": "1", "anno_id": "3371", "time_in_sec": "62"}

data/PartNet-Mobility/Dispenser/103371/mobility.urdf

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+<?xml version="1.0" ?>
+<robot name="partnet_50e0970b-a234-4c61-b3ff-b60265059b89-0">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="pressing_lid-1">
+			<origin xyz="-0.0008138330884820463 0 0.00286446823294588"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-1">
+			<origin xyz="-0.0008138330884820463 0 0.00286446823294588"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-1">
+			<origin xyz="-0.0008138330884820463 0 0.00286446823294588"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0008138330884820463 0 0.00286446823294588"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0008138330884820463 0 0.00286446823294588"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0008138330884820463 0 0.00286446823294588"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="head-3">
+			<origin xyz="-0.0008138330884820463 0 0.00286446823294588"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0008138330884820463 0 0.00286446823294588"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_1"/>
+		<parent link="link_1_helper"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.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-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.07"/>
+	</joint>
+	<link name="link_1_helper"/>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="0.0008138330884820463 0 -0.00286446823294588"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1_helper"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+</robot>

data/PartNet-Mobility/Dispenser/103371/mobility_v2.json

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+[{"id":0,"parent":1,"joint":"slider","name":"pressing_lid","parts":[{"id":1,"name":"pressing_lid"}],"jointData":{"axis":{"origin":[0.0008138330884820463,0,-0.00286446823294588],"direction":[0,1,0]},"limit":{"a":0,"b":-0.07,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":1,"parent":3,"joint":"slider","name":"head","parts":[{"id":3,"name":"head"}],"jointData":{"axis":{"origin":[0.0008138330884820463,0,-0.00286446823294588],"direction":[0,-1,0]},"limit":{"a":0,"b":-0.02,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":2,"parent":-1,"joint":"junk","name":"outlier","parts":[{"id":4,"name":"outlier"}],"jointData":{}},{"id":3,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":5,"name":"base_body"}],"jointData":{}}]

data/PartNet-Mobility/Dispenser/103371/result.json

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+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 1, "objs": ["original-6", "original-4", "original-3"]}, {"text": "head (other)", "name": "other", "id": 2, "children": [{"text": "other_leaf", "name": "head", "id": 3, "objs": ["original-7"]}]}, {"text": "outlier", "name": "outlier", "id": 4, "objs": ["original-5"]}, {"text": "base_body", "name": "base_body", "id": 5, "objs": ["original-9", "original-11", "original-10"]}]}]

data/PartNet-Mobility/Dispenser/103371/result_original.json

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

data/PartNet-Mobility/Dispenser/103371/semantics.txt

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+link_0 slider+ lid
+link_1 slider+ lid
+link_2 free dispenser_body

data/PartNet-Mobility/Dispenser/103371/textured_objs/original-10.mtl

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+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.png
+

data/PartNet-Mobility/Dispenser/103371/textured_objs/original-10.obj

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data/PartNet-Mobility/Dispenser/103372/bounding_box.json

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data/PartNet-Mobility/Dispenser/103372/meta.json

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data/PartNet-Mobility/Dispenser/103372/mobility.urdf

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+<robot name="partnet_5a165eb3-f8b2-447e-907e-dd2d08524bca-0">
+	<link name="base"/>
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+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_1_helper"/>
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+			<geometry>
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+			</geometry>
+		</visual>
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data/PartNet-Mobility/Dispenser/103372/mobility_v2.json

@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"button","parts":[{"id":4,"name":"pressing_lid"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":-0.02,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":2,"joint":"slider","name":"head","parts":[{"id":6,"name":"head"}],"jointData":{"axis":{"origin":[0.003717875143093007,0,0.000883072086103158],"direction":[0,1,0]},"limit":{"a":0,"b":0.02,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":2,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":7,"name":"base_body"}],"jointData":{}}]

data/PartNet-Mobility/Dispenser/103372/result.json

@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 4, "objs": ["original-7"]}, {"text": "head (other)", "name": "other", "id": 5, "children": [{"text": "other_leaf", "name": "head", "id": 6, "objs": ["original-10", "original-11", "original-25", "original-9", "original-20", "original-21", "original-13", "original-12", "original-19", "original-18", "original-4", "original-24", "original-23"]}]}, {"text": "base_body", "name": "base_body", "id": 7, "objs": ["original-22", "original-3", "original-2", "original-16", "original-8", "original-5", "original-6", "original-15", "original-17", "original-1", "original-14"]}]}]

data/PartNet-Mobility/Dispenser/103372/result_original.json

@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 4, "name": "pressing_lid", "text": "pressing_lid", "objs": ["original-7"]}, {"id": 5, "name": "other", "text": "head (other)", "children": [{"id": 6, "name": "other_leaf", "text": "other_leaf", "objs": ["original-10", "original-11", "original-25", "original-9", "original-20", "original-21", "original-13", "original-12", "original-19", "original-18", "original-4", "original-24", "original-23"]}]}]}]

data/PartNet-Mobility/Dispenser/103372/semantics.txt

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

data/PartNet-Mobility/Dispenser/103372/textured_objs/original-1.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8 0.7137254901960784 0.16862745098039217 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

data/PartNet-Mobility/Dispenser/103372/textured_objs/original-10.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7686274509803922 0.7686274509803922 0.7686274509803922 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

data/PartNet-Mobility/Dispenser/103372/textured_objs/original-10.obj

@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o #ID68
+v -0.086847 0.909367 -0.023384
+v -0.090042 0.787413 0.000883
+v -0.090042 0.909367 0.000883
+v -0.086847 0.787413 -0.023384
+vn -0.6578666940997281 0.7322148583045882 -0.17627482540705197
+vn -0.78779287965979 0.6159402395990506 0
+vn -0.6810737092400926 0.7322148609403814 0
+vn -0.7609494960199394 0.615940218228565 -0.20389583633695904
+usemtl material_0_0
+f 1//1 2//2 3//3
+f 2//2 1//1 4//4

data/PartNet-Mobility/Dispenser/103372/textured_objs/original-11.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7686274509803922 0.7686274509803922 0.7686274509803922 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

data/PartNet-Mobility/Dispenser/103372/textured_objs/original-11.obj

@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
+o #ID74
+v -0.062581 0.909367 -0.065415
+v -0.077481 0.787413 -0.045997
+v -0.077481 0.909367 -0.045997
+v -0.062581 0.787413 -0.065415
+vn -0.4815918555202202 0.7322148382771159 -0.48159185552022
+vn -0.6822486349429581 0.6159402703904016 -0.39389641205508485
+vn -0.5898271562864542 0.7322148462145294 -0.3405368477713797
+vn -0.5570536842034102 0.615940245341068 -0.5570536842034101
+usemtl material_0_0
+f 1//1 2//2 3//3
+f 2//2 1//1 4//4

data/PartNet-Mobility/Dispenser/103372/textured_objs/original-12.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7686274509803922 0.7686274509803922 0.7686274509803922 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

data/PartNet-Mobility/Dispenser/103372/textured_objs/original-12.obj

@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
+o #ID80
+v 0.084916 0.787413 0.047763
+v 0.070016 0.909367 0.067181
+v 0.070016 0.787413 0.067181
+v 0.084916 0.909367 0.047763
+vn 0.6822486349429581 0.6159402703904014 0.3938964120550852
+vn 0.4815918555202202 0.7322148382771158 0.4815918555202204
+vn 0.5570536842034102 0.6159402453410678 0.5570536842034103
+vn 0.5898271562864542 0.7322148462145291 0.34053684777138
+usemtl material_0_0
+f 1//1 2//2 3//3
+f 2//2 1//1 4//4

data/PartNet-Mobility/Dispenser/103372/textured_objs/original-13.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7686274509803922 0.7686274509803922 0.7686274509803922 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

data/PartNet-Mobility/Dispenser/103372/textured_objs/original-13.obj

@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 13
+mtllib original-13.mtl
+o #ID86
+v 0.097478 0.787413 0.000883
+v 0.094283 0.909367 0.025150
+v 0.094283 0.787413 0.025150
+v 0.097478 0.909367 0.000883
+vn 0.78779287965979 0.6159402395990506 0
+vn 0.6578666940997281 0.7322148583045882 0.17627482540705228
+vn 0.7609494960199394 0.615940218228565 0.20389583633695932
+vn 0.6810737092400926 0.7322148609403814 0
+usemtl material_0_0
+f 1//1 2//2 3//3
+f 2//2 1//1 4//4

data/PartNet-Mobility/Dispenser/103372/textured_objs/original-14.mtl

@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8 0.7137254901960784 0.16862745098039217 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.png
+