Add files using upload-large-folder tool

assets/urdf/Bottle/3517/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.449688, -0.690761, -0.303824], "max": [0.444559, 0.994552, 0.31527]}

assets/urdf/Bottle/3517/grasp_poses.json

@@ -0,0 +1,72 @@
+{
+    "object_name": "3517",
+    "scale": 0.1,
+    "grasp_parts": {
+        "cap": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -1.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        -1.0,
+                        0.800000011920929
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.08715999871492386,
+                        0.0,
+                        0.9961900115013123,
+                        -0.09961999952793121
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        -0.9961900115013123,
+                        0.0,
+                        0.08715999871492386,
+                        -0.008709999732673168
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/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"}

assets/urdf/Bottle/3517/mobility.urdf

@@ -0,0 +1,75 @@
+<?xml version="1.0" ?>
+<robot name="partnet_917fd3e68de79bf69ece21a0b0786a69">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-8">
+			<origin xyz="0.002564500000000001 0 -0.00572319807062216"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.002564500000000001 0 -0.00572319807062216"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.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="body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="neck-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="neck-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="-0.002564500000000001 0 0.00572319807062216"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="-0.016000000000000014" upper="0"/>
+	</joint>
+</robot>

assets/urdf/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":{}}]

assets/urdf/Bottle/3517/model_data.json

@@ -0,0 +1,98 @@
+{
+    "scale": 0.1,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "init_qpos": [],
+    "grasp_parts": {
+        "cap": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -1.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        -1.0,
+                        0.800000011920929
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.08715999871492386,
+                        0.0,
+                        0.9961900115013123,
+                        -0.09961999952793121
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        -0.9961900115013123,
+                        0.0,
+                        0.08715999871492386,
+                        -0.008709999732673168
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Bottle/3517/result.json

@@ -0,0 +1 @@
+[{"text": "Bottle", "children": [{"text": "Normal Bottle", "children": [{"text": "Body", "objs": ["new-19"], "id": 6, "name": "body"}, {"text": "Neck", "objs": ["new-13", "new-14"], "id": 7, "name": "neck"}, {"text": "Lid", "objs": ["original-1"], "id": 8, "name": "lid"}], "id": 1, "name": "normal_bottle"}], "id": 0, "name": "bottle"}]

assets/urdf/Bottle/3517/result_after_merging.json

@@ -0,0 +1 @@
+[{"name": "bottle", "ori_id": 0, "text": "bottle", "children": [{"name": "normal_bottle", "ori_id": 1, "text": "normal_bottle", "children": [{"objs": ["new-19"], "name": "body", "id": 2, "ori_id": 6, "text": "body"}, {"objs": ["new-13", "new-14"], "name": "neck", "id": 3, "ori_id": 7, "text": "neck"}, {"objs": ["original-1"], "name": "lid", "id": 4, "ori_id": 8, "text": "lid"}], "id": 1, "objs": ["new-19", "new-13", "new-14", "original-1"]}], "id": 0, "objs": ["new-19", "new-13", "new-14", "original-1"]}]

assets/urdf/Bottle/3517/semantics.txt

@@ -0,0 +1,2 @@
+link_0 slider+ rotation_lid
+link_1 free bottle_body

assets/urdf/Bottle/3517/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 bottle Bottle</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_bottle Normal Bottle</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>6 body Body</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 neck Neck</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 lid Lid</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td></tr></table></body></html>

assets/urdf/Bottle/3517/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 bottle bottle</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 normal_bottle normal_bottle</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 body body</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 neck neck</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><p>4 lid lid</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td></tr></table></body></html>

assets/urdf/Bottle/3558/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.194182, -0.714991, -0.190223], "max": [0.198222, 0.996186, 0.202181]}

assets/urdf/Bottle/3558/grasp_poses.json

@@ -0,0 +1,72 @@
+{
+    "object_name": "3558",
+    "scale": 0.15,
+    "grasp_parts": {
+        "cap": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        -1.0,
+                        0.8666700124740601
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        0.0,
+                        1.0,
+                        -0.0666700005531311
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        -1.0,
+                        -0.0,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Bottle/3558/meta.json

@@ -0,0 +1 @@
+{"model_id": "158634b1d7d010eeebe67d9b32c3ddf8", "anno_id": "3558", "user_id": "zhouwenxian", "time_in_sec": "170", "version": "3", "model_cat": "Bottle"}

assets/urdf/Bottle/3558/mobility.urdf

@@ -0,0 +1,75 @@
+<?xml version="1.0" ?>
+<robot name="partnet_158634b1d7d010eeebe67d9b32c3ddf8">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-13">
+			<origin xyz="-0.0034696680649939065 0 -0.005978668064993904"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0034696680649939065 0 -0.005978668064993904"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.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="body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="neck-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="neck-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0.0034696680649939065 0 0.005978668064993904"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="-0.1080000000000001" upper="0"/>
+	</joint>
+</robot>

assets/urdf/Bottle/3558/mobility_v2.json

@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":13,"name":"lid","children":[]}],"jointData":{"axis":{"origin":[0.0034696680649939065,0,0.005978668064993904],"direction":[0,1,0]},"limit":{"a":-0.1080000000000001,"b":0,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":1,"parent":-1,"joint":"free","name":"body","parts":[{"id":11,"name":"body","children":[]},{"id":12,"name":"neck","children":[]}],"jointData":{}}]

assets/urdf/Bottle/3558/model_data.json

@@ -0,0 +1,98 @@
+{
+    "scale": 0.15,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "init_qpos": [],
+    "grasp_parts": {
+        "cap": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        -1.0,
+                        0.8666700124740601
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        0.0,
+                        1.0,
+                        -0.0666700005531311
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        -1.0,
+                        -0.0,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Bottle/3558/result.json

@@ -0,0 +1 @@
+[{"text": "Bottle", "children": [{"text": "Normal Bottle", "children": [{"text": "Body", "objs": ["new-3"], "id": 11, "name": "body"}, {"text": "Neck", "objs": ["new-1", "new-2"], "id": 12, "name": "neck"}, {"text": "Lid", "objs": ["original-2"], "id": 13, "name": "lid"}], "id": 1, "name": "normal_bottle"}], "id": 0, "name": "bottle"}]

assets/urdf/Bottle/3558/result_after_merging.json

@@ -0,0 +1 @@
+[{"objs": ["new-3", "new-1", "new-2", "original-2"], "text": "bottle", "id": 0, "name": "bottle", "children": [{"objs": ["new-3", "new-1", "new-2", "original-2"], "text": "normal_bottle", "id": 1, "name": "normal_bottle", "children": [{"objs": ["new-3"], "name": "body", "id": 2, "ori_id": 11, "text": "body"}, {"objs": ["new-1", "new-2"], "name": "neck", "id": 3, "ori_id": 12, "text": "neck"}, {"objs": ["original-2"], "name": "lid", "id": 4, "ori_id": 13, "text": "lid"}], "ori_id": 1}], "ori_id": 0}]

assets/urdf/Bottle/3558/semantics.txt

@@ -0,0 +1,2 @@
+link_0 slider+ rotation_lid
+link_1 free bottle_body

assets/urdf/Bottle/3558/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 bottle Bottle</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_bottle Normal Bottle</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>11 body Body</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 neck Neck</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 lid Lid</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td></tr></table></body></html>

assets/urdf/Bottle/3558/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 bottle bottle</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 normal_bottle normal_bottle</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 body body</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 neck neck</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><p>4 lid lid</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td></tr></table></body></html>