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0.701535 0.048105 +v 0.022966 0.869010 0.044474 +v -0.014826 0.869010 -0.029573 +v -0.021051 0.701535 -0.025290 +v 0.019853 0.701535 0.045577 +v 0.022966 0.701535 0.044474 +v -0.014826 0.701535 -0.029573 +v 0.029191 0.701535 0.040191 +v -0.004605 0.701535 -0.033197 +v -0.004605 0.869010 -0.033197 +v -0.011724 0.701535 -0.030672 +v 0.031904 0.869010 0.038324 +v 0.031904 0.701535 0.038324 +v 0.036804 0.701535 0.032577 +v 0.038942 0.869010 0.030064 +v 0.038942 0.701535 0.030064 +v 0.042194 0.701535 0.023244 +v 0.043608 0.869010 0.020268 +v 0.043608 0.701535 0.020268 +v 0.044980 0.701535 0.012842 +v 0.045580 0.869010 0.009601 +v 0.045580 0.701535 0.009601 +v 0.044985 0.701535 0.002067 +v 0.044717 0.869010 -0.001225 +v 0.044717 0.701535 -0.001225 +v 0.042189 0.701535 -0.008336 +vn -0.9777052711364472 -0.00013899993224795548 0.20998186462412674 +vn -0.8900435612074007 -0.000138999961892824 0.45587546526684103 +vn -0.9414650895911155 -0.00027600013702367755 0.33711038089195233 +vn 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-0.951280844486699 +vn 0.42985441236505906 0 -0.902898213626702 +vn -0.05160991552223592 0 0.9986673202922921 +vn -0.9028982136267021 0 -0.42985441236505917 +vn 0.9028982136267021 0 0.42985441236505917 +vn -0.8390663743987139 0 -0.5440290611294556 +vn -0.42985441236505906 0 0.902898213626702 +vn 0.05160991552223592 0 -0.9986673202922921 +vn 0.1815206490866664 0 -0.9833871333077099 +vn 0.8390663743987139 0 0.5440290611294556 +vn -0.1815206490866664 0 0.9833871333077099 +vn -0.6696710737215408 0 -0.7426578303772463 +vn 0.6696710737215408 0 0.7426578303772463 +vn 0.20862350576652167 0 0.977996029052105 +vn -0.20862350576652167 0 -0.977996029052105 +vn -0.7608779658297823 0 -0.6488950000691428 +vn 0.7608779658297823 0 0.6488950000691428 +vn 0.07918405001704845 0 0.9968600133533783 +vn -0.07918405001704845 0 -0.9968600133533783 +vn 0.4546381688899143 0 0.8906762236572984 +vn -0.4546381688899143 0 -0.8906762236572984 +vn -0.5670054511071742 0 -0.8237140392240199 +vn 0.5670054511071742 0 0.8237140392240199 +vn -0.33449223631920744 0 -0.9423985058573551 +vn 0.33449223631920744 0 0.9423985058573551 +vn 0.977996029052105 0 -0.20862350576652178 +vn -0.977996029052105 0 0.20862350576652178 +vn 0.9423985058573552 0 -0.3344922363192076 +usemtl material_0_0 +f 1//1 2//2 3//2 +f 2//2 1//1 4//3 +f 4//3 1//1 5//3 +f 3//4 2//4 1//5 +f 4//6 1//5 2//4 +f 5//6 1//5 4//6 +f 2//2 6//7 3//2 +f 3//4 6//8 2//4 +f 5//3 1//1 7//1 +f 2//4 6//8 8//9 +f 7//5 1//5 5//6 +f 8//10 6//7 2//2 +f 9//11 7//1 1//1 +f 6//7 8//10 10//7 +f 10//8 8//9 6//8 +f 7//1 9//11 11//12 +f 11//12 9//11 12//11 +f 1//5 7//5 9//13 +f 11//14 9//13 7//5 +f 12//13 9//13 11//14 +f 10//7 13//15 6//7 +f 6//8 13//16 10//8 +f 14//17 12//11 9//11 +f 9//13 12//13 14//18 +f 15//16 16//19 13//16 +f 10//8 13//16 16//19 +f 15//15 17//20 13//15 +f 12//11 14//17 18//21 +f 18//22 14//18 12//13 +f 19//18 14//18 18//22 +f 16//23 13//15 10//7 +f 13//15 16//23 15//15 +f 13//16 17//24 15//16 +f 20//24 21//25 17//24 +f 15//16 17//24 21//25 +f 20//20 22//26 17//20 +f 18//21 14//17 19//17 +f 23//27 19//17 14//17 +f 19//17 23//27 24//27 +f 14//18 19//18 23//28 +f 24//27 23//27 25//29 +f 24//28 23//28 19//18 +f 21//30 17//20 15//15 +f 17//20 21//30 20//20 +f 20//24 22//31 26//32 +f 17//24 22//31 20//24 +f 25//33 23//28 24//28 +f 25//29 23//27 27//29 +f 27//33 23//28 25//33 +f 26//34 22//26 20//20 +f 28//31 26//32 22//31 +f 29//35 25//29 27//29 +f 27//33 25//33 29//36 +f 22//26 26//34 28//26 +f 28//26 30//37 22//26 +f 22//31 30//38 28//31 +f 25//29 29//35 31//39 +f 31//40 29//36 25//33 +f 32//36 29//36 31//40 +f 33//41 30//37 28//26 +f 34//38 33//42 30//38 +f 28//31 30//38 33//42 +f 34//37 35//43 30//37 +f 31//39 29//35 32//35 +f 36//44 32//35 29//35 +f 29//36 32//36 36//43 +f 32//35 36//44 37//45 +f 37//46 36//43 32//36 +f 30//37 33//41 34//37 +f 34//38 35//44 38//47 +f 35//43 38//48 39//43 +f 38//48 35//43 34//37 +f 39//44 38//47 35//44 +f 30//38 35//44 34//38 +f 37//45 36//44 40//44 +f 40//43 36//43 37//46 +f 41//46 35//43 39//43 +f 39//44 35//44 41//45 +f 42//38 36//44 43//38 +f 40//43 44//48 36//43 +f 42//37 36//43 44//48 +f 43//37 36//43 42//37 +f 44//47 36//44 42//38 +f 36//44 44//47 40//44 +f 35//43 41//46 45//36 +f 45//35 41//45 35//44 +f 45//36 41//46 46//36 +f 46//35 41//45 45//35 +f 47//40 45//36 46//36 +f 46//35 45//35 47//39 +f 45//36 47//40 48//33 +f 48//29 47//39 45//35 +f 48//33 47//40 49//33 +f 49//29 47//39 48//29 +f 50//28 48//33 49//33 +f 49//29 48//29 50//27 +f 48//33 50//28 51//18 +f 51//17 50//27 48//29 +f 51//18 50//28 52//18 +f 52//17 50//27 51//17 +f 53//22 51//18 52//18 +f 52//17 51//17 53//21 +f 51//18 53//22 54//13 +f 54//11 53//21 51//17 +f 54//13 53//22 55//13 +f 55//11 53//21 54//11 +f 56//14 54//13 55//13 +f 55//11 54//11 56//12 +f 54//13 56//14 57//49 +f 57//50 56//12 54//11 +f 57//49 56//14 58//49 +f 58//50 56//12 57//50 +f 59//51 57//49 58//49 diff --git a/data/PartNet-Mobility/Bottle/3398/textured_objs/original-4.mtl b/data/PartNet-Mobility/Bottle/3398/textured_objs/original-4.mtl new file mode 100644 index 0000000000000000000000000000000000000000..ab152f280036e7297a5fb65433bf46fe2335e5af --- /dev/null +++ b/data/PartNet-Mobility/Bottle/3398/textured_objs/original-4.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 4 +d 0.95 +Ns 30 +Kd 0.43137254901960786 0.5647058823529412 0.6470588235294118 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/data/PartNet-Mobility/Bottle/3398/textured_objs/original-4.obj b/data/PartNet-Mobility/Bottle/3398/textured_objs/original-4.obj new file mode 100644 index 0000000000000000000000000000000000000000..3cfd372ba4dc7887caa59e31c802e08b73d88055 --- /dev/null +++ b/data/PartNet-Mobility/Bottle/3398/textured_objs/original-4.obj @@ -0,0 +1,86 @@ +# SSTK version 0.8.0 +# 4 +mtllib original-4.mtl +o mesh4/mesh4-geometry#mesh4-geometry +v 0.044717 0.869010 -0.001225 +v 0.042189 0.701535 -0.008336 +v 0.041093 0.869010 -0.011446 +v 0.044717 0.701535 -0.001225 +v 0.041093 0.701535 -0.011446 +v 0.034936 0.869010 -0.020387 +v 0.036807 0.701535 -0.017663 +v 0.034936 0.701535 -0.020387 +v 0.026684 0.869010 -0.027422 +v 0.026684 0.701535 -0.027422 +v 0.029189 0.701535 -0.025287 +v 0.016880 0.869010 -0.032091 +v 0.016880 0.701535 -0.032091 +v 0.019864 0.701535 -0.030673 +v 0.006213 0.869010 -0.034063 +v 0.006213 0.701535 -0.034063 +v 0.009454 0.701535 -0.033463 +v -0.004605 0.869010 -0.033197 +v -0.001316 0.701535 -0.033457 +v -0.004605 0.701535 -0.033197 +vn 0.977996029052105 0 -0.20862350576652178 +vn 0.9423985058573552 0 -0.3344922363192076 +vn 0.8906762236572981 0 -0.4546381688899143 +vn -0.977996029052105 0 0.20862350576652178 +vn -0.9423985058573552 0 0.3344922363192076 +vn -0.8906762236572981 0 0.4546381688899143 +vn 0.7426578303772462 0 -0.6696710737215409 +vn -0.7426578303772462 0 0.6696710737215409 +vn 0.8237140392240196 0 -0.5670054511071742 +vn -0.8237140392240196 0 0.5670054511071742 +vn 0.5440290611294556 0 -0.839066374398714 +vn -0.5440290611294556 0 0.839066374398714 +vn -0.6488950000691427 0 0.7608779658297822 +vn 0.3083257285934351 0 -0.951280844486699 +vn 0.6488950000691427 0 -0.7608779658297822 +vn -0.3083257285934351 0 0.951280844486699 +vn -0.42985441236505906 0 0.902898213626702 +vn 0.05160991552223592 0 -0.9986673202922921 +vn 0.42985441236505906 0 -0.902898213626702 +vn -0.05160991552223592 0 0.9986673202922921 +vn -0.1815206490866664 0 0.9833871333077099 +vn -0.20862350576652167 0 -0.977996029052105 +vn 0.1815206490866664 0 -0.9833871333077099 +vn -0.07918405001704845 0 -0.9968600133533783 +vn 0.20862350576652167 0 0.977996029052105 +vn 0.07918405001704845 0 0.9968600133533783 +usemtl material_0_0 +f 1//1 2//2 3//3 +f 4//4 1//4 2//5 +f 3//6 2//5 1//4 +f 3//3 2//2 5//3 +f 5//6 2//5 3//6 +f 5//3 6//7 3//3 +f 3//6 6//8 5//6 +f 7//9 6//7 5//3 +f 8//8 7//10 6//8 +f 5//6 6//8 7//10 +f 8//7 9//11 6//7 +f 6//7 7//9 8//7 +f 6//8 9//12 8//8 +f 10//12 11//13 9//12 +f 8//8 9//12 11//13 +f 10//11 12//14 9//11 +f 9//11 11//15 10//11 +f 11//15 9//11 8//7 +f 13//16 14//17 12//16 +f 10//12 12//16 14//17 +f 9//12 12//16 10//12 +f 13//14 15//18 12//14 +f 12//14 14//19 13//14 +f 14//19 12//14 10//11 +f 16//20 17//21 15//20 +f 13//16 15//20 17//21 +f 12//16 15//20 13//16 +f 16//18 18//22 15//18 +f 15//18 17//23 16//18 +f 19//24 18//22 16//18 +f 17//23 15//18 13//14 +f 15//20 18//25 16//20 +f 20//25 19//26 18//25 +f 16//20 18//25 19//26 +f 18//22 19//24 20//22 diff --git a/data/PartNet-Mobility/Bottle/3398/tree_hier.html b/data/PartNet-Mobility/Bottle/3398/tree_hier.html new file mode 100644 index 0000000000000000000000000000000000000000..6db842a4cc8393023a950b2c05f61fe05df698f7 --- /dev/null +++ b/data/PartNet-Mobility/Bottle/3398/tree_hier.html @@ -0,0 +1,2 @@ +Simple Viewer +

0 bottle Bottle

1 normal_bottle Normal Bottle

6 body Body

7 lid Lid

8 mouth Mouth

\ No newline at end of file diff --git a/data/PartNet-Mobility/Bottle/3398/tree_hier_after_merging.html b/data/PartNet-Mobility/Bottle/3398/tree_hier_after_merging.html new file mode 100644 index 0000000000000000000000000000000000000000..a7e1989a7ce16c7e671b7771b2ce27e26dbfda70 --- /dev/null +++ b/data/PartNet-Mobility/Bottle/3398/tree_hier_after_merging.html @@ -0,0 +1,2 @@ +Simple Viewer +

0 bottle bottle

1 normal_bottle normal_bottle

2 body body

3 lid lid

4 mouth mouth

\ No newline at end of file diff --git a/data/PartNet-Mobility/Bottle/3517/bounding_box.json b/data/PartNet-Mobility/Bottle/3517/bounding_box.json new file mode 100644 index 0000000000000000000000000000000000000000..444ab93795008fbf290a59f6bc898093af059a12 --- /dev/null +++ b/data/PartNet-Mobility/Bottle/3517/bounding_box.json @@ -0,0 +1 @@ +{"min": [-0.449688, -0.690761, -0.303824], "max": [0.444559, 0.994552, 0.31527]} \ No newline at end of file diff --git a/data/PartNet-Mobility/Bottle/3517/meta.json b/data/PartNet-Mobility/Bottle/3517/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2e2dd7b4b2b0c0a1f4c1a174bee8666798fb7bca --- /dev/null +++ b/data/PartNet-Mobility/Bottle/3517/meta.json @@ -0,0 +1 @@ +{"model_id":"917fd3e68de79bf69ece21a0b0786a69","anno_id":"3517","user_id":"zhouwenxian","time_in_sec":"240","version":"3","model_cat":"Bottle","original_model_cat":"Bottle"} \ No newline at end of file diff --git a/data/PartNet-Mobility/Bottle/3517/mobility.urdf b/data/PartNet-Mobility/Bottle/3517/mobility.urdf new file mode 100644 index 0000000000000000000000000000000000000000..22959137432e0c3ca2293b03387123b3c62a4f9c --- /dev/null +++ b/data/PartNet-Mobility/Bottle/3517/mobility.urdf @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/PartNet-Mobility/Bottle/3517/mobility_v2.json b/data/PartNet-Mobility/Bottle/3517/mobility_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..56d994c677ea0a555826a36b1cd790eaf38ef2c4 --- /dev/null +++ b/data/PartNet-Mobility/Bottle/3517/mobility_v2.json @@ -0,0 +1 @@ +[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":8,"name":"lid","children":[]}],"jointData":{"axis":{"origin":[-0.002564500000000001,0,0.00572319807062216],"direction":[0,1,0]},"limit":{"a":-0.016000000000000014,"b":0,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":1,"parent":-1,"joint":"free","name":"body","parts":[{"id":6,"name":"body","children":[]},{"id":7,"name":"neck","children":[]}],"jointData":{}}] \ No newline at end of file diff --git a/data/PartNet-Mobility/Bottle/3517/parts_render/0.png b/data/PartNet-Mobility/Bottle/3517/parts_render/0.png new file mode 100644 index 0000000000000000000000000000000000000000..1238d02f6a61c096ed88085f3c8aab69cf8a611e --- /dev/null +++ b/data/PartNet-Mobility/Bottle/3517/parts_render/0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:524ea1b34c2d899c0a661d9107c21aaa64c79b2794b80e40f4067ead2c399a5f +size 36501 diff --git a/data/PartNet-Mobility/Bottle/3517/parts_render/0.txt b/data/PartNet-Mobility/Bottle/3517/parts_render/0.txt new file mode 100644 index 0000000000000000000000000000000000000000..9b5c125c2cb61462ff794f159c91f1caac02d56a --- /dev/null +++ b/data/PartNet-Mobility/Bottle/3517/parts_render/0.txt @@ -0,0 +1 @@ +0 bottle Bottle \ No newline at end of file diff --git a/data/PartNet-Mobility/Bottle/3517/parts_render/1.png b/data/PartNet-Mobility/Bottle/3517/parts_render/1.png new file mode 100644 index 0000000000000000000000000000000000000000..1238d02f6a61c096ed88085f3c8aab69cf8a611e --- /dev/null +++ b/data/PartNet-Mobility/Bottle/3517/parts_render/1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:524ea1b34c2d899c0a661d9107c21aaa64c79b2794b80e40f4067ead2c399a5f +size 36501 diff --git a/data/PartNet-Mobility/Bottle/3517/parts_render/1.txt b/data/PartNet-Mobility/Bottle/3517/parts_render/1.txt new file mode 100644 index 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