Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- PartNetMobility/Safe/101363/bounding_box.json +1 -0
- PartNetMobility/Safe/101363/meta.json +1 -0
- PartNetMobility/Safe/101363/mobility.urdf +112 -0
- PartNetMobility/Safe/101363/mobility_v2.json +1 -0
- PartNetMobility/Safe/101363/result.json +1 -0
- PartNetMobility/Safe/101363/result_original.json +1 -0
- PartNetMobility/Safe/101363/semantics.txt +3 -0
- PartNetMobility/Safe/101564/bounding_box.json +1 -0
- PartNetMobility/Safe/101564/meta.json +1 -0
- PartNetMobility/Safe/101564/mobility.urdf +392 -0
- PartNetMobility/Safe/101564/mobility_v2.json +1 -0
- PartNetMobility/Safe/101564/result.json +1 -0
- PartNetMobility/Safe/101564/result_original.json +1 -0
- PartNetMobility/Safe/101564/semantics.txt +14 -0
- PartNetMobility/Safe/101579/bounding_box.json +1 -0
- PartNetMobility/Safe/101579/meta.json +1 -0
- PartNetMobility/Safe/101579/mobility.urdf +768 -0
- PartNetMobility/Safe/101579/mobility_v2.json +1 -0
- PartNetMobility/Safe/101579/result.json +1 -0
- PartNetMobility/Safe/101579/result_original.json +1 -0
- PartNetMobility/Safe/101579/semantics.txt +4 -0
- PartNetMobility/Safe/101583/bounding_box.json +1 -0
- PartNetMobility/Safe/101583/meta.json +1 -0
- PartNetMobility/Safe/101583/mobility.urdf +1396 -0
- PartNetMobility/Safe/101583/mobility_v2.json +1 -0
- PartNetMobility/Safe/101583/result.json +1 -0
- PartNetMobility/Safe/101583/result_original.json +1 -0
- PartNetMobility/Safe/101583/semantics.txt +15 -0
- PartNetMobility/Safe/101584/bounding_box.json +1 -0
- PartNetMobility/Safe/101584/meta.json +1 -0
- PartNetMobility/Safe/101584/mobility.urdf +768 -0
- PartNetMobility/Safe/101584/mobility_v2.json +1 -0
- PartNetMobility/Safe/101584/result.json +1 -0
- PartNetMobility/Safe/101584/result_original.json +1 -0
- PartNetMobility/Safe/101584/semantics.txt +4 -0
- PartNetMobility/Safe/101591/bounding_box.json +1 -0
- PartNetMobility/Safe/101591/meta.json +1 -0
- PartNetMobility/Safe/101591/mobility.urdf +241 -0
- PartNetMobility/Safe/101591/mobility_v2.json +1 -0
- PartNetMobility/Safe/101591/result.json +1 -0
- PartNetMobility/Safe/101591/result_original.json +1 -0
- PartNetMobility/Safe/101591/semantics.txt +8 -0
- PartNetMobility/Safe/101593/bounding_box.json +1 -0
- PartNetMobility/Safe/101593/meta.json +1 -0
- PartNetMobility/Safe/101593/mobility.urdf +192 -0
- PartNetMobility/Safe/101593/mobility_v2.json +1 -0
- PartNetMobility/Safe/101593/result.json +1 -0
- PartNetMobility/Safe/101593/result_original.json +1 -0
- PartNetMobility/Safe/101593/semantics.txt +4 -0
- PartNetMobility/Safe/101594/bounding_box.json +1 -0
PartNetMobility/Safe/101363/bounding_box.json
ADDED
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{"min": [-0.555805, -0.635644, -0.562036], "max": [0.578935, 0.661201, 0.641728]}
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PartNetMobility/Safe/101363/meta.json
ADDED
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{"user_id": "KeplerSN", "model_cat": "Safe", "model_id": "019dff2f-8207-4ddf-8255-871060cd4bf6", "version": "2", "anno_id": "1363", "time_in_sec": "259"}
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PartNetMobility/Safe/101363/mobility.urdf
ADDED
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@@ -0,0 +1,112 @@
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<?xml version="1.0" ?>
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<robot name="partnet_019dff2f_8207_4ddf_8255_871060cd4bf6">
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<link name="base"/>
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<link name="link_0">
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<visual name="door_1">
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<origin xyz="0.4585415 0 -0.5808095"/>
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<geometry>
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<mesh filename="textured_objs/original_7.obj"/>
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</geometry>
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</visual>
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<visual name="door_1">
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| 12 |
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<origin xyz="0.4585415 0 -0.5808095"/>
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| 13 |
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<geometry>
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| 14 |
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<mesh filename="textured_objs/original_6.obj"/>
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</geometry>
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</visual>
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| 17 |
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<visual name="door_1">
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| 18 |
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<origin xyz="0.4585415 0 -0.5808095"/>
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<geometry>
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<mesh filename="textured_objs/original_8.obj"/>
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</geometry>
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</visual>
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<collision>
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| 24 |
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<origin xyz="0.4585415 0 -0.5808095"/>
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<geometry>
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| 26 |
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<mesh filename="textured_objs/original_7.obj"/>
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| 27 |
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</geometry>
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</collision>
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<collision>
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| 30 |
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<origin xyz="0.4585415 0 -0.5808095"/>
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<geometry>
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| 32 |
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<mesh filename="textured_objs/original_6.obj"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="0.4585415 0 -0.5808095"/>
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<geometry>
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| 38 |
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<mesh filename="textured_objs/original_8.obj"/>
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</geometry>
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</collision>
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</link>
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| 42 |
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<joint name="joint_0" type="revolute">
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| 43 |
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<origin xyz="-0.4585415 0 0.5808095"/>
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| 44 |
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<axis xyz="0 -1 0"/>
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| 45 |
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<child link="link_0"/>
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| 46 |
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<parent link="link_2"/>
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| 47 |
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<limit lower="0.0" upper="3.141592653589793"/>
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| 48 |
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</joint>
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| 49 |
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<link name="link_1">
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| 50 |
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<visual name="switch_5">
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| 51 |
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<origin xyz="-0.3103190281377981 -0.048701999999999995 0"/>
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| 52 |
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<geometry>
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| 53 |
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<mesh filename="textured_objs/original_9.obj"/>
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| 54 |
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</geometry>
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| 55 |
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</visual>
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| 56 |
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<collision>
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| 57 |
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<origin xyz="-0.3103190281377981 -0.048701999999999995 0"/>
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| 58 |
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<geometry>
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| 59 |
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<mesh filename="textured_objs/original_9.obj"/>
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</geometry>
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| 61 |
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</collision>
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| 62 |
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</link>
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| 63 |
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<joint name="joint_1" type="continuous">
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| 64 |
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<origin xyz="0.768860528137798 0.048701999999999995 -0.5808095"/>
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| 65 |
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<axis xyz="0 0 1"/>
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| 66 |
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<child link="link_1"/>
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| 67 |
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<parent link="link_0"/>
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</joint>
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| 69 |
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<link name="link_2">
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| 70 |
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<visual name="base_body_6">
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| 71 |
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<origin xyz="0 0 0"/>
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| 72 |
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<geometry>
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| 73 |
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<mesh filename="textured_objs/original_4.obj"/>
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| 74 |
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</geometry>
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| 75 |
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</visual>
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| 76 |
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<visual name="base_body_6">
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| 77 |
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<origin xyz="0 0 0"/>
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| 78 |
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<geometry>
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| 79 |
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<mesh filename="textured_objs/original_3.obj"/>
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| 80 |
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</geometry>
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</visual>
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| 82 |
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<visual name="base_body_6">
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| 83 |
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<origin xyz="0 0 0"/>
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| 84 |
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<geometry>
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| 85 |
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<mesh filename="textured_objs/original_1.obj"/>
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| 86 |
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</geometry>
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| 87 |
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</visual>
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| 88 |
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<collision>
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| 89 |
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<origin xyz="0 0 0"/>
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| 90 |
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<geometry>
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| 91 |
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<mesh filename="textured_objs/original_4.obj"/>
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| 92 |
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</geometry>
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| 93 |
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</collision>
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| 94 |
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<collision>
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| 95 |
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<origin xyz="0 0 0"/>
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| 96 |
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<geometry>
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| 97 |
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<mesh filename="textured_objs/original_3.obj"/>
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| 98 |
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</geometry>
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| 99 |
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</collision>
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| 100 |
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<collision>
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| 101 |
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<origin xyz="0 0 0"/>
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| 102 |
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<geometry>
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| 103 |
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<mesh filename="textured_objs/original_1.obj"/>
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| 104 |
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</geometry>
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| 105 |
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</collision>
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| 106 |
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</link>
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| 107 |
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<joint name="joint_2" type="fixed">
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| 108 |
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<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
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| 109 |
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<child link="link_2"/>
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| 110 |
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<parent link="base"/>
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| 111 |
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</joint>
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| 112 |
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</robot>
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PartNetMobility/Safe/101363/mobility_v2.json
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[{"id": 0, "parent": 2, "joint": "hinge", "name": "door", "parts": [{"id": 1, "name": "door", "children": []}], "jointData": {"axis": {"origin": [-0.4585415, 0, 0.5808095], "direction": [0, -1, 0]}, "limit": {"a": 0, "b": 180, "noLimit": false}}}, {"id": 1, "parent": 0, "joint": "hinge", "name": "knob", "parts": [{"id": 5, "name": "switch", "children": []}], "jointData": {"axis": {"origin": [0.3103190281377981, 0.048701999999999995, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 2, "parent": -1, "joint": "heavy", "name": "base_body", "parts": [{"id": 6, "name": "base_body", "children": []}], "jointData": {}}]
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PartNetMobility/Safe/101363/result.json
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[{"text": "Safe", "name": "Safe", "id": 0, "children": [{"text": "door", "name": "door", "id": 1, "objs": ["original-7", "original-6", "original-8"]}, {"text": "switch", "name": "switch", "id": 5, "objs": ["original-9"]}, {"text": "base_body", "name": "base_body", "id": 6, "objs": ["original-4", "original-3", "original-1"]}]}]
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PartNetMobility/Safe/101363/result_original.json
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[{"id": 0, "name": "Safe", "text": "Safe", "children": [{"id": 1, "name": "door", "text": "door", "objs": ["original-7", "original-6", "original-8"]}, {"id": 5, "name": "switch", "text": "switch", "objs": ["original-9"]}]}]
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PartNetMobility/Safe/101363/semantics.txt
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link_0 hinge door
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link_1 hinge knob
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link_2 heavy safe_body
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PartNetMobility/Safe/101564/bounding_box.json
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{"min": [-0.595093, -0.633976, -0.594209], "max": [0.63608, 0.703741, 0.613287]}
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PartNetMobility/Safe/101564/meta.json
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{"user_id": "KeplerSN", "model_cat": "Safe", "model_id": "117711079f903de35c90c1d7bd498fbb", "version": "2", "anno_id": "1564", "time_in_sec": "96"}
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PartNetMobility/Safe/101564/mobility.urdf
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|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="partnet_117711079f903de35c90c1d7bd498fbb">
|
| 3 |
+
<link name="base"/>
|
| 4 |
+
<link name="link_0">
|
| 5 |
+
<visual name="button_5">
|
| 6 |
+
<origin xyz="0 0 0"/>
|
| 7 |
+
<geometry>
|
| 8 |
+
<mesh filename="textured_objs/original_12.obj"/>
|
| 9 |
+
</geometry>
|
| 10 |
+
</visual>
|
| 11 |
+
<collision>
|
| 12 |
+
<origin xyz="0 0 0"/>
|
| 13 |
+
<geometry>
|
| 14 |
+
<mesh filename="textured_objs/original_12.obj"/>
|
| 15 |
+
</geometry>
|
| 16 |
+
</collision>
|
| 17 |
+
</link>
|
| 18 |
+
<joint name="joint_0" type="prismatic">
|
| 19 |
+
<origin xyz="-0.53 -0.656388 -0.59"/>
|
| 20 |
+
<axis xyz="0 0 -1"/>
|
| 21 |
+
<child link="link_0"/>
|
| 22 |
+
<parent link="link_13"/>
|
| 23 |
+
<limit lower="0" upper="0.004"/>
|
| 24 |
+
</joint>
|
| 25 |
+
<link name="link_1">
|
| 26 |
+
<visual name="button_6">
|
| 27 |
+
<origin xyz="0 0 0"/>
|
| 28 |
+
<geometry>
|
| 29 |
+
<mesh filename="textured_objs/original_16.obj"/>
|
| 30 |
+
</geometry>
|
| 31 |
+
</visual>
|
| 32 |
+
<collision>
|
| 33 |
+
<origin xyz="0 0 0"/>
|
| 34 |
+
<geometry>
|
| 35 |
+
<mesh filename="textured_objs/original_16.obj"/>
|
| 36 |
+
</geometry>
|
| 37 |
+
</collision>
|
| 38 |
+
</link>
|
| 39 |
+
<joint name="joint_1" type="prismatic">
|
| 40 |
+
<origin xyz="-0.53 -0.656388 -0.59"/>
|
| 41 |
+
<axis xyz="0 0 -1"/>
|
| 42 |
+
<child link="link_1"/>
|
| 43 |
+
<parent link="link_13"/>
|
| 44 |
+
<limit lower="0" upper="0.004"/>
|
| 45 |
+
</joint>
|
| 46 |
+
<link name="link_2">
|
| 47 |
+
<visual name="button_7">
|
| 48 |
+
<origin xyz="0 0 0"/>
|
| 49 |
+
<geometry>
|
| 50 |
+
<mesh filename="textured_objs/original_18.obj"/>
|
| 51 |
+
</geometry>
|
| 52 |
+
</visual>
|
| 53 |
+
<collision>
|
| 54 |
+
<origin xyz="0 0 0"/>
|
| 55 |
+
<geometry>
|
| 56 |
+
<mesh filename="textured_objs/original_18.obj"/>
|
| 57 |
+
</geometry>
|
| 58 |
+
</collision>
|
| 59 |
+
</link>
|
| 60 |
+
<joint name="joint_2" type="prismatic">
|
| 61 |
+
<origin xyz="-0.53 -0.656388 -0.59"/>
|
| 62 |
+
<axis xyz="0 0 -1"/>
|
| 63 |
+
<child link="link_2"/>
|
| 64 |
+
<parent link="link_13"/>
|
| 65 |
+
<limit lower="0" upper="0.004"/>
|
| 66 |
+
</joint>
|
| 67 |
+
<link name="link_3">
|
| 68 |
+
<visual name="button_8">
|
| 69 |
+
<origin xyz="0 0 0"/>
|
| 70 |
+
<geometry>
|
| 71 |
+
<mesh filename="textured_objs/original_19.obj"/>
|
| 72 |
+
</geometry>
|
| 73 |
+
</visual>
|
| 74 |
+
<collision>
|
| 75 |
+
<origin xyz="0 0 0"/>
|
| 76 |
+
<geometry>
|
| 77 |
+
<mesh filename="textured_objs/original_19.obj"/>
|
| 78 |
+
</geometry>
|
| 79 |
+
</collision>
|
| 80 |
+
</link>
|
| 81 |
+
<joint name="joint_3" type="prismatic">
|
| 82 |
+
<origin xyz="-0.53 -0.656388 -0.59"/>
|
| 83 |
+
<axis xyz="0 0 -1"/>
|
| 84 |
+
<child link="link_3"/>
|
| 85 |
+
<parent link="link_13"/>
|
| 86 |
+
<limit lower="0" upper="0.004"/>
|
| 87 |
+
</joint>
|
| 88 |
+
<link name="link_4">
|
| 89 |
+
<visual name="button_9">
|
| 90 |
+
<origin xyz="0 0 0"/>
|
| 91 |
+
<geometry>
|
| 92 |
+
<mesh filename="textured_objs/original_21.obj"/>
|
| 93 |
+
</geometry>
|
| 94 |
+
</visual>
|
| 95 |
+
<collision>
|
| 96 |
+
<origin xyz="0 0 0"/>
|
| 97 |
+
<geometry>
|
| 98 |
+
<mesh filename="textured_objs/original_21.obj"/>
|
| 99 |
+
</geometry>
|
| 100 |
+
</collision>
|
| 101 |
+
</link>
|
| 102 |
+
<joint name="joint_4" type="prismatic">
|
| 103 |
+
<origin xyz="-0.53 -0.656388 -0.59"/>
|
| 104 |
+
<axis xyz="0 0 -1"/>
|
| 105 |
+
<child link="link_4"/>
|
| 106 |
+
<parent link="link_13"/>
|
| 107 |
+
<limit lower="0" upper="0.004"/>
|
| 108 |
+
</joint>
|
| 109 |
+
<link name="link_5">
|
| 110 |
+
<visual name="button_10">
|
| 111 |
+
<origin xyz="0 0 0"/>
|
| 112 |
+
<geometry>
|
| 113 |
+
<mesh filename="textured_objs/original_15.obj"/>
|
| 114 |
+
</geometry>
|
| 115 |
+
</visual>
|
| 116 |
+
<collision>
|
| 117 |
+
<origin xyz="0 0 0"/>
|
| 118 |
+
<geometry>
|
| 119 |
+
<mesh filename="textured_objs/original_15.obj"/>
|
| 120 |
+
</geometry>
|
| 121 |
+
</collision>
|
| 122 |
+
</link>
|
| 123 |
+
<joint name="joint_5" type="prismatic">
|
| 124 |
+
<origin xyz="-0.53 -0.656388 -0.59"/>
|
| 125 |
+
<axis xyz="0 0 -1"/>
|
| 126 |
+
<child link="link_5"/>
|
| 127 |
+
<parent link="link_13"/>
|
| 128 |
+
<limit lower="0" upper="0.004"/>
|
| 129 |
+
</joint>
|
| 130 |
+
<link name="link_6">
|
| 131 |
+
<visual name="button_11">
|
| 132 |
+
<origin xyz="0 0 0"/>
|
| 133 |
+
<geometry>
|
| 134 |
+
<mesh filename="textured_objs/original_20.obj"/>
|
| 135 |
+
</geometry>
|
| 136 |
+
</visual>
|
| 137 |
+
<collision>
|
| 138 |
+
<origin xyz="0 0 0"/>
|
| 139 |
+
<geometry>
|
| 140 |
+
<mesh filename="textured_objs/original_20.obj"/>
|
| 141 |
+
</geometry>
|
| 142 |
+
</collision>
|
| 143 |
+
</link>
|
| 144 |
+
<joint name="joint_6" type="prismatic">
|
| 145 |
+
<origin xyz="-0.53 -0.656388 -0.59"/>
|
| 146 |
+
<axis xyz="0 0 -1"/>
|
| 147 |
+
<child link="link_6"/>
|
| 148 |
+
<parent link="link_13"/>
|
| 149 |
+
<limit lower="0" upper="0.004"/>
|
| 150 |
+
</joint>
|
| 151 |
+
<link name="link_7">
|
| 152 |
+
<visual name="button_12">
|
| 153 |
+
<origin xyz="0 0 0"/>
|
| 154 |
+
<geometry>
|
| 155 |
+
<mesh filename="textured_objs/original_22.obj"/>
|
| 156 |
+
</geometry>
|
| 157 |
+
</visual>
|
| 158 |
+
<collision>
|
| 159 |
+
<origin xyz="0 0 0"/>
|
| 160 |
+
<geometry>
|
| 161 |
+
<mesh filename="textured_objs/original_22.obj"/>
|
| 162 |
+
</geometry>
|
| 163 |
+
</collision>
|
| 164 |
+
</link>
|
| 165 |
+
<joint name="joint_7" type="prismatic">
|
| 166 |
+
<origin xyz="-0.53 -0.656388 -0.59"/>
|
| 167 |
+
<axis xyz="0 0 -1"/>
|
| 168 |
+
<child link="link_7"/>
|
| 169 |
+
<parent link="link_13"/>
|
| 170 |
+
<limit lower="0" upper="0.004"/>
|
| 171 |
+
</joint>
|
| 172 |
+
<link name="link_8">
|
| 173 |
+
<visual name="button_13">
|
| 174 |
+
<origin xyz="0 0 0"/>
|
| 175 |
+
<geometry>
|
| 176 |
+
<mesh filename="textured_objs/original_13.obj"/>
|
| 177 |
+
</geometry>
|
| 178 |
+
</visual>
|
| 179 |
+
<collision>
|
| 180 |
+
<origin xyz="0 0 0"/>
|
| 181 |
+
<geometry>
|
| 182 |
+
<mesh filename="textured_objs/original_13.obj"/>
|
| 183 |
+
</geometry>
|
| 184 |
+
</collision>
|
| 185 |
+
</link>
|
| 186 |
+
<joint name="joint_8" type="prismatic">
|
| 187 |
+
<origin xyz="-0.53 -0.656388 -0.59"/>
|
| 188 |
+
<axis xyz="0 0 -1"/>
|
| 189 |
+
<child link="link_8"/>
|
| 190 |
+
<parent link="link_13"/>
|
| 191 |
+
<limit lower="0" upper="0.004"/>
|
| 192 |
+
</joint>
|
| 193 |
+
<link name="link_9">
|
| 194 |
+
<visual name="button_14">
|
| 195 |
+
<origin xyz="0 0 0"/>
|
| 196 |
+
<geometry>
|
| 197 |
+
<mesh filename="textured_objs/original_11.obj"/>
|
| 198 |
+
</geometry>
|
| 199 |
+
</visual>
|
| 200 |
+
<collision>
|
| 201 |
+
<origin xyz="0 0 0"/>
|
| 202 |
+
<geometry>
|
| 203 |
+
<mesh filename="textured_objs/original_11.obj"/>
|
| 204 |
+
</geometry>
|
| 205 |
+
</collision>
|
| 206 |
+
</link>
|
| 207 |
+
<joint name="joint_9" type="prismatic">
|
| 208 |
+
<origin xyz="-0.53 -0.656388 -0.59"/>
|
| 209 |
+
<axis xyz="0 0 -1"/>
|
| 210 |
+
<child link="link_9"/>
|
| 211 |
+
<parent link="link_13"/>
|
| 212 |
+
<limit lower="0" upper="0.004"/>
|
| 213 |
+
</joint>
|
| 214 |
+
<link name="link_10">
|
| 215 |
+
<visual name="button_15">
|
| 216 |
+
<origin xyz="0 0 0"/>
|
| 217 |
+
<geometry>
|
| 218 |
+
<mesh filename="textured_objs/original_17.obj"/>
|
| 219 |
+
</geometry>
|
| 220 |
+
</visual>
|
| 221 |
+
<collision>
|
| 222 |
+
<origin xyz="0 0 0"/>
|
| 223 |
+
<geometry>
|
| 224 |
+
<mesh filename="textured_objs/original_17.obj"/>
|
| 225 |
+
</geometry>
|
| 226 |
+
</collision>
|
| 227 |
+
</link>
|
| 228 |
+
<joint name="joint_10" type="prismatic">
|
| 229 |
+
<origin xyz="-0.53 -0.656388 -0.59"/>
|
| 230 |
+
<axis xyz="0 0 -1"/>
|
| 231 |
+
<child link="link_10"/>
|
| 232 |
+
<parent link="link_13"/>
|
| 233 |
+
<limit lower="0" upper="0.004"/>
|
| 234 |
+
</joint>
|
| 235 |
+
<link name="link_11">
|
| 236 |
+
<visual name="button_16">
|
| 237 |
+
<origin xyz="0 0 0"/>
|
| 238 |
+
<geometry>
|
| 239 |
+
<mesh filename="textured_objs/original_14.obj"/>
|
| 240 |
+
</geometry>
|
| 241 |
+
</visual>
|
| 242 |
+
<collision>
|
| 243 |
+
<origin xyz="0 0 0"/>
|
| 244 |
+
<geometry>
|
| 245 |
+
<mesh filename="textured_objs/original_14.obj"/>
|
| 246 |
+
</geometry>
|
| 247 |
+
</collision>
|
| 248 |
+
</link>
|
| 249 |
+
<joint name="joint_11" type="prismatic">
|
| 250 |
+
<origin xyz="-0.53 -0.656388 -0.59"/>
|
| 251 |
+
<axis xyz="0 0 -1"/>
|
| 252 |
+
<child link="link_11"/>
|
| 253 |
+
<parent link="link_13"/>
|
| 254 |
+
<limit lower="0" upper="0.004"/>
|
| 255 |
+
</joint>
|
| 256 |
+
<link name="link_12">
|
| 257 |
+
<visual name="base_body_20">
|
| 258 |
+
<origin xyz="0 0 0"/>
|
| 259 |
+
<geometry>
|
| 260 |
+
<mesh filename="textured_objs/original_4.obj"/>
|
| 261 |
+
</geometry>
|
| 262 |
+
</visual>
|
| 263 |
+
<visual name="base_body_20">
|
| 264 |
+
<origin xyz="0 0 0"/>
|
| 265 |
+
<geometry>
|
| 266 |
+
<mesh filename="textured_objs/original_2.obj"/>
|
| 267 |
+
</geometry>
|
| 268 |
+
</visual>
|
| 269 |
+
<visual name="base_body_20">
|
| 270 |
+
<origin xyz="0 0 0"/>
|
| 271 |
+
<geometry>
|
| 272 |
+
<mesh filename="textured_objs/original_8.obj"/>
|
| 273 |
+
</geometry>
|
| 274 |
+
</visual>
|
| 275 |
+
<visual name="base_body_20">
|
| 276 |
+
<origin xyz="0 0 0"/>
|
| 277 |
+
<geometry>
|
| 278 |
+
<mesh filename="textured_objs/original_6.obj"/>
|
| 279 |
+
</geometry>
|
| 280 |
+
</visual>
|
| 281 |
+
<visual name="base_body_20">
|
| 282 |
+
<origin xyz="0 0 0"/>
|
| 283 |
+
<geometry>
|
| 284 |
+
<mesh filename="textured_objs/original_7.obj"/>
|
| 285 |
+
</geometry>
|
| 286 |
+
</visual>
|
| 287 |
+
<visual name="base_body_20">
|
| 288 |
+
<origin xyz="0 0 0"/>
|
| 289 |
+
<geometry>
|
| 290 |
+
<mesh filename="textured_objs/original_1.obj"/>
|
| 291 |
+
</geometry>
|
| 292 |
+
</visual>
|
| 293 |
+
<collision>
|
| 294 |
+
<origin xyz="0 0 0"/>
|
| 295 |
+
<geometry>
|
| 296 |
+
<mesh filename="textured_objs/original_4.obj"/>
|
| 297 |
+
</geometry>
|
| 298 |
+
</collision>
|
| 299 |
+
<collision>
|
| 300 |
+
<origin xyz="0 0 0"/>
|
| 301 |
+
<geometry>
|
| 302 |
+
<mesh filename="textured_objs/original_2.obj"/>
|
| 303 |
+
</geometry>
|
| 304 |
+
</collision>
|
| 305 |
+
<collision>
|
| 306 |
+
<origin xyz="0 0 0"/>
|
| 307 |
+
<geometry>
|
| 308 |
+
<mesh filename="textured_objs/original_8.obj"/>
|
| 309 |
+
</geometry>
|
| 310 |
+
</collision>
|
| 311 |
+
<collision>
|
| 312 |
+
<origin xyz="0 0 0"/>
|
| 313 |
+
<geometry>
|
| 314 |
+
<mesh filename="textured_objs/original_6.obj"/>
|
| 315 |
+
</geometry>
|
| 316 |
+
</collision>
|
| 317 |
+
<collision>
|
| 318 |
+
<origin xyz="0 0 0"/>
|
| 319 |
+
<geometry>
|
| 320 |
+
<mesh filename="textured_objs/original_7.obj"/>
|
| 321 |
+
</geometry>
|
| 322 |
+
</collision>
|
| 323 |
+
<collision>
|
| 324 |
+
<origin xyz="0 0 0"/>
|
| 325 |
+
<geometry>
|
| 326 |
+
<mesh filename="textured_objs/original_1.obj"/>
|
| 327 |
+
</geometry>
|
| 328 |
+
</collision>
|
| 329 |
+
</link>
|
| 330 |
+
<joint name="joint_12" type="fixed">
|
| 331 |
+
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
|
| 332 |
+
<child link="link_12"/>
|
| 333 |
+
<parent link="base"/>
|
| 334 |
+
</joint>
|
| 335 |
+
<link name="link_13">
|
| 336 |
+
<visual name="door_4">
|
| 337 |
+
<origin xyz="-0.53 -0.656388 -0.59"/>
|
| 338 |
+
<geometry>
|
| 339 |
+
<mesh filename="textured_objs/original_5.obj"/>
|
| 340 |
+
</geometry>
|
| 341 |
+
</visual>
|
| 342 |
+
<visual name="door_4">
|
| 343 |
+
<origin xyz="-0.53 -0.656388 -0.59"/>
|
| 344 |
+
<geometry>
|
| 345 |
+
<mesh filename="textured_objs/original_9.obj"/>
|
| 346 |
+
</geometry>
|
| 347 |
+
</visual>
|
| 348 |
+
<visual name="handle_19">
|
| 349 |
+
<origin xyz="-0.53 -0.656388 -0.59"/>
|
| 350 |
+
<geometry>
|
| 351 |
+
<mesh filename="textured_objs/original_10.obj"/>
|
| 352 |
+
</geometry>
|
| 353 |
+
</visual>
|
| 354 |
+
<visual name="handle_19">
|
| 355 |
+
<origin xyz="-0.53 -0.656388 -0.59"/>
|
| 356 |
+
<geometry>
|
| 357 |
+
<mesh filename="textured_objs/original_3.obj"/>
|
| 358 |
+
</geometry>
|
| 359 |
+
</visual>
|
| 360 |
+
<collision>
|
| 361 |
+
<origin xyz="-0.53 -0.656388 -0.59"/>
|
| 362 |
+
<geometry>
|
| 363 |
+
<mesh filename="textured_objs/original_5.obj"/>
|
| 364 |
+
</geometry>
|
| 365 |
+
</collision>
|
| 366 |
+
<collision>
|
| 367 |
+
<origin xyz="-0.53 -0.656388 -0.59"/>
|
| 368 |
+
<geometry>
|
| 369 |
+
<mesh filename="textured_objs/original_9.obj"/>
|
| 370 |
+
</geometry>
|
| 371 |
+
</collision>
|
| 372 |
+
<collision>
|
| 373 |
+
<origin xyz="-0.53 -0.656388 -0.59"/>
|
| 374 |
+
<geometry>
|
| 375 |
+
<mesh filename="textured_objs/original_10.obj"/>
|
| 376 |
+
</geometry>
|
| 377 |
+
</collision>
|
| 378 |
+
<collision>
|
| 379 |
+
<origin xyz="-0.53 -0.656388 -0.59"/>
|
| 380 |
+
<geometry>
|
| 381 |
+
<mesh filename="textured_objs/original_3.obj"/>
|
| 382 |
+
</geometry>
|
| 383 |
+
</collision>
|
| 384 |
+
</link>
|
| 385 |
+
<joint name="joint_13" type="revolute">
|
| 386 |
+
<origin xyz="0.53 0.656388 0.59"/>
|
| 387 |
+
<axis xyz="0 1 0"/>
|
| 388 |
+
<child link="link_13"/>
|
| 389 |
+
<parent link="link_12"/>
|
| 390 |
+
<limit lower="0.0" upper="2.9670597283903604"/>
|
| 391 |
+
</joint>
|
| 392 |
+
</robot>
|
PartNetMobility/Safe/101564/mobility_v2.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id": 0, "parent": 13, "joint": "slider", "name": "button", "parts": [{"id": 5, "name": "button"}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.004, "noLimit": false}}}, {"id": 1, "parent": 13, "joint": "slider", "name": "button", "parts": [{"id": 6, "name": "button"}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.004, "noLimit": false}}}, {"id": 2, "parent": 13, "joint": "slider", "name": "button", "parts": [{"id": 7, "name": "button"}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.004, "noLimit": false}}}, {"id": 3, "parent": 13, "joint": "slider", "name": "button", "parts": [{"id": 8, "name": "button"}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.004, "noLimit": false}}}, {"id": 4, "parent": 13, "joint": "slider", "name": "button", "parts": [{"id": 9, "name": "button"}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.004, "noLimit": false}}}, {"id": 5, "parent": 13, "joint": "slider", "name": "button", "parts": [{"id": 10, "name": "button"}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.004, "noLimit": false}}}, {"id": 6, "parent": 13, "joint": "slider", "name": "button", "parts": [{"id": 11, "name": "button"}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.004, "noLimit": false}}}, {"id": 7, "parent": 13, "joint": "slider", "name": "button", "parts": [{"id": 12, "name": "button"}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.004, "noLimit": false}}}, {"id": 8, "parent": 13, "joint": "slider", "name": "button", "parts": [{"id": 13, "name": "button"}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.004, "noLimit": false}}}, {"id": 9, "parent": 13, "joint": "slider", "name": "button", "parts": [{"id": 14, "name": "button"}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.004, "noLimit": false}}}, {"id": 10, "parent": 13, "joint": "slider", "name": "button", "parts": [{"id": 15, "name": "button"}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.004, "noLimit": false}}}, {"id": 11, "parent": 13, "joint": "slider", "name": "button", "parts": [{"id": 16, "name": "button"}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.004, "noLimit": false}}}, {"id": 12, "parent": -1, "joint": "heavy", "name": "base_body", "parts": [{"id": 20, "name": "base_body"}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": false}}}, {"id": 13, "parent": 12, "joint": "hinge", "name": "door", "parts": [{"id": 4, "name": "door"}, {"id": 19, "name": "handle"}], "jointData": {"axis": {"origin": [0.53, 0.656388, 0.59], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": 170, "noLimit": false}}}]
|
PartNetMobility/Safe/101564/result.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"text": "Safe", "name": "Safe", "id": 0, "children": [{"text": "door", "name": "door", "id": 4, "objs": ["original-5", "original-9"]}, {"text": "button", "name": "button", "id": 5, "objs": ["original-12"]}, {"text": "button", "name": "button", "id": 6, "objs": ["original-16"]}, {"text": "button", "name": "button", "id": 7, "objs": ["original-18"]}, {"text": "button", "name": "button", "id": 8, "objs": ["original-19"]}, {"text": "button", "name": "button", "id": 9, "objs": ["original-21"]}, {"text": "button", "name": "button", "id": 10, "objs": ["original-15"]}, {"text": "button", "name": "button", "id": 11, "objs": ["original-20"]}, {"text": "button", "name": "button", "id": 12, "objs": ["original-22"]}, {"text": "button", "name": "button", "id": 13, "objs": ["original-13"]}, {"text": "button", "name": "button", "id": 14, "objs": ["original-11"]}, {"text": "button", "name": "button", "id": 15, "objs": ["original-17"]}, {"text": "button", "name": "button", "id": 16, "objs": ["original-14"]}, {"text": "handle (other)", "name": "other", "id": 17, "children": [{"text": "other_leaf", "name": "handle", "id": 19, "objs": ["original-10", "original-3"]}]}, {"text": "base_body", "name": "base_body", "id": 20, "objs": ["original-4", "original-2", "original-8", "original-6", "original-7", "original-1"]}]}]
|
PartNetMobility/Safe/101564/result_original.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id": 0, "name": "Safe", "text": "Safe", "children": [{"id": 4, "name": "door", "text": "door", "objs": ["original-5", "original-9"]}, {"id": 5, "name": "button", "text": "button", "objs": ["original-12"]}, {"id": 6, "name": "button", "text": "button", "objs": ["original-16"]}, {"id": 7, "name": "button", "text": "button", "objs": ["original-18"]}, {"id": 8, "name": "button", "text": "button", "objs": ["original-19"]}, {"id": 9, "name": "button", "text": "button", "objs": ["original-21"]}, {"id": 10, "name": "button", "text": "button", "objs": ["original-15"]}, {"id": 11, "name": "button", "text": "button", "objs": ["original-20"]}, {"id": 12, "name": "button", "text": "button", "objs": ["original-22"]}, {"id": 13, "name": "button", "text": "button", "objs": ["original-13"]}, {"id": 14, "name": "button", "text": "button", "objs": ["original-11"]}, {"id": 15, "name": "button", "text": "button", "objs": ["original-17"]}, {"id": 16, "name": "button", "text": "button", "objs": ["original-14"]}, {"id": 17, "name": "other", "text": "handle (other)", "children": [{"id": 19, "name": "other_leaf", "text": "other_leaf", "objs": ["original-10", "original-3"]}]}]}]
|
PartNetMobility/Safe/101564/semantics.txt
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
link_0 slider button
|
| 2 |
+
link_1 slider button
|
| 3 |
+
link_2 slider button
|
| 4 |
+
link_3 slider button
|
| 5 |
+
link_4 slider button
|
| 6 |
+
link_5 slider button
|
| 7 |
+
link_6 slider button
|
| 8 |
+
link_7 slider button
|
| 9 |
+
link_8 slider button
|
| 10 |
+
link_9 slider button
|
| 11 |
+
link_10 slider button
|
| 12 |
+
link_11 slider button
|
| 13 |
+
link_12 heavy safe_body
|
| 14 |
+
link_13 hinge door
|
PartNetMobility/Safe/101579/bounding_box.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"min": [-0.58015, -0.593836, -0.581784], "max": [0.527508, 0.614519, 0.679873]}
|
PartNetMobility/Safe/101579/meta.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"user_id": "KeplerSN", "model_cat": "Safe", "model_id": "397aea0c-8794-498d-ad98-0be6c64c7c78", "version": "3", "anno_id": "1579", "time_in_sec": "443"}
|
PartNetMobility/Safe/101579/mobility.urdf
ADDED
|
@@ -0,0 +1,768 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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| 587 |
+
<geometry>
|
| 588 |
+
<mesh filename="textured_objs/original_20.obj"/>
|
| 589 |
+
</geometry>
|
| 590 |
+
</collision>
|
| 591 |
+
<collision>
|
| 592 |
+
<origin xyz="0 0 0"/>
|
| 593 |
+
<geometry>
|
| 594 |
+
<mesh filename="textured_objs/original_19.obj"/>
|
| 595 |
+
</geometry>
|
| 596 |
+
</collision>
|
| 597 |
+
</link>
|
| 598 |
+
<joint name="joint_2" type="fixed">
|
| 599 |
+
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
|
| 600 |
+
<child link="link_2"/>
|
| 601 |
+
<parent link="base"/>
|
| 602 |
+
</joint>
|
| 603 |
+
<link name="link_3">
|
| 604 |
+
<visual name="door_6">
|
| 605 |
+
<origin xyz="-0.41654630561501654 -0.42991000000000024 -0.6316811092181406"/>
|
| 606 |
+
<geometry>
|
| 607 |
+
<mesh filename="textured_objs/original_9.obj"/>
|
| 608 |
+
</geometry>
|
| 609 |
+
</visual>
|
| 610 |
+
<visual name="door_6">
|
| 611 |
+
<origin xyz="-0.41654630561501654 -0.42991000000000024 -0.6316811092181406"/>
|
| 612 |
+
<geometry>
|
| 613 |
+
<mesh filename="textured_objs/original_30.obj"/>
|
| 614 |
+
</geometry>
|
| 615 |
+
</visual>
|
| 616 |
+
<visual name="door_6">
|
| 617 |
+
<origin xyz="-0.41654630561501654 -0.42991000000000024 -0.6316811092181406"/>
|
| 618 |
+
<geometry>
|
| 619 |
+
<mesh filename="textured_objs/original_31.obj"/>
|
| 620 |
+
</geometry>
|
| 621 |
+
</visual>
|
| 622 |
+
<visual name="door_6">
|
| 623 |
+
<origin xyz="-0.41654630561501654 -0.42991000000000024 -0.6316811092181406"/>
|
| 624 |
+
<geometry>
|
| 625 |
+
<mesh filename="textured_objs/original_4.obj"/>
|
| 626 |
+
</geometry>
|
| 627 |
+
</visual>
|
| 628 |
+
<visual name="door_6">
|
| 629 |
+
<origin xyz="-0.41654630561501654 -0.42991000000000024 -0.6316811092181406"/>
|
| 630 |
+
<geometry>
|
| 631 |
+
<mesh filename="textured_objs/original_2.obj"/>
|
| 632 |
+
</geometry>
|
| 633 |
+
</visual>
|
| 634 |
+
<visual name="door_6">
|
| 635 |
+
<origin xyz="-0.41654630561501654 -0.42991000000000024 -0.6316811092181406"/>
|
| 636 |
+
<geometry>
|
| 637 |
+
<mesh filename="textured_objs/original_5.obj"/>
|
| 638 |
+
</geometry>
|
| 639 |
+
</visual>
|
| 640 |
+
<visual name="door_6">
|
| 641 |
+
<origin xyz="-0.41654630561501654 -0.42991000000000024 -0.6316811092181406"/>
|
| 642 |
+
<geometry>
|
| 643 |
+
<mesh filename="textured_objs/original_6.obj"/>
|
| 644 |
+
</geometry>
|
| 645 |
+
</visual>
|
| 646 |
+
<visual name="door_6">
|
| 647 |
+
<origin xyz="-0.41654630561501654 -0.42991000000000024 -0.6316811092181406"/>
|
| 648 |
+
<geometry>
|
| 649 |
+
<mesh filename="textured_objs/original_21.obj"/>
|
| 650 |
+
</geometry>
|
| 651 |
+
</visual>
|
| 652 |
+
<visual name="door_6">
|
| 653 |
+
<origin xyz="-0.41654630561501654 -0.42991000000000024 -0.6316811092181406"/>
|
| 654 |
+
<geometry>
|
| 655 |
+
<mesh filename="textured_objs/original_23.obj"/>
|
| 656 |
+
</geometry>
|
| 657 |
+
</visual>
|
| 658 |
+
<visual name="door_6">
|
| 659 |
+
<origin xyz="-0.41654630561501654 -0.42991000000000024 -0.6316811092181406"/>
|
| 660 |
+
<geometry>
|
| 661 |
+
<mesh filename="textured_objs/original_8.obj"/>
|
| 662 |
+
</geometry>
|
| 663 |
+
</visual>
|
| 664 |
+
<visual name="door_6">
|
| 665 |
+
<origin xyz="-0.41654630561501654 -0.42991000000000024 -0.6316811092181406"/>
|
| 666 |
+
<geometry>
|
| 667 |
+
<mesh filename="textured_objs/original_29.obj"/>
|
| 668 |
+
</geometry>
|
| 669 |
+
</visual>
|
| 670 |
+
<visual name="door_6">
|
| 671 |
+
<origin xyz="-0.41654630561501654 -0.42991000000000024 -0.6316811092181406"/>
|
| 672 |
+
<geometry>
|
| 673 |
+
<mesh filename="textured_objs/original_11.obj"/>
|
| 674 |
+
</geometry>
|
| 675 |
+
</visual>
|
| 676 |
+
<visual name="outlier_9">
|
| 677 |
+
<origin xyz="-0.41654630561501654 -0.42991000000000024 -0.6316811092181406"/>
|
| 678 |
+
<geometry>
|
| 679 |
+
<mesh filename="textured_objs/original_3.obj"/>
|
| 680 |
+
</geometry>
|
| 681 |
+
</visual>
|
| 682 |
+
<collision>
|
| 683 |
+
<origin xyz="-0.41654630561501654 -0.42991000000000024 -0.6316811092181406"/>
|
| 684 |
+
<geometry>
|
| 685 |
+
<mesh filename="textured_objs/original_9.obj"/>
|
| 686 |
+
</geometry>
|
| 687 |
+
</collision>
|
| 688 |
+
<collision>
|
| 689 |
+
<origin xyz="-0.41654630561501654 -0.42991000000000024 -0.6316811092181406"/>
|
| 690 |
+
<geometry>
|
| 691 |
+
<mesh filename="textured_objs/original_30.obj"/>
|
| 692 |
+
</geometry>
|
| 693 |
+
</collision>
|
| 694 |
+
<collision>
|
| 695 |
+
<origin xyz="-0.41654630561501654 -0.42991000000000024 -0.6316811092181406"/>
|
| 696 |
+
<geometry>
|
| 697 |
+
<mesh filename="textured_objs/original_31.obj"/>
|
| 698 |
+
</geometry>
|
| 699 |
+
</collision>
|
| 700 |
+
<collision>
|
| 701 |
+
<origin xyz="-0.41654630561501654 -0.42991000000000024 -0.6316811092181406"/>
|
| 702 |
+
<geometry>
|
| 703 |
+
<mesh filename="textured_objs/original_4.obj"/>
|
| 704 |
+
</geometry>
|
| 705 |
+
</collision>
|
| 706 |
+
<collision>
|
| 707 |
+
<origin xyz="-0.41654630561501654 -0.42991000000000024 -0.6316811092181406"/>
|
| 708 |
+
<geometry>
|
| 709 |
+
<mesh filename="textured_objs/original_2.obj"/>
|
| 710 |
+
</geometry>
|
| 711 |
+
</collision>
|
| 712 |
+
<collision>
|
| 713 |
+
<origin xyz="-0.41654630561501654 -0.42991000000000024 -0.6316811092181406"/>
|
| 714 |
+
<geometry>
|
| 715 |
+
<mesh filename="textured_objs/original_5.obj"/>
|
| 716 |
+
</geometry>
|
| 717 |
+
</collision>
|
| 718 |
+
<collision>
|
| 719 |
+
<origin xyz="-0.41654630561501654 -0.42991000000000024 -0.6316811092181406"/>
|
| 720 |
+
<geometry>
|
| 721 |
+
<mesh filename="textured_objs/original_6.obj"/>
|
| 722 |
+
</geometry>
|
| 723 |
+
</collision>
|
| 724 |
+
<collision>
|
| 725 |
+
<origin xyz="-0.41654630561501654 -0.42991000000000024 -0.6316811092181406"/>
|
| 726 |
+
<geometry>
|
| 727 |
+
<mesh filename="textured_objs/original_21.obj"/>
|
| 728 |
+
</geometry>
|
| 729 |
+
</collision>
|
| 730 |
+
<collision>
|
| 731 |
+
<origin xyz="-0.41654630561501654 -0.42991000000000024 -0.6316811092181406"/>
|
| 732 |
+
<geometry>
|
| 733 |
+
<mesh filename="textured_objs/original_23.obj"/>
|
| 734 |
+
</geometry>
|
| 735 |
+
</collision>
|
| 736 |
+
<collision>
|
| 737 |
+
<origin xyz="-0.41654630561501654 -0.42991000000000024 -0.6316811092181406"/>
|
| 738 |
+
<geometry>
|
| 739 |
+
<mesh filename="textured_objs/original_8.obj"/>
|
| 740 |
+
</geometry>
|
| 741 |
+
</collision>
|
| 742 |
+
<collision>
|
| 743 |
+
<origin xyz="-0.41654630561501654 -0.42991000000000024 -0.6316811092181406"/>
|
| 744 |
+
<geometry>
|
| 745 |
+
<mesh filename="textured_objs/original_29.obj"/>
|
| 746 |
+
</geometry>
|
| 747 |
+
</collision>
|
| 748 |
+
<collision>
|
| 749 |
+
<origin xyz="-0.41654630561501654 -0.42991000000000024 -0.6316811092181406"/>
|
| 750 |
+
<geometry>
|
| 751 |
+
<mesh filename="textured_objs/original_11.obj"/>
|
| 752 |
+
</geometry>
|
| 753 |
+
</collision>
|
| 754 |
+
<collision>
|
| 755 |
+
<origin xyz="-0.41654630561501654 -0.42991000000000024 -0.6316811092181406"/>
|
| 756 |
+
<geometry>
|
| 757 |
+
<mesh filename="textured_objs/original_3.obj"/>
|
| 758 |
+
</geometry>
|
| 759 |
+
</collision>
|
| 760 |
+
</link>
|
| 761 |
+
<joint name="joint_3" type="revolute">
|
| 762 |
+
<origin xyz="0.41654630561501654 0.42991000000000024 0.6316811092181406"/>
|
| 763 |
+
<axis xyz="0 1 0"/>
|
| 764 |
+
<child link="link_3"/>
|
| 765 |
+
<parent link="link_2"/>
|
| 766 |
+
<limit lower="0.0" upper="2.9670597283903604"/>
|
| 767 |
+
</joint>
|
| 768 |
+
</robot>
|
PartNetMobility/Safe/101579/mobility_v2.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id":0,"parent":3,"joint":"hinge","name":"knob","parts":[{"id":7,"name":"switch"}],"jointData":{"axis":{"origin":[-0.21093099999999998,-0.1643323190876215,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":3,"joint":"hinge","name":"knob","parts":[{"id":8,"name":"switch"}],"jointData":{"axis":{"origin":[-0.02632106429803209,0.2062422652635425,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":-1,"joint":"heavy","name":"base_body","parts":[{"id":10,"name":"base_body"}],"jointData":{}},{"id":3,"parent":2,"joint":"hinge","name":"door","parts":[{"id":6,"name":"door"},{"id":9,"name":"outlier"}],"jointData":{"axis":{"origin":[0.41654630561501654,0.42991000000000024,0.6316811092181406],"direction":[0,1,0]},"limit":{"a":0,"b":170,"noLimit":false}}}]
|
PartNetMobility/Safe/101579/result.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"text": "Safe", "name": "Safe", "id": 0, "children": [{"text": "door", "name": "door", "id": 6, "objs": ["original-9", "original-30", "original-31", "original-4", "original-2", "original-5", "original-6", "original-21", "original-23", "original-8", "original-29", "original-11"]}, {"text": "switch", "name": "switch", "id": 7, "objs": ["original-17", "original-12", "original-14", "original-16", "original-13"]}, {"text": "switch", "name": "switch", "id": 8, "objs": ["original-28", "original-27", "original-58", "original-67", "original-66", "original-65", "original-64", "original-63", "original-62", "original-32", "original-59", "original-60", "original-61", "original-55", "original-56", "original-57", "original-54", "original-53", "original-52", "original-51", "original-50", "original-49", "original-48", "original-47", "original-46", "original-45", "original-44", "original-43", "original-42", "original-41", "original-26", "original-40", "original-39", "original-38", "original-37", "original-36", "original-35", "original-34", "original-33"]}, {"text": "outlier", "name": "outlier", "id": 9, "objs": ["original-3"]}, {"text": "base_body", "name": "base_body", "id": 10, "objs": ["original-22", "original-24", "original-20", "original-19"]}]}]
|
PartNetMobility/Safe/101579/result_original.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id": 0, "name": "Safe", "text": "Safe", "children": [{"id": 6, "name": "door", "text": "door", "objs": ["original-9", "original-30", "original-31", "original-4", "original-2", "original-5", "original-6", "original-21", "original-23", "original-8", "original-29", "original-11"]}, {"id": 7, "name": "switch", "text": "switch", "objs": ["original-17", "original-12", "original-14", "original-16", "original-13"]}, {"id": 8, "name": "switch", "text": "switch", "objs": ["original-28", "original-27", "original-58", "original-67", "original-66", "original-65", "original-64", "original-63", "original-62", "original-32", "original-59", "original-60", "original-61", "original-55", "original-56", "original-57", "original-54", "original-53", "original-52", "original-51", "original-50", "original-49", "original-48", "original-47", "original-46", "original-45", "original-44", "original-43", "original-42", "original-41", "original-26", "original-40", "original-39", "original-38", "original-37", "original-36", "original-35", "original-34", "original-33"]}, {"id": 9, "name": "outlier", "text": "outlier", "objs": ["original-3"]}]}]
|
PartNetMobility/Safe/101579/semantics.txt
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
link_0 hinge knob
|
| 2 |
+
link_1 hinge knob
|
| 3 |
+
link_2 heavy safe_body
|
| 4 |
+
link_3 hinge door
|
PartNetMobility/Safe/101583/bounding_box.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"min": [-0.6771, -0.504472, -0.548032], "max": [0.687375, 0.446134, 0.773466]}
|
PartNetMobility/Safe/101583/meta.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"user_id": "KeplerSN", "model_cat": "Safe", "model_id": "39eb000e9aeb6bcce17a08cc74f7fd87", "version": "2", "anno_id": "1583", "time_in_sec": "466"}
|
PartNetMobility/Safe/101583/mobility.urdf
ADDED
|
@@ -0,0 +1,1396 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="partnet_39eb000e9aeb6bcce17a08cc74f7fd87">
|
| 3 |
+
<link name="base"/>
|
| 4 |
+
<link name="link_0">
|
| 5 |
+
<visual name="button_2">
|
| 6 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 7 |
+
<geometry>
|
| 8 |
+
<mesh filename="textured_objs/original_109.obj"/>
|
| 9 |
+
</geometry>
|
| 10 |
+
</visual>
|
| 11 |
+
<visual name="button_2">
|
| 12 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 13 |
+
<geometry>
|
| 14 |
+
<mesh filename="textured_objs/original_32.obj"/>
|
| 15 |
+
</geometry>
|
| 16 |
+
</visual>
|
| 17 |
+
<collision>
|
| 18 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 19 |
+
<geometry>
|
| 20 |
+
<mesh filename="textured_objs/original_109.obj"/>
|
| 21 |
+
</geometry>
|
| 22 |
+
</collision>
|
| 23 |
+
<collision>
|
| 24 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 25 |
+
<geometry>
|
| 26 |
+
<mesh filename="textured_objs/original_32.obj"/>
|
| 27 |
+
</geometry>
|
| 28 |
+
</collision>
|
| 29 |
+
</link>
|
| 30 |
+
<joint name="joint_0" type="prismatic">
|
| 31 |
+
<origin xyz="-0.3547140531622006 -0.4396273763183933 0.20397944964892023"/>
|
| 32 |
+
<axis xyz="-0.3338742789900731 -3.526759040578532e-05 -0.9426176131311446"/>
|
| 33 |
+
<child link="link_0"/>
|
| 34 |
+
<parent link="link_14"/>
|
| 35 |
+
<limit lower="0" upper="0.004"/>
|
| 36 |
+
</joint>
|
| 37 |
+
<link name="link_1">
|
| 38 |
+
<visual name="button_3">
|
| 39 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 40 |
+
<geometry>
|
| 41 |
+
<mesh filename="textured_objs/original_106.obj"/>
|
| 42 |
+
</geometry>
|
| 43 |
+
</visual>
|
| 44 |
+
<visual name="button_3">
|
| 45 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 46 |
+
<geometry>
|
| 47 |
+
<mesh filename="textured_objs/original_38.obj"/>
|
| 48 |
+
</geometry>
|
| 49 |
+
</visual>
|
| 50 |
+
<collision>
|
| 51 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 52 |
+
<geometry>
|
| 53 |
+
<mesh filename="textured_objs/original_106.obj"/>
|
| 54 |
+
</geometry>
|
| 55 |
+
</collision>
|
| 56 |
+
<collision>
|
| 57 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 58 |
+
<geometry>
|
| 59 |
+
<mesh filename="textured_objs/original_38.obj"/>
|
| 60 |
+
</geometry>
|
| 61 |
+
</collision>
|
| 62 |
+
</link>
|
| 63 |
+
<joint name="joint_1" type="prismatic">
|
| 64 |
+
<origin xyz="-0.3547140531622006 -0.4396273763183933 0.20397944964892023"/>
|
| 65 |
+
<axis xyz="-0.3338742789900731 -3.526759040578532e-05 -0.9426176131311446"/>
|
| 66 |
+
<child link="link_1"/>
|
| 67 |
+
<parent link="link_14"/>
|
| 68 |
+
<limit lower="0" upper="0.004"/>
|
| 69 |
+
</joint>
|
| 70 |
+
<link name="link_2">
|
| 71 |
+
<visual name="button_4">
|
| 72 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 73 |
+
<geometry>
|
| 74 |
+
<mesh filename="textured_objs/original_111.obj"/>
|
| 75 |
+
</geometry>
|
| 76 |
+
</visual>
|
| 77 |
+
<visual name="button_4">
|
| 78 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 79 |
+
<geometry>
|
| 80 |
+
<mesh filename="textured_objs/original_31.obj"/>
|
| 81 |
+
</geometry>
|
| 82 |
+
</visual>
|
| 83 |
+
<collision>
|
| 84 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 85 |
+
<geometry>
|
| 86 |
+
<mesh filename="textured_objs/original_111.obj"/>
|
| 87 |
+
</geometry>
|
| 88 |
+
</collision>
|
| 89 |
+
<collision>
|
| 90 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 91 |
+
<geometry>
|
| 92 |
+
<mesh filename="textured_objs/original_31.obj"/>
|
| 93 |
+
</geometry>
|
| 94 |
+
</collision>
|
| 95 |
+
</link>
|
| 96 |
+
<joint name="joint_2" type="prismatic">
|
| 97 |
+
<origin xyz="-0.3547140531622006 -0.4396273763183933 0.20397944964892023"/>
|
| 98 |
+
<axis xyz="-0.3338742789900731 -3.526759040578532e-05 -0.9426176131311446"/>
|
| 99 |
+
<child link="link_2"/>
|
| 100 |
+
<parent link="link_14"/>
|
| 101 |
+
<limit lower="0" upper="0.004"/>
|
| 102 |
+
</joint>
|
| 103 |
+
<link name="link_3">
|
| 104 |
+
<visual name="button_5">
|
| 105 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 106 |
+
<geometry>
|
| 107 |
+
<mesh filename="textured_objs/original_33.obj"/>
|
| 108 |
+
</geometry>
|
| 109 |
+
</visual>
|
| 110 |
+
<visual name="button_5">
|
| 111 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 112 |
+
<geometry>
|
| 113 |
+
<mesh filename="textured_objs/original_117.obj"/>
|
| 114 |
+
</geometry>
|
| 115 |
+
</visual>
|
| 116 |
+
<collision>
|
| 117 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 118 |
+
<geometry>
|
| 119 |
+
<mesh filename="textured_objs/original_33.obj"/>
|
| 120 |
+
</geometry>
|
| 121 |
+
</collision>
|
| 122 |
+
<collision>
|
| 123 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 124 |
+
<geometry>
|
| 125 |
+
<mesh filename="textured_objs/original_117.obj"/>
|
| 126 |
+
</geometry>
|
| 127 |
+
</collision>
|
| 128 |
+
</link>
|
| 129 |
+
<joint name="joint_3" type="prismatic">
|
| 130 |
+
<origin xyz="-0.3547140531622006 -0.4396273763183933 0.20397944964892023"/>
|
| 131 |
+
<axis xyz="-0.3338742789900731 -3.526759040578532e-05 -0.9426176131311446"/>
|
| 132 |
+
<child link="link_3"/>
|
| 133 |
+
<parent link="link_14"/>
|
| 134 |
+
<limit lower="0" upper="0.004"/>
|
| 135 |
+
</joint>
|
| 136 |
+
<link name="link_4">
|
| 137 |
+
<visual name="button_6">
|
| 138 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 139 |
+
<geometry>
|
| 140 |
+
<mesh filename="textured_objs/original_112.obj"/>
|
| 141 |
+
</geometry>
|
| 142 |
+
</visual>
|
| 143 |
+
<visual name="button_6">
|
| 144 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 145 |
+
<geometry>
|
| 146 |
+
<mesh filename="textured_objs/original_36.obj"/>
|
| 147 |
+
</geometry>
|
| 148 |
+
</visual>
|
| 149 |
+
<collision>
|
| 150 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 151 |
+
<geometry>
|
| 152 |
+
<mesh filename="textured_objs/original_112.obj"/>
|
| 153 |
+
</geometry>
|
| 154 |
+
</collision>
|
| 155 |
+
<collision>
|
| 156 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 157 |
+
<geometry>
|
| 158 |
+
<mesh filename="textured_objs/original_36.obj"/>
|
| 159 |
+
</geometry>
|
| 160 |
+
</collision>
|
| 161 |
+
</link>
|
| 162 |
+
<joint name="joint_4" type="prismatic">
|
| 163 |
+
<origin xyz="-0.3547140531622006 -0.4396273763183933 0.20397944964892023"/>
|
| 164 |
+
<axis xyz="-0.3338742789900731 -3.526759040578532e-05 -0.9426176131311446"/>
|
| 165 |
+
<child link="link_4"/>
|
| 166 |
+
<parent link="link_14"/>
|
| 167 |
+
<limit lower="0" upper="0.004"/>
|
| 168 |
+
</joint>
|
| 169 |
+
<link name="link_5">
|
| 170 |
+
<visual name="button_7">
|
| 171 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 172 |
+
<geometry>
|
| 173 |
+
<mesh filename="textured_objs/original_119.obj"/>
|
| 174 |
+
</geometry>
|
| 175 |
+
</visual>
|
| 176 |
+
<visual name="button_7">
|
| 177 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 178 |
+
<geometry>
|
| 179 |
+
<mesh filename="textured_objs/original_35.obj"/>
|
| 180 |
+
</geometry>
|
| 181 |
+
</visual>
|
| 182 |
+
<collision>
|
| 183 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 184 |
+
<geometry>
|
| 185 |
+
<mesh filename="textured_objs/original_119.obj"/>
|
| 186 |
+
</geometry>
|
| 187 |
+
</collision>
|
| 188 |
+
<collision>
|
| 189 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 190 |
+
<geometry>
|
| 191 |
+
<mesh filename="textured_objs/original_35.obj"/>
|
| 192 |
+
</geometry>
|
| 193 |
+
</collision>
|
| 194 |
+
</link>
|
| 195 |
+
<joint name="joint_5" type="prismatic">
|
| 196 |
+
<origin xyz="-0.3547140531622006 -0.4396273763183933 0.20397944964892023"/>
|
| 197 |
+
<axis xyz="-0.3338742789900731 -3.526759040578532e-05 -0.9426176131311446"/>
|
| 198 |
+
<child link="link_5"/>
|
| 199 |
+
<parent link="link_14"/>
|
| 200 |
+
<limit lower="0" upper="0.004"/>
|
| 201 |
+
</joint>
|
| 202 |
+
<link name="link_6">
|
| 203 |
+
<visual name="button_8">
|
| 204 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 205 |
+
<geometry>
|
| 206 |
+
<mesh filename="textured_objs/original_118.obj"/>
|
| 207 |
+
</geometry>
|
| 208 |
+
</visual>
|
| 209 |
+
<visual name="button_8">
|
| 210 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 211 |
+
<geometry>
|
| 212 |
+
<mesh filename="textured_objs/original_34.obj"/>
|
| 213 |
+
</geometry>
|
| 214 |
+
</visual>
|
| 215 |
+
<collision>
|
| 216 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 217 |
+
<geometry>
|
| 218 |
+
<mesh filename="textured_objs/original_118.obj"/>
|
| 219 |
+
</geometry>
|
| 220 |
+
</collision>
|
| 221 |
+
<collision>
|
| 222 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 223 |
+
<geometry>
|
| 224 |
+
<mesh filename="textured_objs/original_34.obj"/>
|
| 225 |
+
</geometry>
|
| 226 |
+
</collision>
|
| 227 |
+
</link>
|
| 228 |
+
<joint name="joint_6" type="prismatic">
|
| 229 |
+
<origin xyz="-0.3547140531622006 -0.4396273763183933 0.20397944964892023"/>
|
| 230 |
+
<axis xyz="-0.3338742789900731 -3.526759040578532e-05 -0.9426176131311446"/>
|
| 231 |
+
<child link="link_6"/>
|
| 232 |
+
<parent link="link_14"/>
|
| 233 |
+
<limit lower="0" upper="0.004"/>
|
| 234 |
+
</joint>
|
| 235 |
+
<link name="link_7">
|
| 236 |
+
<visual name="button_9">
|
| 237 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 238 |
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<geometry>
|
| 239 |
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<mesh filename="textured_objs/original_113.obj"/>
|
| 240 |
+
</geometry>
|
| 241 |
+
</visual>
|
| 242 |
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<visual name="button_9">
|
| 243 |
+
<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 244 |
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<geometry>
|
| 245 |
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<mesh filename="textured_objs/original_39.obj"/>
|
| 246 |
+
</geometry>
|
| 247 |
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</visual>
|
| 248 |
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<collision>
|
| 249 |
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<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 250 |
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<geometry>
|
| 251 |
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<mesh filename="textured_objs/original_113.obj"/>
|
| 252 |
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</geometry>
|
| 253 |
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|
| 254 |
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<collision>
|
| 255 |
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<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 256 |
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<geometry>
|
| 257 |
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<mesh filename="textured_objs/original_39.obj"/>
|
| 258 |
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</geometry>
|
| 259 |
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</collision>
|
| 260 |
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</link>
|
| 261 |
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<joint name="joint_7" type="prismatic">
|
| 262 |
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<origin xyz="-0.3547140531622006 -0.4396273763183933 0.20397944964892023"/>
|
| 263 |
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<axis xyz="-0.3338742789900731 -3.526759040578532e-05 -0.9426176131311446"/>
|
| 264 |
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<child link="link_7"/>
|
| 265 |
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<parent link="link_14"/>
|
| 266 |
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<limit lower="0" upper="0.004"/>
|
| 267 |
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</joint>
|
| 268 |
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<link name="link_8">
|
| 269 |
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<visual name="button_10">
|
| 270 |
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<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
|
| 271 |
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<geometry>
|
| 272 |
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<mesh filename="textured_objs/original_115.obj"/>
|
| 273 |
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</geometry>
|
| 274 |
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</visual>
|
| 275 |
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<visual name="button_10">
|
| 276 |
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<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
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| 277 |
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<geometry>
|
| 278 |
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|
| 279 |
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|
| 280 |
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| 281 |
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| 282 |
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| 283 |
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| 284 |
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|
| 285 |
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| 286 |
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| 287 |
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<collision>
|
| 288 |
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<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
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| 289 |
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| 290 |
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|
| 291 |
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| 292 |
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|
| 293 |
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</link>
|
| 294 |
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<joint name="joint_8" type="prismatic">
|
| 295 |
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| 297 |
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<child link="link_8"/>
|
| 298 |
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<parent link="link_14"/>
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| 299 |
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<limit lower="0" upper="0.004"/>
|
| 300 |
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</joint>
|
| 301 |
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<link name="link_9">
|
| 302 |
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<visual name="button_11">
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| 303 |
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<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
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| 304 |
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<geometry>
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| 305 |
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| 306 |
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| 307 |
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| 308 |
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<visual name="button_11">
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| 309 |
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| 310 |
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<geometry>
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| 312 |
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| 313 |
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| 314 |
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| 315 |
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<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
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| 316 |
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| 318 |
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| 319 |
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| 320 |
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| 321 |
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| 322 |
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| 324 |
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| 325 |
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| 326 |
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| 327 |
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| 328 |
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| 330 |
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<child link="link_9"/>
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| 331 |
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| 332 |
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<limit lower="0" upper="0.004"/>
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| 333 |
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</joint>
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| 334 |
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<link name="link_10">
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| 335 |
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| 336 |
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| 339 |
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| 342 |
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| 343 |
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| 345 |
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| 351 |
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| 352 |
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| 355 |
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| 357 |
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| 358 |
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| 359 |
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| 361 |
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<child link="link_10"/>
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| 364 |
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| 365 |
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| 366 |
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| 367 |
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| 368 |
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| 378 |
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| 384 |
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| 398 |
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| 399 |
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| 400 |
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| 401 |
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| 411 |
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| 412 |
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| 413 |
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| 419 |
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| 422 |
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| 563 |
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| 581 |
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<geometry>
|
| 1259 |
+
<mesh filename="textured_objs/original_68.obj"/>
|
| 1260 |
+
</geometry>
|
| 1261 |
+
</collision>
|
| 1262 |
+
<collision>
|
| 1263 |
+
<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
|
| 1264 |
+
<geometry>
|
| 1265 |
+
<mesh filename="textured_objs/original_10.obj"/>
|
| 1266 |
+
</geometry>
|
| 1267 |
+
</collision>
|
| 1268 |
+
<collision>
|
| 1269 |
+
<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
|
| 1270 |
+
<geometry>
|
| 1271 |
+
<mesh filename="textured_objs/original_94.obj"/>
|
| 1272 |
+
</geometry>
|
| 1273 |
+
</collision>
|
| 1274 |
+
<collision>
|
| 1275 |
+
<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
|
| 1276 |
+
<geometry>
|
| 1277 |
+
<mesh filename="textured_objs/original_96.obj"/>
|
| 1278 |
+
</geometry>
|
| 1279 |
+
</collision>
|
| 1280 |
+
<collision>
|
| 1281 |
+
<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
|
| 1282 |
+
<geometry>
|
| 1283 |
+
<mesh filename="textured_objs/original_95.obj"/>
|
| 1284 |
+
</geometry>
|
| 1285 |
+
</collision>
|
| 1286 |
+
<collision>
|
| 1287 |
+
<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
|
| 1288 |
+
<geometry>
|
| 1289 |
+
<mesh filename="textured_objs/original_49.obj"/>
|
| 1290 |
+
</geometry>
|
| 1291 |
+
</collision>
|
| 1292 |
+
<collision>
|
| 1293 |
+
<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
|
| 1294 |
+
<geometry>
|
| 1295 |
+
<mesh filename="textured_objs/original_92.obj"/>
|
| 1296 |
+
</geometry>
|
| 1297 |
+
</collision>
|
| 1298 |
+
<collision>
|
| 1299 |
+
<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
|
| 1300 |
+
<geometry>
|
| 1301 |
+
<mesh filename="textured_objs/original_101.obj"/>
|
| 1302 |
+
</geometry>
|
| 1303 |
+
</collision>
|
| 1304 |
+
<collision>
|
| 1305 |
+
<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
|
| 1306 |
+
<geometry>
|
| 1307 |
+
<mesh filename="textured_objs/original_70.obj"/>
|
| 1308 |
+
</geometry>
|
| 1309 |
+
</collision>
|
| 1310 |
+
<collision>
|
| 1311 |
+
<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
|
| 1312 |
+
<geometry>
|
| 1313 |
+
<mesh filename="textured_objs/original_14.obj"/>
|
| 1314 |
+
</geometry>
|
| 1315 |
+
</collision>
|
| 1316 |
+
<collision>
|
| 1317 |
+
<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
|
| 1318 |
+
<geometry>
|
| 1319 |
+
<mesh filename="textured_objs/original_71.obj"/>
|
| 1320 |
+
</geometry>
|
| 1321 |
+
</collision>
|
| 1322 |
+
<collision>
|
| 1323 |
+
<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
|
| 1324 |
+
<geometry>
|
| 1325 |
+
<mesh filename="textured_objs/original_16.obj"/>
|
| 1326 |
+
</geometry>
|
| 1327 |
+
</collision>
|
| 1328 |
+
<collision>
|
| 1329 |
+
<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
|
| 1330 |
+
<geometry>
|
| 1331 |
+
<mesh filename="textured_objs/original_102.obj"/>
|
| 1332 |
+
</geometry>
|
| 1333 |
+
</collision>
|
| 1334 |
+
<collision>
|
| 1335 |
+
<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
|
| 1336 |
+
<geometry>
|
| 1337 |
+
<mesh filename="textured_objs/original_79.obj"/>
|
| 1338 |
+
</geometry>
|
| 1339 |
+
</collision>
|
| 1340 |
+
<collision>
|
| 1341 |
+
<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
|
| 1342 |
+
<geometry>
|
| 1343 |
+
<mesh filename="textured_objs/original_103.obj"/>
|
| 1344 |
+
</geometry>
|
| 1345 |
+
</collision>
|
| 1346 |
+
<collision>
|
| 1347 |
+
<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
|
| 1348 |
+
<geometry>
|
| 1349 |
+
<mesh filename="textured_objs/original_85.obj"/>
|
| 1350 |
+
</geometry>
|
| 1351 |
+
</collision>
|
| 1352 |
+
<collision>
|
| 1353 |
+
<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
|
| 1354 |
+
<geometry>
|
| 1355 |
+
<mesh filename="textured_objs/original_86.obj"/>
|
| 1356 |
+
</geometry>
|
| 1357 |
+
</collision>
|
| 1358 |
+
<collision>
|
| 1359 |
+
<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
|
| 1360 |
+
<geometry>
|
| 1361 |
+
<mesh filename="textured_objs/original_91.obj"/>
|
| 1362 |
+
</geometry>
|
| 1363 |
+
</collision>
|
| 1364 |
+
<collision>
|
| 1365 |
+
<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
|
| 1366 |
+
<geometry>
|
| 1367 |
+
<mesh filename="textured_objs/original_89.obj"/>
|
| 1368 |
+
</geometry>
|
| 1369 |
+
</collision>
|
| 1370 |
+
<collision>
|
| 1371 |
+
<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
|
| 1372 |
+
<geometry>
|
| 1373 |
+
<mesh filename="textured_objs/original_97.obj"/>
|
| 1374 |
+
</geometry>
|
| 1375 |
+
</collision>
|
| 1376 |
+
<collision>
|
| 1377 |
+
<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
|
| 1378 |
+
<geometry>
|
| 1379 |
+
<mesh filename="textured_objs/original_87.obj"/>
|
| 1380 |
+
</geometry>
|
| 1381 |
+
</collision>
|
| 1382 |
+
<collision>
|
| 1383 |
+
<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
|
| 1384 |
+
<geometry>
|
| 1385 |
+
<mesh filename="textured_objs/original_67.obj"/>
|
| 1386 |
+
</geometry>
|
| 1387 |
+
</collision>
|
| 1388 |
+
</link>
|
| 1389 |
+
<joint name="joint_14" type="revolute">
|
| 1390 |
+
<origin xyz="0.6512231399423922 0.44613400000000025 0.33978521169805465"/>
|
| 1391 |
+
<axis xyz="0 1 0"/>
|
| 1392 |
+
<child link="link_14"/>
|
| 1393 |
+
<parent link="link_13"/>
|
| 1394 |
+
<limit lower="-0.3141592653589793" upper="2.9670597283903604"/>
|
| 1395 |
+
</joint>
|
| 1396 |
+
</robot>
|
PartNetMobility/Safe/101583/mobility_v2.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id": 0, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 2, "name": "button"}], "jointData": {"axis": {"origin": [0.2965090867801916, 0.006506623681606927, 0.5437646613469749], "direction": [0.3338742789900731, 3.526759040578532e-05, 0.9426176131311446]}, "limit": {"a": 0, "b": -0.004, "noLimit": false}}}, {"id": 1, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 3, "name": "button"}], "jointData": {"axis": {"origin": [0.2965090867801916, 0.006506623681606927, 0.5437646613469749], "direction": [0.3338742789900731, 3.526759040578532e-05, 0.9426176131311446]}, "limit": {"a": 0, "b": -0.004, "noLimit": false}}}, {"id": 2, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 4, "name": "button"}], "jointData": {"axis": {"origin": [0.2965090867801916, 0.006506623681606927, 0.5437646613469749], "direction": [0.3338742789900731, 3.526759040578532e-05, 0.9426176131311446]}, "limit": {"a": 0, "b": -0.004, "noLimit": false}}}, {"id": 3, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 5, "name": "button"}], "jointData": {"axis": {"origin": [0.2965090867801916, 0.006506623681606927, 0.5437646613469749], "direction": [0.3338742789900731, 3.526759040578532e-05, 0.9426176131311446]}, "limit": {"a": 0, "b": -0.004, "noLimit": false}}}, {"id": 4, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 6, "name": "button"}], "jointData": {"axis": {"origin": [0.2965090867801916, 0.006506623681606927, 0.5437646613469749], "direction": [0.3338742789900731, 3.526759040578532e-05, 0.9426176131311446]}, "limit": {"a": 0, "b": -0.004, "noLimit": false}}}, {"id": 5, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 7, "name": "button"}], "jointData": {"axis": {"origin": [0.2965090867801916, 0.006506623681606927, 0.5437646613469749], "direction": [0.3338742789900731, 3.526759040578532e-05, 0.9426176131311446]}, "limit": {"a": 0, "b": -0.004, "noLimit": false}}}, {"id": 6, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 8, "name": "button"}], "jointData": {"axis": {"origin": [0.2965090867801916, 0.006506623681606927, 0.5437646613469749], "direction": [0.3338742789900731, 3.526759040578532e-05, 0.9426176131311446]}, "limit": {"a": 0, "b": -0.004, "noLimit": false}}}, {"id": 7, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 9, "name": "button"}], "jointData": {"axis": {"origin": [0.2965090867801916, 0.006506623681606927, 0.5437646613469749], "direction": [0.3338742789900731, 3.526759040578532e-05, 0.9426176131311446]}, "limit": {"a": 0, "b": -0.004, "noLimit": false}}}, {"id": 8, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 10, "name": "button"}], "jointData": {"axis": {"origin": [0.2965090867801916, 0.006506623681606927, 0.5437646613469749], "direction": [0.3338742789900731, 3.526759040578532e-05, 0.9426176131311446]}, "limit": {"a": 0, "b": -0.004, "noLimit": false}}}, {"id": 9, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 11, "name": "button"}], "jointData": {"axis": {"origin": [0.2965090867801916, 0.006506623681606927, 0.5437646613469749], "direction": [0.3338742789900731, 3.526759040578532e-05, 0.9426176131311446]}, "limit": {"a": 0, "b": -0.004, "noLimit": false}}}, {"id": 10, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 12, "name": "button"}], "jointData": {"axis": {"origin": [0.2965090867801916, 0.006506623681606927, 0.5437646613469749], "direction": [0.3338742789900731, 3.526759040578532e-05, 0.9426176131311446]}, "limit": {"a": 0, "b": -0.004, "noLimit": false}}}, {"id": 11, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 13, "name": "button"}], "jointData": {"axis": {"origin": [0.2965090867801916, 0.006506623681606927, 0.5437646613469749], "direction": [0.3338742789900731, 3.526759040578532e-05, 0.9426176131311446]}, "limit": {"a": 0, "b": -0.004, "noLimit": false}}}, {"id": 12, "parent": 14, "joint": "hinge", "name": "knob", "parts": [{"id": 14, "name": "switch"}], "jointData": {"axis": {"origin": [-0.1358264683063638, -0.030721689682454256, 0.7069125944300017], "direction": [0.33382401641214, -1.3952839269893254e-05, 0.9426354151376797]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 13, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 16, "name": "base_body"}], "jointData": {"axis": {"origin": [0.6512231399423922, 0.44613400000000025, 0.33978521169805465], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": 170, "noLimit": false}}}, {"id": 14, "parent": 13, "joint": "hinge", "name": "door", "parts": [{"id": 1, "name": "door"}, {"id": 15, "name": "outlier"}], "jointData": {"axis": {"origin": [0.6512231399423922, 0.44613400000000025, 0.33978521169805465], "direction": [0, 1, 0]}, "limit": {"a": -18, "b": 170, "noLimit": false}}}]
|
PartNetMobility/Safe/101583/result.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"text": "Safe", "name": "Safe", "id": 0, "children": [{"text": "door", "name": "door", "id": 1, "objs": ["original-74", "original-104", "original-27", "original-28", "original-100", "original-26", "original-30", "original-29", "original-105", "original-99", "original-107", "original-98", "original-42", "original-116", "original-108", "original-44", "original-83", "original-84", "original-78", "original-81", "original-76", "original-82", "original-80", "original-77", "original-75", "original-88", "original-90", "original-124", "original-125", "original-128", "original-127", "original-126", "original-69", "original-121", "original-122", "original-72", "original-123", "original-21", "original-68", "original-10", "original-94", "original-96", "original-95", "original-49", "original-92", "original-101", "original-70", "original-14", "original-71", "original-16", "original-102", "original-79"]}, {"text": "button", "name": "button", "id": 2, "objs": ["original-109", "original-32"]}, {"text": "button", "name": "button", "id": 3, "objs": ["original-106", "original-38"]}, {"text": "button", "name": "button", "id": 4, "objs": ["original-111", "original-31"]}, {"text": "button", "name": "button", "id": 5, "objs": ["original-33", "original-117"]}, {"text": "button", "name": "button", "id": 6, "objs": ["original-112", "original-36"]}, {"text": "button", "name": "button", "id": 7, "objs": ["original-119", "original-35"]}, {"text": "button", "name": "button", "id": 8, "objs": ["original-118", "original-34"]}, {"text": "button", "name": "button", "id": 9, "objs": ["original-113", "original-39"]}, {"text": "button", "name": "button", "id": 10, "objs": ["original-115", "original-37"]}, {"text": "button", "name": "button", "id": 11, "objs": ["original-114", "original-41"]}, {"text": "button", "name": "button", "id": 12, "objs": ["original-110", "original-40"]}, {"text": "button", "name": "button", "id": 13, "objs": ["original-120", "original-45"]}, {"text": "switch", "name": "switch", "id": 14, "objs": ["original-47"]}, {"text": "outlier", "name": "outlier", "id": 15, "objs": ["original-103", "original-85", "original-86", "original-91", "original-89", "original-97", "original-87", "original-67"]}, {"text": "base_body", "name": "base_body", "id": 16, "objs": ["original-64", "original-52", "original-65", "original-93", "original-61", "original-59", "original-54", "original-63", "original-51", "original-55", "original-6", "original-56", "original-62", "original-66", "original-58", "original-18", "original-73", "original-53", "original-60", "original-57"]}]}]
|
PartNetMobility/Safe/101583/result_original.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id": 0, "name": "Safe", "text": "Safe", "children": [{"id": 1, "name": "door", "text": "door", "objs": ["original-74", "original-104", "original-27", "original-28", "original-100", "original-26", "original-30", "original-29", "original-105", "original-99", "original-107", "original-98", "original-42", "original-116", "original-108", "original-44", "original-83", "original-84", "original-78", "original-81", "original-76", "original-82", "original-80", "original-77", "original-75", "original-88", "original-90", "original-124", "original-125", "original-128", "original-127", "original-126", "original-69", "original-121", "original-122", "original-72", "original-123", "original-21", "original-68", "original-10", "original-94", "original-96", "original-95", "original-49", "original-92", "original-101", "original-70", "original-14", "original-71", "original-16", "original-102", "original-79"]}, {"id": 2, "name": "button", "text": "button", "objs": ["original-109", "original-32"]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-106", "original-38"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-111", "original-31"]}, {"id": 5, "name": "button", "text": "button", "objs": ["original-33", "original-117"]}, {"id": 6, "name": "button", "text": "button", "objs": ["original-112", "original-36"]}, {"id": 7, "name": "button", "text": "button", "objs": ["original-119", "original-35"]}, {"id": 8, "name": "button", "text": "button", "objs": ["original-118", "original-34"]}, {"id": 9, "name": "button", "text": "button", "objs": ["original-113", "original-39"]}, {"id": 10, "name": "button", "text": "button", "objs": ["original-115", "original-37"]}, {"id": 11, "name": "button", "text": "button", "objs": ["original-114", "original-41"]}, {"id": 12, "name": "button", "text": "button", "objs": ["original-110", "original-40"]}, {"id": 13, "name": "button", "text": "button", "objs": ["original-120", "original-45"]}, {"id": 14, "name": "switch", "text": "switch", "objs": ["original-47"]}, {"id": 15, "name": "outlier", "text": "outlier", "objs": ["original-103", "original-85", "original-86", "original-91", "original-89", "original-97", "original-87", "original-67"]}]}]
|
PartNetMobility/Safe/101583/semantics.txt
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
link_0 slider button
|
| 2 |
+
link_1 slider button
|
| 3 |
+
link_2 slider button
|
| 4 |
+
link_3 slider button
|
| 5 |
+
link_4 slider button
|
| 6 |
+
link_5 slider button
|
| 7 |
+
link_6 slider button
|
| 8 |
+
link_7 slider button
|
| 9 |
+
link_8 slider button
|
| 10 |
+
link_9 slider button
|
| 11 |
+
link_10 slider button
|
| 12 |
+
link_11 slider button
|
| 13 |
+
link_12 hinge knob
|
| 14 |
+
link_13 free safe_body
|
| 15 |
+
link_14 hinge door
|
PartNetMobility/Safe/101584/bounding_box.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"min": [-0.414432, -0.850943, -0.40557], "max": [0.402673, 0.783267, 0.436048]}
|
PartNetMobility/Safe/101584/meta.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"user_id": "KeplerSN", "model_cat": "Safe", "model_id": "3aed91ee-bf51-4e26-b361-9db03adfd97f", "version": "2", "anno_id": "1584", "time_in_sec": "445"}
|
PartNetMobility/Safe/101584/mobility.urdf
ADDED
|
@@ -0,0 +1,768 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="partnet_3aed91ee_bf51_4e26_b361_9db03adfd97f">
|
| 3 |
+
<link name="base"/>
|
| 4 |
+
<link name="link_0">
|
| 5 |
+
<visual name="door_6">
|
| 6 |
+
<origin xyz="-0.30710969062590626 0 -0.40085632200420246"/>
|
| 7 |
+
<geometry>
|
| 8 |
+
<mesh filename="textured_objs/original_8.obj"/>
|
| 9 |
+
</geometry>
|
| 10 |
+
</visual>
|
| 11 |
+
<visual name="door_6">
|
| 12 |
+
<origin xyz="-0.30710969062590626 0 -0.40085632200420246"/>
|
| 13 |
+
<geometry>
|
| 14 |
+
<mesh filename="textured_objs/original_12.obj"/>
|
| 15 |
+
</geometry>
|
| 16 |
+
</visual>
|
| 17 |
+
<visual name="door_6">
|
| 18 |
+
<origin xyz="-0.30710969062590626 0 -0.40085632200420246"/>
|
| 19 |
+
<geometry>
|
| 20 |
+
<mesh filename="textured_objs/original_5.obj"/>
|
| 21 |
+
</geometry>
|
| 22 |
+
</visual>
|
| 23 |
+
<visual name="door_6">
|
| 24 |
+
<origin xyz="-0.30710969062590626 0 -0.40085632200420246"/>
|
| 25 |
+
<geometry>
|
| 26 |
+
<mesh filename="textured_objs/original_2.obj"/>
|
| 27 |
+
</geometry>
|
| 28 |
+
</visual>
|
| 29 |
+
<visual name="door_6">
|
| 30 |
+
<origin xyz="-0.30710969062590626 0 -0.40085632200420246"/>
|
| 31 |
+
<geometry>
|
| 32 |
+
<mesh filename="textured_objs/original_4.obj"/>
|
| 33 |
+
</geometry>
|
| 34 |
+
</visual>
|
| 35 |
+
<visual name="door_6">
|
| 36 |
+
<origin xyz="-0.30710969062590626 0 -0.40085632200420246"/>
|
| 37 |
+
<geometry>
|
| 38 |
+
<mesh filename="textured_objs/original_6.obj"/>
|
| 39 |
+
</geometry>
|
| 40 |
+
</visual>
|
| 41 |
+
<visual name="door_6">
|
| 42 |
+
<origin xyz="-0.30710969062590626 0 -0.40085632200420246"/>
|
| 43 |
+
<geometry>
|
| 44 |
+
<mesh filename="textured_objs/original_30.obj"/>
|
| 45 |
+
</geometry>
|
| 46 |
+
</visual>
|
| 47 |
+
<visual name="door_6">
|
| 48 |
+
<origin xyz="-0.30710969062590626 0 -0.40085632200420246"/>
|
| 49 |
+
<geometry>
|
| 50 |
+
<mesh filename="textured_objs/original_31.obj"/>
|
| 51 |
+
</geometry>
|
| 52 |
+
</visual>
|
| 53 |
+
<visual name="door_6">
|
| 54 |
+
<origin xyz="-0.30710969062590626 0 -0.40085632200420246"/>
|
| 55 |
+
<geometry>
|
| 56 |
+
<mesh filename="textured_objs/original_22.obj"/>
|
| 57 |
+
</geometry>
|
| 58 |
+
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|
| 440 |
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| 458 |
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|
| 464 |
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| 465 |
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| 466 |
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<visual name="switch_8">
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|
| 470 |
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| 471 |
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|
| 473 |
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|
| 476 |
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|
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| 483 |
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|
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|
| 491 |
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|
| 494 |
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| 495 |
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| 496 |
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|
| 500 |
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|
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|
| 512 |
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| 513 |
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| 517 |
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|
| 518 |
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| 519 |
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| 520 |
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| 521 |
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| 522 |
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| 523 |
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|
| 524 |
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|
| 525 |
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|
| 526 |
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<collision>
|
| 527 |
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| 528 |
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| 529 |
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|
| 530 |
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| 531 |
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| 532 |
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<collision>
|
| 533 |
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| 534 |
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|
| 535 |
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|
| 536 |
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| 538 |
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| 540 |
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|
| 542 |
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| 543 |
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| 545 |
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| 547 |
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|
| 548 |
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| 549 |
+
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|
| 550 |
+
<collision>
|
| 551 |
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| 552 |
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|
| 554 |
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|
| 555 |
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|
| 556 |
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<collision>
|
| 557 |
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|
| 558 |
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|
| 559 |
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|
| 560 |
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|
| 561 |
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|
| 562 |
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<collision>
|
| 563 |
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|
| 564 |
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|
| 565 |
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<mesh filename="textured_objs/original_50.obj"/>
|
| 566 |
+
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|
| 567 |
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|
| 568 |
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<collision>
|
| 569 |
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<origin xyz="0.0058795 -0.3696076380779351 0"/>
|
| 570 |
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<geometry>
|
| 571 |
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|
| 572 |
+
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|
| 573 |
+
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|
| 574 |
+
<collision>
|
| 575 |
+
<origin xyz="0.0058795 -0.3696076380779351 0"/>
|
| 576 |
+
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|
| 577 |
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<mesh filename="textured_objs/original_51.obj"/>
|
| 578 |
+
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|
| 579 |
+
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|
| 580 |
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<collision>
|
| 581 |
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<origin xyz="0.0058795 -0.3696076380779351 0"/>
|
| 582 |
+
<geometry>
|
| 583 |
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<mesh filename="textured_objs/original_53.obj"/>
|
| 584 |
+
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|
| 585 |
+
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|
| 586 |
+
<collision>
|
| 587 |
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<origin xyz="0.0058795 -0.3696076380779351 0"/>
|
| 588 |
+
<geometry>
|
| 589 |
+
<mesh filename="textured_objs/original_54.obj"/>
|
| 590 |
+
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|
| 591 |
+
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|
| 592 |
+
<collision>
|
| 593 |
+
<origin xyz="0.0058795 -0.3696076380779351 0"/>
|
| 594 |
+
<geometry>
|
| 595 |
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<mesh filename="textured_objs/original_26.obj"/>
|
| 596 |
+
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|
| 597 |
+
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|
| 598 |
+
<collision>
|
| 599 |
+
<origin xyz="0.0058795 -0.3696076380779351 0"/>
|
| 600 |
+
<geometry>
|
| 601 |
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<mesh filename="textured_objs/original_57.obj"/>
|
| 602 |
+
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|
| 603 |
+
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|
| 604 |
+
<collision>
|
| 605 |
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<origin xyz="0.0058795 -0.3696076380779351 0"/>
|
| 606 |
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|
| 607 |
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|
| 608 |
+
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|
| 609 |
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|
| 610 |
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|
| 611 |
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|
| 612 |
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|
| 613 |
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|
| 614 |
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|
| 615 |
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|
| 616 |
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<collision>
|
| 617 |
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|
| 618 |
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|
| 619 |
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|
| 620 |
+
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|
| 621 |
+
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|
| 622 |
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<collision>
|
| 623 |
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<origin xyz="0.0058795 -0.3696076380779351 0"/>
|
| 624 |
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|
| 625 |
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<mesh filename="textured_objs/original_60.obj"/>
|
| 626 |
+
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|
| 627 |
+
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|
| 628 |
+
<collision>
|
| 629 |
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<origin xyz="0.0058795 -0.3696076380779351 0"/>
|
| 630 |
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|
| 631 |
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|
| 632 |
+
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|
| 633 |
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|
| 634 |
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<collision>
|
| 635 |
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|
| 636 |
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|
| 637 |
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|
| 638 |
+
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|
| 639 |
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|
| 640 |
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<collision>
|
| 641 |
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<origin xyz="0.0058795 -0.3696076380779351 0"/>
|
| 642 |
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|
| 643 |
+
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|
| 644 |
+
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|
| 645 |
+
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|
| 646 |
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<collision>
|
| 647 |
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<origin xyz="0.0058795 -0.3696076380779351 0"/>
|
| 648 |
+
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|
| 649 |
+
<mesh filename="textured_objs/original_66.obj"/>
|
| 650 |
+
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|
| 651 |
+
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|
| 652 |
+
<collision>
|
| 653 |
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<origin xyz="0.0058795 -0.3696076380779351 0"/>
|
| 654 |
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<geometry>
|
| 655 |
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|
| 656 |
+
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|
| 657 |
+
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|
| 658 |
+
<collision>
|
| 659 |
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<origin xyz="0.0058795 -0.3696076380779351 0"/>
|
| 660 |
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|
| 661 |
+
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|
| 662 |
+
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|
| 663 |
+
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|
| 664 |
+
<collision>
|
| 665 |
+
<origin xyz="0.0058795 -0.3696076380779351 0"/>
|
| 666 |
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<geometry>
|
| 667 |
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<mesh filename="textured_objs/original_63.obj"/>
|
| 668 |
+
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|
| 669 |
+
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|
| 670 |
+
<collision>
|
| 671 |
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<origin xyz="0.0058795 -0.3696076380779351 0"/>
|
| 672 |
+
<geometry>
|
| 673 |
+
<mesh filename="textured_objs/original_62.obj"/>
|
| 674 |
+
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|
| 675 |
+
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|
| 676 |
+
<collision>
|
| 677 |
+
<origin xyz="0.0058795 -0.3696076380779351 0"/>
|
| 678 |
+
<geometry>
|
| 679 |
+
<mesh filename="textured_objs/original_32.obj"/>
|
| 680 |
+
</geometry>
|
| 681 |
+
</collision>
|
| 682 |
+
<collision>
|
| 683 |
+
<origin xyz="0.0058795 -0.3696076380779351 0"/>
|
| 684 |
+
<geometry>
|
| 685 |
+
<mesh filename="textured_objs/original_33.obj"/>
|
| 686 |
+
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|
| 687 |
+
</collision>
|
| 688 |
+
<collision>
|
| 689 |
+
<origin xyz="0.0058795 -0.3696076380779351 0"/>
|
| 690 |
+
<geometry>
|
| 691 |
+
<mesh filename="textured_objs/original_34.obj"/>
|
| 692 |
+
</geometry>
|
| 693 |
+
</collision>
|
| 694 |
+
<collision>
|
| 695 |
+
<origin xyz="0.0058795 -0.3696076380779351 0"/>
|
| 696 |
+
<geometry>
|
| 697 |
+
<mesh filename="textured_objs/original_35.obj"/>
|
| 698 |
+
</geometry>
|
| 699 |
+
</collision>
|
| 700 |
+
<collision>
|
| 701 |
+
<origin xyz="0.0058795 -0.3696076380779351 0"/>
|
| 702 |
+
<geometry>
|
| 703 |
+
<mesh filename="textured_objs/original_36.obj"/>
|
| 704 |
+
</geometry>
|
| 705 |
+
</collision>
|
| 706 |
+
</link>
|
| 707 |
+
<joint name="joint_2" type="continuous">
|
| 708 |
+
<origin xyz="-0.31298919062590624 0.3696076380779351 -0.40085632200420246"/>
|
| 709 |
+
<axis xyz="0 0 1"/>
|
| 710 |
+
<child link="link_2"/>
|
| 711 |
+
<parent link="link_0"/>
|
| 712 |
+
</joint>
|
| 713 |
+
<link name="link_3">
|
| 714 |
+
<visual name="base_body_9">
|
| 715 |
+
<origin xyz="0 0 0"/>
|
| 716 |
+
<geometry>
|
| 717 |
+
<mesh filename="textured_objs/original_21.obj"/>
|
| 718 |
+
</geometry>
|
| 719 |
+
</visual>
|
| 720 |
+
<visual name="base_body_9">
|
| 721 |
+
<origin xyz="0 0 0"/>
|
| 722 |
+
<geometry>
|
| 723 |
+
<mesh filename="textured_objs/original_24.obj"/>
|
| 724 |
+
</geometry>
|
| 725 |
+
</visual>
|
| 726 |
+
<visual name="base_body_9">
|
| 727 |
+
<origin xyz="0 0 0"/>
|
| 728 |
+
<geometry>
|
| 729 |
+
<mesh filename="textured_objs/original_20.obj"/>
|
| 730 |
+
</geometry>
|
| 731 |
+
</visual>
|
| 732 |
+
<visual name="base_body_9">
|
| 733 |
+
<origin xyz="0 0 0"/>
|
| 734 |
+
<geometry>
|
| 735 |
+
<mesh filename="textured_objs/original_10.obj"/>
|
| 736 |
+
</geometry>
|
| 737 |
+
</visual>
|
| 738 |
+
<collision>
|
| 739 |
+
<origin xyz="0 0 0"/>
|
| 740 |
+
<geometry>
|
| 741 |
+
<mesh filename="textured_objs/original_21.obj"/>
|
| 742 |
+
</geometry>
|
| 743 |
+
</collision>
|
| 744 |
+
<collision>
|
| 745 |
+
<origin xyz="0 0 0"/>
|
| 746 |
+
<geometry>
|
| 747 |
+
<mesh filename="textured_objs/original_24.obj"/>
|
| 748 |
+
</geometry>
|
| 749 |
+
</collision>
|
| 750 |
+
<collision>
|
| 751 |
+
<origin xyz="0 0 0"/>
|
| 752 |
+
<geometry>
|
| 753 |
+
<mesh filename="textured_objs/original_20.obj"/>
|
| 754 |
+
</geometry>
|
| 755 |
+
</collision>
|
| 756 |
+
<collision>
|
| 757 |
+
<origin xyz="0 0 0"/>
|
| 758 |
+
<geometry>
|
| 759 |
+
<mesh filename="textured_objs/original_10.obj"/>
|
| 760 |
+
</geometry>
|
| 761 |
+
</collision>
|
| 762 |
+
</link>
|
| 763 |
+
<joint name="joint_3" type="fixed">
|
| 764 |
+
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
|
| 765 |
+
<child link="link_3"/>
|
| 766 |
+
<parent link="base"/>
|
| 767 |
+
</joint>
|
| 768 |
+
</robot>
|
PartNetMobility/Safe/101584/mobility_v2.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id": 0, "parent": 3, "joint": "hinge", "name": "door", "parts": [{"id": 6, "name": "door", "children": []}], "jointData": {"axis": {"origin": [0.30710969062590626, 0, 0.40085632200420246], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": 170, "noLimit": false}}}, {"id": 1, "parent": 0, "joint": "hinge", "name": "knob", "parts": [{"id": 7, "name": "switch", "children": []}], "jointData": {"axis": {"origin": [-0.159087, 0.022338376633134368, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 2, "parent": 0, "joint": "hinge", "name": "knob", "parts": [{"id": 8, "name": "switch", "children": []}], "jointData": {"axis": {"origin": [-0.0058795, 0.3696076380779351, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 3, "parent": -1, "joint": "heavy", "name": "base_body", "parts": [{"id": 9, "name": "base_body", "children": []}], "jointData": {}}]
|
PartNetMobility/Safe/101584/result.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"text": "Safe", "name": "Safe", "id": 0, "children": [{"text": "door", "name": "door", "id": 6, "objs": ["original-8", "original-12", "original-5", "original-2", "original-4", "original-6", "original-30", "original-31", "original-22", "original-23", "original-9", "original-3", "original-29"]}, {"text": "switch", "name": "switch", "id": 7, "objs": ["original-18", "original-15", "original-17", "original-13", "original-14"]}, {"text": "switch", "name": "switch", "id": 8, "objs": ["original-28", "original-27", "original-37", "original-38", "original-39", "original-40", "original-41", "original-42", "original-43", "original-44", "original-45", "original-46", "original-47", "original-48", "original-49", "original-50", "original-52", "original-51", "original-53", "original-54", "original-26", "original-57", "original-56", "original-55", "original-61", "original-60", "original-59", "original-58", "original-67", "original-66", "original-65", "original-64", "original-63", "original-62", "original-32", "original-33", "original-34", "original-35", "original-36"]}, {"text": "base_body", "name": "base_body", "id": 9, "objs": ["original-21", "original-24", "original-20", "original-10"]}]}]
|
PartNetMobility/Safe/101584/result_original.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id": 0, "name": "Safe", "text": "Safe", "children": [{"id": 6, "name": "door", "text": "door", "objs": ["original-8", "original-12", "original-5", "original-2", "original-4", "original-6", "original-30", "original-31", "original-22", "original-23", "original-9", "original-3", "original-29"]}, {"id": 7, "name": "switch", "text": "switch", "objs": ["original-18", "original-15", "original-17", "original-13", "original-14"]}, {"id": 8, "name": "switch", "text": "switch", "objs": ["original-28", "original-27", "original-37", "original-38", "original-39", "original-40", "original-41", "original-42", "original-43", "original-44", "original-45", "original-46", "original-47", "original-48", "original-49", "original-50", "original-52", "original-51", "original-53", "original-54", "original-26", "original-57", "original-56", "original-55", "original-61", "original-60", "original-59", "original-58", "original-67", "original-66", "original-65", "original-64", "original-63", "original-62", "original-32", "original-33", "original-34", "original-35", "original-36"]}]}]
|
PartNetMobility/Safe/101584/semantics.txt
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
link_0 hinge door
|
| 2 |
+
link_1 hinge knob
|
| 3 |
+
link_2 hinge knob
|
| 4 |
+
link_3 heavy safe_body
|
PartNetMobility/Safe/101591/bounding_box.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"min": [-0.514969, -0.758384, -0.482893], "max": [0.52154, 0.722344, 0.472177]}
|
PartNetMobility/Safe/101591/meta.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"user_id": "KeplerSN", "model_cat": "Safe", "model_id": "4beb4d6e-480c-4edd-a82d-5374471a95a0", "version": "1", "anno_id": "1591", "time_in_sec": "51"}
|
PartNetMobility/Safe/101591/mobility.urdf
ADDED
|
@@ -0,0 +1,241 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
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|
|
|
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|
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|
|
|
|
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|
|
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|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
|
|
|
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|
|
|
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|
|
|
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|
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|
|
|
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|
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|
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|
|
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|
|
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|
|
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|
|
|
|
|
|
|
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|
|
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|
|
|
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|
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|
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|
|
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|
|
|
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|
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|
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|
|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="partnet_4beb4d6e_480c_4edd_a82d_5374471a95a0">
|
| 3 |
+
<link name="base"/>
|
| 4 |
+
<link name="link_0">
|
| 5 |
+
<visual name="button_2">
|
| 6 |
+
<origin xyz="0.06422751455598527 -0.07856796176422805 -0.4677340000000001"/>
|
| 7 |
+
<geometry>
|
| 8 |
+
<mesh filename="textured_objs/original_13.obj"/>
|
| 9 |
+
</geometry>
|
| 10 |
+
</visual>
|
| 11 |
+
<collision>
|
| 12 |
+
<origin xyz="0.06422751455598527 -0.07856796176422805 -0.4677340000000001"/>
|
| 13 |
+
<geometry>
|
| 14 |
+
<mesh filename="textured_objs/original_13.obj"/>
|
| 15 |
+
</geometry>
|
| 16 |
+
</collision>
|
| 17 |
+
</link>
|
| 18 |
+
<joint name="joint_0" type="prismatic">
|
| 19 |
+
<origin xyz="-0.5258874449243504 -0.6437760382357719 0.04794039730449773"/>
|
| 20 |
+
<axis xyz="0 0 -1"/>
|
| 21 |
+
<child link="link_0"/>
|
| 22 |
+
<parent link="link_5"/>
|
| 23 |
+
<limit lower="0" upper="0.003"/>
|
| 24 |
+
</joint>
|
| 25 |
+
<link name="link_1">
|
| 26 |
+
<visual name="button_3">
|
| 27 |
+
<origin xyz="0.06422751455598527 -0.07856796176422805 -0.4677340000000001"/>
|
| 28 |
+
<geometry>
|
| 29 |
+
<mesh filename="textured_objs/original_12.obj"/>
|
| 30 |
+
</geometry>
|
| 31 |
+
</visual>
|
| 32 |
+
<collision>
|
| 33 |
+
<origin xyz="0.06422751455598527 -0.07856796176422805 -0.4677340000000001"/>
|
| 34 |
+
<geometry>
|
| 35 |
+
<mesh filename="textured_objs/original_12.obj"/>
|
| 36 |
+
</geometry>
|
| 37 |
+
</collision>
|
| 38 |
+
</link>
|
| 39 |
+
<joint name="joint_1" type="prismatic">
|
| 40 |
+
<origin xyz="-0.5258874449243504 -0.6437760382357719 0.04794039730449773"/>
|
| 41 |
+
<axis xyz="0 0 -1"/>
|
| 42 |
+
<child link="link_1"/>
|
| 43 |
+
<parent link="link_5"/>
|
| 44 |
+
<limit lower="0" upper="0.003"/>
|
| 45 |
+
</joint>
|
| 46 |
+
<link name="link_2">
|
| 47 |
+
<visual name="button_4">
|
| 48 |
+
<origin xyz="0.06422751455598527 -0.07856796176422805 -0.4677340000000001"/>
|
| 49 |
+
<geometry>
|
| 50 |
+
<mesh filename="textured_objs/original_11.obj"/>
|
| 51 |
+
</geometry>
|
| 52 |
+
</visual>
|
| 53 |
+
<collision>
|
| 54 |
+
<origin xyz="0.06422751455598527 -0.07856796176422805 -0.4677340000000001"/>
|
| 55 |
+
<geometry>
|
| 56 |
+
<mesh filename="textured_objs/original_11.obj"/>
|
| 57 |
+
</geometry>
|
| 58 |
+
</collision>
|
| 59 |
+
</link>
|
| 60 |
+
<joint name="joint_2" type="prismatic">
|
| 61 |
+
<origin xyz="-0.5258874449243504 -0.6437760382357719 0.04794039730449773"/>
|
| 62 |
+
<axis xyz="0 0 -1"/>
|
| 63 |
+
<child link="link_2"/>
|
| 64 |
+
<parent link="link_5"/>
|
| 65 |
+
<limit lower="0" upper="0.003"/>
|
| 66 |
+
</joint>
|
| 67 |
+
<link name="link_3">
|
| 68 |
+
<visual name="button_5">
|
| 69 |
+
<origin xyz="0.06422751455598527 -0.07856796176422805 -0.4677340000000001"/>
|
| 70 |
+
<geometry>
|
| 71 |
+
<mesh filename="textured_objs/original_10.obj"/>
|
| 72 |
+
</geometry>
|
| 73 |
+
</visual>
|
| 74 |
+
<collision>
|
| 75 |
+
<origin xyz="0.06422751455598527 -0.07856796176422805 -0.4677340000000001"/>
|
| 76 |
+
<geometry>
|
| 77 |
+
<mesh filename="textured_objs/original_10.obj"/>
|
| 78 |
+
</geometry>
|
| 79 |
+
</collision>
|
| 80 |
+
</link>
|
| 81 |
+
<joint name="joint_3" type="prismatic">
|
| 82 |
+
<origin xyz="-0.5258874449243504 -0.6437760382357719 0.04794039730449773"/>
|
| 83 |
+
<axis xyz="0 0 -1"/>
|
| 84 |
+
<child link="link_3"/>
|
| 85 |
+
<parent link="link_5"/>
|
| 86 |
+
<limit lower="0" upper="0.003"/>
|
| 87 |
+
</joint>
|
| 88 |
+
<link name="link_4">
|
| 89 |
+
<visual name="switch_6">
|
| 90 |
+
<origin xyz="0.2235718020215831 -0.058351672303546216 -0.47118293745187456"/>
|
| 91 |
+
<geometry>
|
| 92 |
+
<mesh filename="textured_objs/original_6.obj"/>
|
| 93 |
+
</geometry>
|
| 94 |
+
</visual>
|
| 95 |
+
<collision>
|
| 96 |
+
<origin xyz="0.2235718020215831 -0.058351672303546216 -0.47118293745187456"/>
|
| 97 |
+
<geometry>
|
| 98 |
+
<mesh filename="textured_objs/original_6.obj"/>
|
| 99 |
+
</geometry>
|
| 100 |
+
</collision>
|
| 101 |
+
</link>
|
| 102 |
+
<joint name="joint_4" type="continuous">
|
| 103 |
+
<origin xyz="-0.6852317323899482 -0.6639923276964538 0.051389334756372196"/>
|
| 104 |
+
<axis xyz="0 0 -0.7932904066407027"/>
|
| 105 |
+
<child link="link_4"/>
|
| 106 |
+
<parent link="link_5"/>
|
| 107 |
+
</joint>
|
| 108 |
+
<link name="link_5">
|
| 109 |
+
<visual name="door_7">
|
| 110 |
+
<origin xyz="-0.46165993036836506 -0.722344 -0.41979360269550237"/>
|
| 111 |
+
<geometry>
|
| 112 |
+
<mesh filename="textured_objs/original_3.obj"/>
|
| 113 |
+
</geometry>
|
| 114 |
+
</visual>
|
| 115 |
+
<visual name="door_7">
|
| 116 |
+
<origin xyz="-0.46165993036836506 -0.722344 -0.41979360269550237"/>
|
| 117 |
+
<geometry>
|
| 118 |
+
<mesh filename="textured_objs/original_5.obj"/>
|
| 119 |
+
</geometry>
|
| 120 |
+
</visual>
|
| 121 |
+
<visual name="door_7">
|
| 122 |
+
<origin xyz="-0.46165993036836506 -0.722344 -0.41979360269550237"/>
|
| 123 |
+
<geometry>
|
| 124 |
+
<mesh filename="textured_objs/original_15.obj"/>
|
| 125 |
+
</geometry>
|
| 126 |
+
</visual>
|
| 127 |
+
<visual name="door_7">
|
| 128 |
+
<origin xyz="-0.46165993036836506 -0.722344 -0.41979360269550237"/>
|
| 129 |
+
<geometry>
|
| 130 |
+
<mesh filename="textured_objs/original_9.obj"/>
|
| 131 |
+
</geometry>
|
| 132 |
+
</visual>
|
| 133 |
+
<visual name="door_7">
|
| 134 |
+
<origin xyz="-0.46165993036836506 -0.722344 -0.41979360269550237"/>
|
| 135 |
+
<geometry>
|
| 136 |
+
<mesh filename="textured_objs/original_8.obj"/>
|
| 137 |
+
</geometry>
|
| 138 |
+
</visual>
|
| 139 |
+
<collision>
|
| 140 |
+
<origin xyz="-0.46165993036836506 -0.722344 -0.41979360269550237"/>
|
| 141 |
+
<geometry>
|
| 142 |
+
<mesh filename="textured_objs/original_3.obj"/>
|
| 143 |
+
</geometry>
|
| 144 |
+
</collision>
|
| 145 |
+
<collision>
|
| 146 |
+
<origin xyz="-0.46165993036836506 -0.722344 -0.41979360269550237"/>
|
| 147 |
+
<geometry>
|
| 148 |
+
<mesh filename="textured_objs/original_5.obj"/>
|
| 149 |
+
</geometry>
|
| 150 |
+
</collision>
|
| 151 |
+
<collision>
|
| 152 |
+
<origin xyz="-0.46165993036836506 -0.722344 -0.41979360269550237"/>
|
| 153 |
+
<geometry>
|
| 154 |
+
<mesh filename="textured_objs/original_15.obj"/>
|
| 155 |
+
</geometry>
|
| 156 |
+
</collision>
|
| 157 |
+
<collision>
|
| 158 |
+
<origin xyz="-0.46165993036836506 -0.722344 -0.41979360269550237"/>
|
| 159 |
+
<geometry>
|
| 160 |
+
<mesh filename="textured_objs/original_9.obj"/>
|
| 161 |
+
</geometry>
|
| 162 |
+
</collision>
|
| 163 |
+
<collision>
|
| 164 |
+
<origin xyz="-0.46165993036836506 -0.722344 -0.41979360269550237"/>
|
| 165 |
+
<geometry>
|
| 166 |
+
<mesh filename="textured_objs/original_8.obj"/>
|
| 167 |
+
</geometry>
|
| 168 |
+
</collision>
|
| 169 |
+
</link>
|
| 170 |
+
<joint name="joint_5" type="revolute">
|
| 171 |
+
<origin xyz="0.46165993036836506 0.722344 0.41979360269550237"/>
|
| 172 |
+
<axis xyz="0 1 0"/>
|
| 173 |
+
<child link="link_5"/>
|
| 174 |
+
<parent link="link_7"/>
|
| 175 |
+
<limit lower="-0.0" upper="3.141592653589793"/>
|
| 176 |
+
</joint>
|
| 177 |
+
<link name="link_6">
|
| 178 |
+
<visual name="button_8">
|
| 179 |
+
<origin xyz="0.06422751455598527 -0.07856796176422805 -0.4677340000000001"/>
|
| 180 |
+
<geometry>
|
| 181 |
+
<mesh filename="textured_objs/original_14.obj"/>
|
| 182 |
+
</geometry>
|
| 183 |
+
</visual>
|
| 184 |
+
<collision>
|
| 185 |
+
<origin xyz="0.06422751455598527 -0.07856796176422805 -0.4677340000000001"/>
|
| 186 |
+
<geometry>
|
| 187 |
+
<mesh filename="textured_objs/original_14.obj"/>
|
| 188 |
+
</geometry>
|
| 189 |
+
</collision>
|
| 190 |
+
</link>
|
| 191 |
+
<joint name="joint_6" type="prismatic">
|
| 192 |
+
<origin xyz="-0.5258874449243504 -0.6437760382357719 0.04794039730449773"/>
|
| 193 |
+
<axis xyz="0 0 -1"/>
|
| 194 |
+
<child link="link_6"/>
|
| 195 |
+
<parent link="link_5"/>
|
| 196 |
+
<limit lower="0" upper="0.003"/>
|
| 197 |
+
</joint>
|
| 198 |
+
<link name="link_7">
|
| 199 |
+
<visual name="base_body_9">
|
| 200 |
+
<origin xyz="0 0 0"/>
|
| 201 |
+
<geometry>
|
| 202 |
+
<mesh filename="textured_objs/original_2.obj"/>
|
| 203 |
+
</geometry>
|
| 204 |
+
</visual>
|
| 205 |
+
<visual name="base_body_9">
|
| 206 |
+
<origin xyz="0 0 0"/>
|
| 207 |
+
<geometry>
|
| 208 |
+
<mesh filename="textured_objs/original_7.obj"/>
|
| 209 |
+
</geometry>
|
| 210 |
+
</visual>
|
| 211 |
+
<visual name="base_body_9">
|
| 212 |
+
<origin xyz="0 0 0"/>
|
| 213 |
+
<geometry>
|
| 214 |
+
<mesh filename="textured_objs/original_1.obj"/>
|
| 215 |
+
</geometry>
|
| 216 |
+
</visual>
|
| 217 |
+
<collision>
|
| 218 |
+
<origin xyz="0 0 0"/>
|
| 219 |
+
<geometry>
|
| 220 |
+
<mesh filename="textured_objs/original_2.obj"/>
|
| 221 |
+
</geometry>
|
| 222 |
+
</collision>
|
| 223 |
+
<collision>
|
| 224 |
+
<origin xyz="0 0 0"/>
|
| 225 |
+
<geometry>
|
| 226 |
+
<mesh filename="textured_objs/original_7.obj"/>
|
| 227 |
+
</geometry>
|
| 228 |
+
</collision>
|
| 229 |
+
<collision>
|
| 230 |
+
<origin xyz="0 0 0"/>
|
| 231 |
+
<geometry>
|
| 232 |
+
<mesh filename="textured_objs/original_1.obj"/>
|
| 233 |
+
</geometry>
|
| 234 |
+
</collision>
|
| 235 |
+
</link>
|
| 236 |
+
<joint name="joint_7" type="fixed">
|
| 237 |
+
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
|
| 238 |
+
<child link="link_7"/>
|
| 239 |
+
<parent link="base"/>
|
| 240 |
+
</joint>
|
| 241 |
+
</robot>
|
PartNetMobility/Safe/101591/mobility_v2.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id": 0, "parent": 5, "joint": "slider", "name": "button", "parts": [{"id": 2, "name": "button"}], "jointData": {"axis": {"origin": [-0.06422751455598527, 0.07856796176422805, 0.4677340000000001], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": -0.003, "noLimit": false}}}, {"id": 1, "parent": 5, "joint": "slider", "name": "button", "parts": [{"id": 3, "name": "button"}], "jointData": {"axis": {"origin": [-0.06422751455598527, 0.07856796176422805, 0.4677340000000001], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": -0.003, "noLimit": false}}}, {"id": 2, "parent": 5, "joint": "slider", "name": "button", "parts": [{"id": 4, "name": "button"}], "jointData": {"axis": {"origin": [-0.06422751455598527, 0.07856796176422805, 0.4677340000000001], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": -0.003, "noLimit": false}}}, {"id": 3, "parent": 5, "joint": "slider", "name": "button", "parts": [{"id": 5, "name": "button"}], "jointData": {"axis": {"origin": [-0.06422751455598527, 0.07856796176422805, 0.4677340000000001], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": -0.003, "noLimit": false}}}, {"id": 4, "parent": 5, "joint": "hinge", "name": "knob", "parts": [{"id": 6, "name": "switch"}], "jointData": {"axis": {"origin": [-0.2235718020215831, 0.058351672303546216, 0.47118293745187456], "direction": [0, 0, -0.7932904066407027]}, "limit": {"a": 0, "b": -180, "noLimit": true}}}, {"id": 5, "parent": 7, "joint": "hinge", "name": "door", "parts": [{"id": 7, "name": "door"}], "jointData": {"axis": {"origin": [0.46165993036836506, 0.722344, 0.41979360269550237], "direction": [0, -1, 0]}, "limit": {"a": 0, "b": -180, "noLimit": false}}}, {"id": 6, "parent": 5, "joint": "slider", "name": "button", "parts": [{"id": 8, "name": "button"}], "jointData": {"axis": {"origin": [-0.06422751455598527, 0.07856796176422805, 0.4677340000000001], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": -0.003, "noLimit": false}}}, {"id": 7, "parent": -1, "joint": "heavy", "name": "base_body", "parts": [{"id": 9, "name": "base_body"}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": false}}}]
|
PartNetMobility/Safe/101591/result.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"text": "Safe", "name": "Safe", "id": 0, "children": [{"text": "button", "name": "button", "id": 2, "objs": ["original-13"]}, {"text": "button", "name": "button", "id": 3, "objs": ["original-12"]}, {"text": "button", "name": "button", "id": 4, "objs": ["original-11"]}, {"text": "button", "name": "button", "id": 5, "objs": ["original-10"]}, {"text": "switch", "name": "switch", "id": 6, "objs": ["original-6"]}, {"text": "door", "name": "door", "id": 7, "objs": ["original-3", "original-5", "original-15", "original-9", "original-8"]}, {"text": "button", "name": "button", "id": 8, "objs": ["original-14"]}, {"text": "base_body", "name": "base_body", "id": 9, "objs": ["original-2", "original-7", "original-1"]}]}]
|
PartNetMobility/Safe/101591/result_original.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id": 0, "name": "Safe", "text": "Safe", "children": [{"id": 2, "name": "button", "text": "button", "objs": ["original-13"]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-12"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-11"]}, {"id": 5, "name": "button", "text": "button", "objs": ["original-10"]}, {"id": 6, "name": "switch", "text": "switch", "objs": ["original-6"]}, {"id": 7, "name": "door", "text": "door", "objs": ["original-3", "original-5", "original-15", "original-9", "original-8"]}, {"id": 8, "name": "button", "text": "button", "objs": ["original-14"]}]}]
|
PartNetMobility/Safe/101591/semantics.txt
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
link_0 slider button
|
| 2 |
+
link_1 slider button
|
| 3 |
+
link_2 slider button
|
| 4 |
+
link_3 slider button
|
| 5 |
+
link_4 hinge knob
|
| 6 |
+
link_5 hinge door
|
| 7 |
+
link_6 slider button
|
| 8 |
+
link_7 heavy safe_body
|
PartNetMobility/Safe/101593/bounding_box.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"min": [-0.547904, -0.684658, -0.537898], "max": [0.509975, 0.690586, 0.710041]}
|
PartNetMobility/Safe/101593/meta.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"user_id": "KeplerSN", "model_cat": "Safe", "model_id": "52d8d0a55b5b593188fb7d9c2bb964c5", "version": "3", "anno_id": "1593", "time_in_sec": "56"}
|
PartNetMobility/Safe/101593/mobility.urdf
ADDED
|
@@ -0,0 +1,192 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="partnet_52d8d0a55b5b593188fb7d9c2bb964c5">
|
| 3 |
+
<link name="base"/>
|
| 4 |
+
<link name="link_0">
|
| 5 |
+
<visual name="door_1">
|
| 6 |
+
<origin xyz="-0.3819643254870551 -0.5491551062331053 -0.5493668750839127"/>
|
| 7 |
+
<geometry>
|
| 8 |
+
<mesh filename="textured_objs/original_13.obj"/>
|
| 9 |
+
</geometry>
|
| 10 |
+
</visual>
|
| 11 |
+
<visual name="door_1">
|
| 12 |
+
<origin xyz="-0.3819643254870551 -0.5491551062331053 -0.5493668750839127"/>
|
| 13 |
+
<geometry>
|
| 14 |
+
<mesh filename="textured_objs/original_10.obj"/>
|
| 15 |
+
</geometry>
|
| 16 |
+
</visual>
|
| 17 |
+
<collision>
|
| 18 |
+
<origin xyz="-0.3819643254870551 -0.5491551062331053 -0.5493668750839127"/>
|
| 19 |
+
<geometry>
|
| 20 |
+
<mesh filename="textured_objs/original_13.obj"/>
|
| 21 |
+
</geometry>
|
| 22 |
+
</collision>
|
| 23 |
+
<collision>
|
| 24 |
+
<origin xyz="-0.3819643254870551 -0.5491551062331053 -0.5493668750839127"/>
|
| 25 |
+
<geometry>
|
| 26 |
+
<mesh filename="textured_objs/original_10.obj"/>
|
| 27 |
+
</geometry>
|
| 28 |
+
</collision>
|
| 29 |
+
</link>
|
| 30 |
+
<joint name="joint_0" type="revolute">
|
| 31 |
+
<origin xyz="0.3819643254870551 0.5491551062331053 0.5493668750839127"/>
|
| 32 |
+
<axis xyz="0 1 0"/>
|
| 33 |
+
<child link="link_0"/>
|
| 34 |
+
<parent link="link_3"/>
|
| 35 |
+
<limit lower="0.0" upper="2.9670597283903604"/>
|
| 36 |
+
</joint>
|
| 37 |
+
<link name="link_1">
|
| 38 |
+
<visual name="switch_2">
|
| 39 |
+
<origin xyz="0.249 -0.032 0"/>
|
| 40 |
+
<geometry>
|
| 41 |
+
<mesh filename="textured_objs/original_12.obj"/>
|
| 42 |
+
</geometry>
|
| 43 |
+
</visual>
|
| 44 |
+
<collision>
|
| 45 |
+
<origin xyz="0.249 -0.032 0"/>
|
| 46 |
+
<geometry>
|
| 47 |
+
<mesh filename="textured_objs/original_12.obj"/>
|
| 48 |
+
</geometry>
|
| 49 |
+
</collision>
|
| 50 |
+
</link>
|
| 51 |
+
<joint name="joint_1" type="continuous">
|
| 52 |
+
<origin xyz="-0.6309643254870552 -0.5171551062331052 -0.5493668750839127"/>
|
| 53 |
+
<axis xyz="0 0 1"/>
|
| 54 |
+
<child link="link_1"/>
|
| 55 |
+
<parent link="link_0"/>
|
| 56 |
+
</joint>
|
| 57 |
+
<link name="link_2">
|
| 58 |
+
<visual name="switch_5">
|
| 59 |
+
<origin xyz="-0.2152496364785898 -0.031595799634695707 0"/>
|
| 60 |
+
<geometry>
|
| 61 |
+
<mesh filename="textured_objs/original_11.obj"/>
|
| 62 |
+
</geometry>
|
| 63 |
+
</visual>
|
| 64 |
+
<collision>
|
| 65 |
+
<origin xyz="-0.2152496364785898 -0.031595799634695707 0"/>
|
| 66 |
+
<geometry>
|
| 67 |
+
<mesh filename="textured_objs/original_11.obj"/>
|
| 68 |
+
</geometry>
|
| 69 |
+
</collision>
|
| 70 |
+
</link>
|
| 71 |
+
<joint name="joint_2" type="continuous">
|
| 72 |
+
<origin xyz="-0.1667146890084653 -0.5175593065984095 -0.5493668750839127"/>
|
| 73 |
+
<axis xyz="0 0 1"/>
|
| 74 |
+
<child link="link_2"/>
|
| 75 |
+
<parent link="link_0"/>
|
| 76 |
+
</joint>
|
| 77 |
+
<link name="link_3">
|
| 78 |
+
<visual name="base_body_6">
|
| 79 |
+
<origin xyz="0 0 0"/>
|
| 80 |
+
<geometry>
|
| 81 |
+
<mesh filename="textured_objs/original_4.obj"/>
|
| 82 |
+
</geometry>
|
| 83 |
+
</visual>
|
| 84 |
+
<visual name="base_body_6">
|
| 85 |
+
<origin xyz="0 0 0"/>
|
| 86 |
+
<geometry>
|
| 87 |
+
<mesh filename="textured_objs/original_3.obj"/>
|
| 88 |
+
</geometry>
|
| 89 |
+
</visual>
|
| 90 |
+
<visual name="base_body_6">
|
| 91 |
+
<origin xyz="0 0 0"/>
|
| 92 |
+
<geometry>
|
| 93 |
+
<mesh filename="textured_objs/original_2.obj"/>
|
| 94 |
+
</geometry>
|
| 95 |
+
</visual>
|
| 96 |
+
<visual name="base_body_6">
|
| 97 |
+
<origin xyz="0 0 0"/>
|
| 98 |
+
<geometry>
|
| 99 |
+
<mesh filename="textured_objs/original_8.obj"/>
|
| 100 |
+
</geometry>
|
| 101 |
+
</visual>
|
| 102 |
+
<visual name="base_body_6">
|
| 103 |
+
<origin xyz="0 0 0"/>
|
| 104 |
+
<geometry>
|
| 105 |
+
<mesh filename="textured_objs/original_9.obj"/>
|
| 106 |
+
</geometry>
|
| 107 |
+
</visual>
|
| 108 |
+
<visual name="base_body_6">
|
| 109 |
+
<origin xyz="0 0 0"/>
|
| 110 |
+
<geometry>
|
| 111 |
+
<mesh filename="textured_objs/original_5.obj"/>
|
| 112 |
+
</geometry>
|
| 113 |
+
</visual>
|
| 114 |
+
<visual name="base_body_6">
|
| 115 |
+
<origin xyz="0 0 0"/>
|
| 116 |
+
<geometry>
|
| 117 |
+
<mesh filename="textured_objs/original_6.obj"/>
|
| 118 |
+
</geometry>
|
| 119 |
+
</visual>
|
| 120 |
+
<visual name="base_body_6">
|
| 121 |
+
<origin xyz="0 0 0"/>
|
| 122 |
+
<geometry>
|
| 123 |
+
<mesh filename="textured_objs/original_7.obj"/>
|
| 124 |
+
</geometry>
|
| 125 |
+
</visual>
|
| 126 |
+
<visual name="base_body_6">
|
| 127 |
+
<origin xyz="0 0 0"/>
|
| 128 |
+
<geometry>
|
| 129 |
+
<mesh filename="textured_objs/original_1.obj"/>
|
| 130 |
+
</geometry>
|
| 131 |
+
</visual>
|
| 132 |
+
<collision>
|
| 133 |
+
<origin xyz="0 0 0"/>
|
| 134 |
+
<geometry>
|
| 135 |
+
<mesh filename="textured_objs/original_4.obj"/>
|
| 136 |
+
</geometry>
|
| 137 |
+
</collision>
|
| 138 |
+
<collision>
|
| 139 |
+
<origin xyz="0 0 0"/>
|
| 140 |
+
<geometry>
|
| 141 |
+
<mesh filename="textured_objs/original_3.obj"/>
|
| 142 |
+
</geometry>
|
| 143 |
+
</collision>
|
| 144 |
+
<collision>
|
| 145 |
+
<origin xyz="0 0 0"/>
|
| 146 |
+
<geometry>
|
| 147 |
+
<mesh filename="textured_objs/original_2.obj"/>
|
| 148 |
+
</geometry>
|
| 149 |
+
</collision>
|
| 150 |
+
<collision>
|
| 151 |
+
<origin xyz="0 0 0"/>
|
| 152 |
+
<geometry>
|
| 153 |
+
<mesh filename="textured_objs/original_8.obj"/>
|
| 154 |
+
</geometry>
|
| 155 |
+
</collision>
|
| 156 |
+
<collision>
|
| 157 |
+
<origin xyz="0 0 0"/>
|
| 158 |
+
<geometry>
|
| 159 |
+
<mesh filename="textured_objs/original_9.obj"/>
|
| 160 |
+
</geometry>
|
| 161 |
+
</collision>
|
| 162 |
+
<collision>
|
| 163 |
+
<origin xyz="0 0 0"/>
|
| 164 |
+
<geometry>
|
| 165 |
+
<mesh filename="textured_objs/original_5.obj"/>
|
| 166 |
+
</geometry>
|
| 167 |
+
</collision>
|
| 168 |
+
<collision>
|
| 169 |
+
<origin xyz="0 0 0"/>
|
| 170 |
+
<geometry>
|
| 171 |
+
<mesh filename="textured_objs/original_6.obj"/>
|
| 172 |
+
</geometry>
|
| 173 |
+
</collision>
|
| 174 |
+
<collision>
|
| 175 |
+
<origin xyz="0 0 0"/>
|
| 176 |
+
<geometry>
|
| 177 |
+
<mesh filename="textured_objs/original_7.obj"/>
|
| 178 |
+
</geometry>
|
| 179 |
+
</collision>
|
| 180 |
+
<collision>
|
| 181 |
+
<origin xyz="0 0 0"/>
|
| 182 |
+
<geometry>
|
| 183 |
+
<mesh filename="textured_objs/original_1.obj"/>
|
| 184 |
+
</geometry>
|
| 185 |
+
</collision>
|
| 186 |
+
</link>
|
| 187 |
+
<joint name="joint_3" type="fixed">
|
| 188 |
+
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
|
| 189 |
+
<child link="link_3"/>
|
| 190 |
+
<parent link="base"/>
|
| 191 |
+
</joint>
|
| 192 |
+
</robot>
|
PartNetMobility/Safe/101593/mobility_v2.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id": 0, "parent": 3, "joint": "hinge", "name": "door", "parts": [{"id": 1, "name": "door"}], "jointData": {"axis": {"origin": [0.3819643254870551, 0.5491551062331053, 0.5493668750839127], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": 170, "noLimit": false}}}, {"id": 1, "parent": 0, "joint": "hinge", "name": "knob", "parts": [{"id": 2, "name": "switch"}], "jointData": {"axis": {"origin": [-0.249, 0.032, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 2, "parent": 0, "joint": "hinge", "name": "knob", "parts": [{"id": 5, "name": "switch"}], "jointData": {"axis": {"origin": [0.2152496364785898, 0.031595799634695707, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 3, "parent": -1, "joint": "heavy", "name": "base_body", "parts": [{"id": 6, "name": "base_body"}], "jointData": {}}]
|
PartNetMobility/Safe/101593/result.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"text": "Safe", "name": "Safe", "id": 0, "children": [{"text": "door", "name": "door", "id": 1, "objs": ["original-13", "original-10"]}, {"text": "switch", "name": "switch", "id": 2, "objs": ["original-12"]}, {"text": "switch", "name": "switch", "id": 5, "objs": ["original-11"]}, {"text": "base_body", "name": "base_body", "id": 6, "objs": ["original-4", "original-3", "original-2", "original-8", "original-9", "original-5", "original-6", "original-7", "original-1"]}]}]
|
PartNetMobility/Safe/101593/result_original.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id": 0, "name": "Safe", "text": "Safe", "children": [{"id": 1, "name": "door", "text": "door", "objs": ["original-13", "original-10"]}, {"id": 2, "name": "switch", "text": "switch", "objs": ["original-12"]}, {"id": 5, "name": "switch", "text": "switch", "objs": ["original-11"]}]}]
|
PartNetMobility/Safe/101593/semantics.txt
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
link_0 hinge door
|
| 2 |
+
link_1 hinge knob
|
| 3 |
+
link_2 hinge knob
|
| 4 |
+
link_3 heavy safe_body
|
PartNetMobility/Safe/101594/bounding_box.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"min": [-0.478687, -0.498719, -0.580447], "max": [0.454615, 0.501508, 0.943753]}
|