Add files using upload-large-folder tool

assets/urdf/Stapler/102990/bounding_box.json

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+{"min": [-0.181702, -0.33832, -0.983424], "max": [0.181288, 0.482021, 0.764372]}

assets/urdf/Stapler/102990/grasp_poses.json

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+{
+    "object_name": "102990",
+    "scale": 0.09,
+    "grasp_parts": {
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+                "base": "base",
+                "description": ""
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+        "body": [
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+                "matrix": [
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+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Stapler/102990/meta.json

@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "Stapler", "model_id": "20c5096ea98cc955920de219c00d1c3b", "version": "1", "anno_id": "2990", "time_in_sec": "6742"}

assets/urdf/Stapler/102990/mobility.urdf

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+	</joint>
+	<link name="link_2">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<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-2.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-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.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-6.obj"/>
+			</geometry>
+		</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-11.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-17.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-7.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-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.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>

assets/urdf/Stapler/102990/mobility_v2.json

@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "body", "parts": [{"id": 1, "name": "body", "children": []}], "jointData": {"axis": {"origin": [0, -0.12996217173954144, -0.8149019367094148], "direction": [1, 0, 0]}, "limit": {"a": -5.399999999999977, "b": 162, "noLimit": false}}}, {"id": 1, "parent": 2, "joint": "hinge", "name": "lid", "parts": [{"id": 2, "name": "lid", "children": []}], "jointData": {"axis": {"origin": [0, -0.12996217173954144, -0.8149019367094148], "direction": [1, 0, 0]}, "limit": {"a": 15.84, "b": -116.27999999999997, "noLimit": false}}}, {"id": 2, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {}}]

assets/urdf/Stapler/102990/model_data.json

@@ -0,0 +1,98 @@
+{
+    "scale": 0.09,
+    "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": {
+        "lid": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9659299850463867,
+                        0.0,
+                        -0.2588199973106384,
+                        0.05751999840140343
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        0.2588199973106384,
+                        0.0,
+                        -0.9659299850463867,
+                        0.2146500051021576
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.08715999871492386,
+                        -0.0,
+                        0.9961900115013123,
+                        -0.8038700222969055
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        -0.9961900115013123,
+                        0.0,
+                        -0.08715999871492386,
+                        -0.2642799913883209
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Stapler/102990/result.json

@@ -0,0 +1 @@
+[{"text": "Stapler", "name": "Stapler", "id": 0, "children": [{"text": "body", "name": "body", "id": 1, "objs": ["original-20", "original-32", "original-41", "original-57", "original-51", "original-48", "original-47", "original-53", "original-44", "original-43", "original-45", "original-40", "original-38", "original-39", "original-37", "original-36", "original-42", "original-46", "original-35", "original-34", "original-33", "original-24", "original-58", "original-56", "original-55", "original-54", "original-52", "original-50", "original-49", "original-27", "original-28", "original-29", "original-31", "original-30", "original-25", "original-26", "original-22"]}, {"text": "lid", "name": "lid", "id": 2, "objs": ["original-4", "original-1", "original-21"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-3", "original-2", "original-16", "original-8", "original-13", "original-9", "original-6", "original-15", "original-11", "original-18", "original-17", "original-12", "original-7", "original-10", "original-14", "original-19"]}]}]

assets/urdf/Stapler/102990/result_original.json

@@ -0,0 +1 @@
+[{"id": 0, "name": "Stapler", "text": "Stapler", "children": [{"id": 1, "name": "body", "text": "body", "objs": ["original-20", "original-32", "original-41", "original-57", "original-51", "original-48", "original-47", "original-53", "original-44", "original-43", "original-45", "original-40", "original-38", "original-39", "original-37", "original-36", "original-42", "original-46", "original-35", "original-34", "original-33", "original-24", "original-58", "original-56", "original-55", "original-54", "original-52", "original-50", "original-49", "original-27", "original-28", "original-29", "original-31", "original-30", "original-25", "original-26", "original-22"]}, {"id": 2, "name": "lid", "text": "lid", "objs": ["original-4", "original-1", "original-21"]}]}]

assets/urdf/Stapler/102990/semantics.txt

@@ -0,0 +1,3 @@
+link_0 hinge stapler_body
+link_1 hinge lid
+link_2 free stapler_base

assets/urdf/Stapler/103095/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.303673, -0.226098, -0.940334], "max": [0.304585, 0.362701, 0.971887]}

assets/urdf/Stapler/103095/meta.json

@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "Stapler", "model_id": "376eb047b40ef4f6a480e3d8fdbd4a92", "version": "1", "anno_id": "3095", "time_in_sec": "124"}

assets/urdf/Stapler/103095/mobility.urdf

@@ -0,0 +1,149 @@
+<?xml version="1.0" ?>
+<robot name="partnet_376eb047b40ef4f6a480e3d8fdbd4a92">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="body-1">
+			<origin xyz="0 -0.09 0.76"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 -0.09 0.76"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 0.0 0.0"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0.0" upper="2.076941809873252"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lid-2">
+			<origin xyz="0 -0.09 0.76"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-2">
+			<origin xyz="0 -0.09 0.76"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-2">
+			<origin xyz="0 -0.09 0.76"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-2">
+			<origin xyz="0 -0.09 0.76"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 -0.09 0.76"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.09 0.76"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.09 0.76"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.09 0.76"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0 0.09 -0.76"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="-0.0" upper="0.47123889803846897"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<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-8.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-7.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>
+	</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>

assets/urdf/Stapler/103095/result_original.json

@@ -0,0 +1 @@
+[{"id": 0, "name": "Stapler", "text": "Stapler", "children": [{"id": 1, "name": "body", "text": "body", "objs": ["original-2"]}, {"id": 2, "name": "lid", "text": "lid", "objs": ["original-4", "original-11", "original-6", "original-5"]}]}]

assets/urdf/Stapler/103099/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.16878, -0.297769, -0.753372], "max": [0.16497, 0.527186, 0.984285]}

assets/urdf/Stapler/103099/grasp_poses.json

@@ -0,0 +1,72 @@
+{
+    "object_name": "103099",
+    "scale": 0.09,
+    "grasp_parts": {
+        "lid": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9396899938583374,
+                        0.0,
+                        -0.3420200049877167,
+                        0.11111000180244446
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        -0.0,
+                        -0.0
+                    ],
+                    [
+                        0.3420200049877167,
+                        -0.0,
+                        -0.9396899938583374,
+                        0.3333300054073334
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.17364999651908875,
+                        -0.0,
+                        0.9848099946975708,
+                        -1.0
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        -0.9848099946975708,
+                        -0.0,
+                        -0.17364999651908875,
+                        -0.22222000360488892
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Stapler/103099/meta.json

@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "Stapler", "model_id": "37b40b7e9290c0a330314ffb9bb887b5", "version": "1", "anno_id": "3099", "time_in_sec": "94"}

assets/urdf/Stapler/103099/mobility.urdf

@@ -0,0 +1,689 @@
+<?xml version="1.0" ?>
+<robot name="partnet_37b40b7e9290c0a330314ffb9bb887b5">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="body-1">
+			<origin xyz="-0.0 0.09282884922449189 0.6653006196810763"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</visual>
+		<visual name="body-1">
+			<origin xyz="-0.0 0.09282884922449189 0.6653006196810763"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="body-1">
+			<origin xyz="-0.0 0.09282884922449189 0.6653006196810763"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<visual name="body-1">
+			<origin xyz="-0.0 0.09282884922449189 0.6653006196810763"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="body-1">
+			<origin xyz="-0.0 0.09282884922449189 0.6653006196810763"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="body-1">
+			<origin xyz="-0.0 0.09282884922449189 0.6653006196810763"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="body-1">
+			<origin xyz="-0.0 0.09282884922449189 0.6653006196810763"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="body-1">
+			<origin xyz="-0.0 0.09282884922449189 0.6653006196810763"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="body-1">
+			<origin xyz="-0.0 0.09282884922449189 0.6653006196810763"/>
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+			<origin xyz="-0.0 0.09282884922449189 0.6653006196810763"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 0.09282884922449189 0.6653006196810763"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.0 0.0 0.0"/>
+		<axis xyz="1.0 -0.0 -0.0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.1759291886010284" upper="2.576105975943631"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lid-2">
+			<origin xyz="-0.0 0.09282884922449189 0.6653006196810763"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0 0.09282884922449189 0.6653006196810763"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.0 -0.09282884922449189 -0.6653006196810763"/>
+		<axis xyz="-1.0 0.0 0.0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="-0.3204424506661591" upper="1.734159144781566"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</visual>
+		<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-57.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>

assets/urdf/Stapler/103099/mobility_v2.json

@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "body", "parts": [{"id": 1, "name": "body", "children": []}], "jointData": {"axis": {"origin": [0.0, -0.09282884922449189, -0.6653006196810763], "direction": [-1.0, 0.0, 0.0]}, "limit": {"a": 10.08, "b": -147.60000000000002, "noLimit": false}}}, {"id": 1, "parent": 2, "joint": "hinge", "name": "lid", "parts": [{"id": 2, "name": "lid", "children": []}], "jointData": {"axis": {"origin": [0.0, -0.09282884922449189, -0.6653006196810763], "direction": [-1.0, 0.0, 0.0]}, "limit": {"a": -18.360000000000014, "b": 99.36000000000001, "noLimit": false}}}, {"id": 2, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {}}]

assets/urdf/Stapler/103099/model_data.json

@@ -0,0 +1,98 @@
+{
+    "scale": 0.09,
+    "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": {
+        "lid": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9396899938583374,
+                        0.0,
+                        -0.3420200049877167,
+                        0.11111000180244446
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        -0.0,
+                        -0.0
+                    ],
+                    [
+                        0.3420200049877167,
+                        -0.0,
+                        -0.9396899938583374,
+                        0.3333300054073334
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.17364999651908875,
+                        -0.0,
+                        0.9848099946975708,
+                        -1.0
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        -0.9848099946975708,
+                        -0.0,
+                        -0.17364999651908875,
+                        -0.22222000360488892
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Stapler/103099/result.json

@@ -0,0 +1 @@
+[{"text": "Stapler", "name": "Stapler", "id": 0, "children": [{"text": "body", "name": "body", "id": 1, "objs": ["original-55", "original-10", "original-52", "original-16", "original-35", "original-5", "original-26", "original-28", "original-53", "original-42", "original-25", "original-23", "original-22", "original-15", "original-4", "original-34", "original-20", "original-50", "original-7", "original-29", "original-30", "original-9", "original-14", "original-8", "original-13", "original-12", "original-11", "original-36", "original-54", "original-51", "original-49", "original-48", "original-32", "original-27", "original-24", "original-21", "original-19", "original-17", "original-6", "original-39", "original-31", "original-40", "original-41", "original-33", "original-46", "original-47", "original-37", "original-38", "original-43", "original-44", "original-18", "original-45"]}, {"text": "lid", "name": "lid", "id": 2, "objs": ["original-56"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-1", "original-57"]}]}]

assets/urdf/Stapler/103099/result_original.json

@@ -0,0 +1 @@
+[{"id": 0, "name": "Stapler", "text": "Stapler", "children": [{"id": 1, "name": "body", "text": "body", "objs": ["original-55", "original-10", "original-52", "original-16", "original-35", "original-5", "original-26", "original-28", "original-53", "original-42", "original-25", "original-23", "original-22", "original-15", "original-4", "original-34", "original-20", "original-50", "original-7", "original-29", "original-30", "original-9", "original-14", "original-8", "original-13", "original-12", "original-11", "original-36", "original-54", "original-51", "original-49", "original-48", "original-32", "original-27", "original-24", "original-21", "original-19", "original-17", "original-6", "original-39", "original-31", "original-40", "original-41", "original-33", "original-46", "original-47", "original-37", "original-38", "original-43", "original-44", "original-18", "original-45"]}, {"id": 2, "name": "lid", "text": "lid", "objs": ["original-56"]}]}]

assets/urdf/Stapler/103099/semantics.txt

@@ -0,0 +1,3 @@
+link_0 hinge stapler_body
+link_1 hinge lid
+link_2 free stapler_base

assets/urdf/Stapler/103100/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.216621, -0.280723, -0.92484], "max": [0.215314, 0.456786, 0.951466]}

assets/urdf/Stapler/103100/grasp_poses.json

@@ -0,0 +1,72 @@
+{
+    "object_name": "103100",
+    "scale": 0.09,
+    "grasp_parts": {
+        "lid": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9659299850463867,
+                        0.0,
+                        -0.2588199973106384,
+                        0.08626999706029892
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        0.2588199973106384,
+                        0.0,
+                        -0.9659299850463867,
+                        0.32197999954223633
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.08715999871492386,
+                        -0.0,
+                        0.9961900115013123,
+                        -0.9865099787712097
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        -0.9961900115013123,
+                        0.0,
+                        0.08715999871492386,
+                        -0.19784000515937805
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Stapler/103100/meta.json

@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "Stapler", "model_id": "3800d2ab6bc278bcd5a3e6010c55b78e", "version": "1", "anno_id": "3100", "time_in_sec": "30"}

assets/urdf/Stapler/103100/mobility.urdf

@@ -0,0 +1,77 @@
+<?xml version="1.0" ?>
+<robot name="partnet_3800d2ab6bc278bcd5a3e6010c55b78e">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="body-1">
+			<origin xyz="-0.0 -0.0006955059627570159 0.3389185856046385"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0 -0.0006955059627570159 0.3389185856046385"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.0 0.021258419566391972 0.48796620307490224"/>
+		<axis xyz="1.0 -0.0 -0.0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.06981317007977318" upper="2.7960174616949156"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lid-2">
+			<origin xyz="-0.0 0.020562913603634957 0.8268847886795407"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0 0.020562913603634957 0.8268847886795407"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.0 -0.020562913603634957 -0.8268847886795407"/>
+		<axis xyz="-1.0 0.0 0.0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="-0.17592918860102813" upper="1.9854865570687494"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<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-1.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>

assets/urdf/Stapler/103100/mobility_v2.json

@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "body", "parts": [{"id": 1, "name": "body", "children": []}], "jointData": {"axis": {"origin": [0.0, 0.0006955059627570159, -0.3389185856046385], "direction": [-1.0, 0.0, 0.0]}, "limit": {"a": 4, "b": -160.2, "noLimit": false}}}, {"id": 1, "parent": 2, "joint": "hinge", "name": "lid", "parts": [{"id": 2, "name": "lid", "children": []}], "jointData": {"axis": {"origin": [0.0, -0.020562913603634957, -0.8268847886795407], "direction": [-1.0, 0.0, 0.0]}, "limit": {"a": -10.079999999999984, "b": 113.76, "noLimit": false}}}, {"id": 2, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {}}]

assets/urdf/Stapler/103100/model_data.json

@@ -0,0 +1,98 @@
+{
+    "scale": 0.09,
+    "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": {
+        "lid": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9659299850463867,
+                        0.0,
+                        -0.2588199973106384,
+                        0.08626999706029892
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        0.2588199973106384,
+                        0.0,
+                        -0.9659299850463867,
+                        0.32197999954223633
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.08715999871492386,
+                        -0.0,
+                        0.9961900115013123,
+                        -0.9865099787712097
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        -0.9961900115013123,
+                        0.0,
+                        0.08715999871492386,
+                        -0.19784000515937805
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Stapler/103100/result.json

@@ -0,0 +1 @@
+[{"text": "Stapler", "name": "Stapler", "id": 0, "children": [{"text": "body", "name": "body", "id": 1, "objs": ["original-4"]}, {"text": "lid", "name": "lid", "id": 2, "objs": ["original-3"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-5", "original-1"]}]}]

assets/urdf/Stapler/103100/result_original.json

@@ -0,0 +1 @@
+[{"id": 0, "name": "Stapler", "text": "Stapler", "children": [{"id": 1, "name": "body", "text": "body", "objs": ["original-4"]}, {"id": 2, "name": "lid", "text": "lid", "objs": ["original-3"]}]}]

assets/urdf/Stapler/103100/semantics.txt

@@ -0,0 +1,3 @@
+link_0 hinge stapler_body
+link_1 hinge lid
+link_2 free stapler_base

assets/urdf/Stapler/103113/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.219021, -0.268146, -1.006042], "max": [0.228819, 0.460558, 0.874413]}

assets/urdf/Stapler/103113/grasp_poses.json

@@ -0,0 +1,72 @@
+{
+    "object_name": "103113",
+    "scale": 0.09,
+    "grasp_parts": {
+        "lid": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9848099946975708,
+                        0.0,
+                        0.17364999651908875,
+                        -0.05787999927997589
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        -0.17364999651908875,
+                        0.0,
+                        -0.9848099946975708,
+                        0.32826998829841614
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.8888900279998779
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        -0.22222000360488892
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Stapler/103113/meta.json

@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "Stapler", "model_id": "72a2bd9428f7179357fcd7a97096d25", "version": "1", "anno_id": "3113", "time_in_sec": "54"}

assets/urdf/Stapler/103113/mobility.urdf

@@ -0,0 +1,137 @@
+<?xml version="1.0" ?>
+<robot name="partnet_72a2bd9428f7179357fcd7a97096d25">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="body-1">
+			<origin xyz="-0.0 0.1032614356129509 0.8959881473079558"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="body-1">
+			<origin xyz="-0.0 0.1032614356129509 0.8959881473079558"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="body-1">
+			<origin xyz="-0.0 0.1032614356129509 0.8959881473079558"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="body-1">
+			<origin xyz="-0.0 0.1032614356129509 0.8959881473079558"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0 0.1032614356129509 0.8959881473079558"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 0.1032614356129509 0.8959881473079558"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 0.1032614356129509 0.8959881473079558"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 0.1032614356129509 0.8959881473079558"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.0 0.0 0.0"/>
+		<axis xyz="1.0 0.0 0.0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.11938052083641269" upper="2.8965484266097894"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lid-2">
+			<origin xyz="-0.0 0.1032614356129509 0.8959881473079558"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-2">
+			<origin xyz="-0.0 0.1032614356129509 0.8959881473079558"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0 0.1032614356129509 0.8959881473079558"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 0.1032614356129509 0.8959881473079558"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.0 -0.1032614356129509 -0.8959881473079558"/>
+		<axis xyz="-1.0 -0.0 -0.0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="-0.23247785636564466" upper="1.9415042599184924"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.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-1.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>

assets/urdf/Stapler/103113/mobility_v2.json

@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "body", "parts": [{"id": 1, "name": "body", "children": []}], "jointData": {"axis": {"origin": [0.0, -0.1032614356129509, -0.8959881473079558], "direction": [1.0, 0.0, 0.0]}, "limit": {"a": -6.840000000000032, "b": 165.96, "noLimit": false}}}, {"id": 1, "parent": 2, "joint": "hinge", "name": "lid", "parts": [{"id": 2, "name": "lid", "children": []}], "jointData": {"axis": {"origin": [0.0, -0.1032614356129509, -0.8959881473079558], "direction": [1.0, 0.0, 0.0]}, "limit": {"a": 13.319999999999999, "b": -111.24000000000001, "noLimit": false}}}, {"id": 2, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {}}]

assets/urdf/Stapler/103113/model_data.json

@@ -0,0 +1,98 @@
+{
+    "scale": 0.09,
+    "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": {
+        "lid": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9848099946975708,
+                        0.0,
+                        0.17364999651908875,
+                        -0.05787999927997589
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        -0.17364999651908875,
+                        0.0,
+                        -0.9848099946975708,
+                        0.32826998829841614
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.8888900279998779
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        -0.22222000360488892
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Stapler/103113/result.json

@@ -0,0 +1 @@
+[{"text": "Stapler", "name": "Stapler", "id": 0, "children": [{"text": "body", "name": "body", "id": 1, "objs": ["original-6", "original-7", "original-9", "original-10"]}, {"text": "lid", "name": "lid", "id": 2, "objs": ["original-4", "original-3"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-13", "original-12", "original-1"]}]}]

assets/urdf/Stapler/103113/result_original.json

@@ -0,0 +1 @@
+[{"id": 0, "name": "Stapler", "text": "Stapler", "children": [{"id": 1, "name": "body", "text": "body", "objs": ["original-6", "original-7", "original-9", "original-10"]}, {"id": 2, "name": "lid", "text": "lid", "objs": ["original-4", "original-3"]}]}]

assets/urdf/Stapler/103113/semantics.txt

@@ -0,0 +1,3 @@
+link_0 hinge stapler_body
+link_1 hinge lid
+link_2 free stapler_base

assets/urdf/Stapler/103271/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.176398, -0.211941, -0.945619], "max": [0.168269, 0.310618, 0.982367]}

assets/urdf/Stapler/103271/grasp_poses.json

@@ -0,0 +1,72 @@
+{
+    "object_name": "103271",
+    "scale": 0.09,
+    "grasp_parts": {
+        "lid": [
+            {
+                "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,
+                        0.3333300054073334
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.00031999999191612005,
+                        -0.007249999791383743,
+                        0.999970018863678,
+                        -0.9176499843597412
+                    ],
+                    [
+                        0.0022899999748915434,
+                        0.999970018863678,
+                        0.007249999791383743,
+                        -0.0
+                    ],
+                    [
+                        -1.0,
+                        0.0022899999748915434,
+                        0.00033999999868683517,
+                        -0.10733000189065933
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Stapler/103271/meta.json

@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "Stapler", "model_id": "8c34afa29665356013b1d3e1528f0506-0", "version": "1", "anno_id": "3271", "time_in_sec": "613"}

assets/urdf/Stapler/103271/mobility.urdf

@@ -0,0 +1,89 @@
+<?xml version="1.0" ?>
+<robot name="partnet_8c34afa29665356013b1d3e1528f0506-0">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="body-1">
+			<origin xyz="-0.0 -0.09713288304940276 0.49444914751130464"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="body-1">
+			<origin xyz="-0.0 -0.09713288304940276 0.49444914751130464"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0 -0.09713288304940276 0.49444914751130464"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 -0.09713288304940276 0.49444914751130464"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.0 0.018658453469988484 0.3295206648576805"/>
+		<axis xyz="1.0 -0.0 -0.0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.03769911184307752" upper="2.519557308179014"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lid-2">
+			<origin xyz="-0.0 -0.07847442957941428 0.8239698123689851"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0 -0.07847442957941428 0.8239698123689851"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.0 0.07847442957941428 -0.8239698123689851"/>
+		<axis xyz="-1.0 -0.0 -0.0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="-0.050265482457436686" upper="2.142566189748239"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.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-1.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>

assets/urdf/Stapler/103271/mobility_v2.json

@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "body", "parts": [{"id": 1, "name": "body", "children": []}], "jointData": {"axis": {"origin": [0.0, 0.09713288304940276, -0.49444914751130464], "direction": [-1.0, 0.0, 0.0]}, "limit": {"a": 2.16, "b": -144.36, "noLimit": false}}}, {"id": 1, "parent": 2, "joint": "hinge", "name": "lid", "parts": [{"id": 2, "name": "lid", "children": []}], "jointData": {"axis": {"origin": [0.0, 0.07847442957941428, -0.8239698123689851], "direction": [1.0, 0.0, 0.0]}, "limit": {"a": 2.88, "b": -122.75999999999999, "noLimit": false}}}, {"id": 2, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {}}]

assets/urdf/Stapler/103271/model_data.json

@@ -0,0 +1,98 @@
+{
+    "scale": 0.09,
+    "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": {
+        "lid": [
+            {
+                "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,
+                        0.3333300054073334
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.00031999999191612005,
+                        -0.007249999791383743,
+                        0.999970018863678,
+                        -0.9176499843597412
+                    ],
+                    [
+                        0.0022899999748915434,
+                        0.999970018863678,
+                        0.007249999791383743,
+                        -0.0
+                    ],
+                    [
+                        -1.0,
+                        0.0022899999748915434,
+                        0.00033999999868683517,
+                        -0.10733000189065933
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}

assets/urdf/Stapler/103271/result.json

@@ -0,0 +1 @@
+[{"text": "Stapler", "name": "Stapler", "id": 0, "children": [{"text": "body", "name": "body", "id": 1, "objs": ["original-2", "original-3"]}, {"text": "lid", "name": "lid", "id": 2, "objs": ["original-5"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-4", "original-1"]}]}]

assets/urdf/Stapler/103271/result_original.json

@@ -0,0 +1 @@
+[{"id": 0, "name": "Stapler", "text": "Stapler", "children": [{"id": 1, "name": "body", "text": "body", "objs": ["original-2", "original-3"]}, {"id": 2, "name": "lid", "text": "lid", "objs": ["original-5"]}]}]

assets/urdf/Stapler/103271/semantics.txt

@@ -0,0 +1,3 @@
+link_0 hinge stapler_body
+link_1 hinge lid
+link_2 free stapler_base

assets/urdf/Stapler/103280/result_original.json

@@ -0,0 +1 @@
+[{"id": 0, "name": "Stapler", "text": "Stapler", "children": [{"id": 1, "name": "body", "text": "body", "objs": ["original-1"]}, {"id": 2, "name": "lid", "text": "lid", "objs": ["original-3"]}]}]