Add files using upload-large-folder tool

PartNetMobility/Scissors/10449/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.975138, -0.015779, -0.473873], "max": [0.907635, 0.015479, 0.511794]}

PartNetMobility/Scissors/10449/meta.json

@@ -0,0 +1 @@
+{"model_id": "1c2f450311ebe37a95f577622f465c85", "anno_id": "10449", "user_id": "chuangda014", "time_in_sec": "214", "version": "4", "model_cat": "Scissors"}

PartNetMobility/Scissors/10449/mobility.urdf

@@ -0,0 +1,92 @@
+<?xml version="1.0" ?>
+<robot name="partnet_1c2f450311ebe37a95f577622f465c85">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="blade_5">
+			<origin xyz="-0.006112207895012212 -0.015478999999999798 -0.010956438587861106"/>
+			<geometry>
+				<mesh filename="textured_objs/new_5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle_6">
+			<origin xyz="-0.006112207895012212 -0.015478999999999798 -0.010956438587861106"/>
+			<geometry>
+				<mesh filename="textured_objs/new_4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle_6">
+			<origin xyz="-0.006112207895012212 -0.015478999999999798 -0.010956438587861106"/>
+			<geometry>
+				<mesh filename="textured_objs/new_3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.006112207895012212 -0.015478999999999798 -0.010956438587861106"/>
+			<geometry>
+				<mesh filename="textured_objs/new_5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.006112207895012212 -0.015478999999999798 -0.010956438587861106"/>
+			<geometry>
+				<mesh filename="textured_objs/new_4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.006112207895012212 -0.015478999999999798 -0.010956438587861106"/>
+			<geometry>
+				<mesh filename="textured_objs/new_3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.006112207895012212 0.015478999999999798 0.010956438587861106"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.5780530482605221" upper="1.2629202467430969"/>
+	</joint>
+	<link name="link_1">
+		<visual name="blade_7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle_8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle_8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>

PartNetMobility/Scissors/10449/mobility_v2.json

@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"blade_handle_set","parts":[{"id":5,"name":"blade","children":[]},{"id":6,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0.006112207895012212,0.015478999999999798,0.010956438587861106],"direction":[0,1,0]},"limit":{"a":-33.120000000000005,"b":72.36,"noLimit":false}}},{"id":1,"parent":-1,"joint":"free","name":"blade_handle_set","parts":[{"id":7,"name":"blade","children":[]},{"id":8,"name":"handle","children":[]}],"jointData":{}}]

PartNetMobility/Scissors/10449/result.json

@@ -0,0 +1 @@
+[{"text": "Scissors", "children": [{"text": "Blade Handle Set", "children": [{"text": "Blade", "objs": ["new-5"], "id": 5, "name": "blade"}, {"text": "Handle", "objs": ["new-4", "new-3"], "id": 6, "name": "handle"}], "id": 1, "name": "blade_handle_set"}, {"text": "Blade Handle Set", "children": [{"text": "Blade", "objs": ["new-6"], "id": 7, "name": "blade"}, {"text": "Handle", "objs": ["new-1", "new-7"], "id": 8, "name": "handle"}], "id": 2, "name": "blade_handle_set"}], "id": 0, "name": "scissors"}]

PartNetMobility/Scissors/10449/result_after_merging.json

@@ -0,0 +1 @@
+[{"id": 0, "objs": ["new-5", "new-4", "new-3", "new-6", "new-1", "new-7"], "ori_id": 0, "children": [{"id": 1, "objs": ["new-5", "new-4", "new-3"], "ori_id": 1, "children": [{"id": 2, "text": "blade", "name": "blade", "ori_id": 5, "objs": ["new-5"]}, {"id": 3, "text": "handle", "name": "handle", "ori_id": 6, "objs": ["new-4", "new-3"]}], "text": "blade_handle_set", "name": "blade_handle_set"}, {"id": 4, "objs": ["new-6", "new-1", "new-7"], "ori_id": 2, "children": [{"id": 5, "text": "blade", "name": "blade", "ori_id": 7, "objs": ["new-6"]}, {"id": 6, "text": "handle", "name": "handle", "ori_id": 8, "objs": ["new-1", "new-7"]}], "text": "blade_handle_set", "name": "blade_handle_set"}], "text": "scissors", "name": "scissors"}]

PartNetMobility/Scissors/10449/semantics.txt

@@ -0,0 +1,2 @@
+link_0 hinge leg
+link_1 free leg

PartNetMobility/Scissors/10449/tree_hier.html

@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 scissors Scissors</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 blade_handle_set Blade Handle Set</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>2 blade_handle_set Blade Handle Set</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td></tr><tr><td><p>5 blade Blade</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 handle Handle</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>7 blade Blade</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 handle Handle</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td></tr></table></body></html>

PartNetMobility/Scissors/10449/tree_hier_after_merging.html

@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 scissors scissors</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 blade_handle_set blade_handle_set</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>4 blade_handle_set blade_handle_set</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 blade blade</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 handle handle</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>5 blade blade</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 handle handle</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td></tr></table></body></html>

PartNetMobility/Scissors/10450/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-1.015726, -0.09229, -0.468665], "max": [0.786027, 0.151516, 0.454018]}

PartNetMobility/Scissors/10450/meta.json

@@ -0,0 +1 @@
+{"model_id": "1133b046-84e1-40d4-ab94-548fe59fb8f0", "anno_id": "10450", "user_id": "chuangda016", "time_in_sec": "508", "version": "5", "model_cat": "Scissors"}

PartNetMobility/Scissors/10450/mobility.urdf

@@ -0,0 +1,260 @@
+<?xml version="1.0" ?>
+<robot name="partnet_1133b046_84e1_40d4_ab94_548fe59fb8f0">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="other_leaf_13">
+			<origin xyz="0.2005842114635701 0.02750199361465766 0.012073427209372878"/>
+			<geometry>
+				<mesh filename="textured_objs/original_10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf_13">
+			<origin xyz="0.2005842114635701 0.02750199361465766 0.012073427209372878"/>
+			<geometry>
+				<mesh filename="textured_objs/original_8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf_13">
+			<origin xyz="0.2005842114635701 0.02750199361465766 0.012073427209372878"/>
+			<geometry>
+				<mesh filename="textured_objs/original_9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="blade_4">
+			<origin xyz="0.2005842114635701 0.02750199361465766 0.012073427209372878"/>
+			<geometry>
+				<mesh filename="textured_objs/original_4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="blade_4">
+			<origin xyz="0.2005842114635701 0.02750199361465766 0.012073427209372878"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle_5">
+			<origin xyz="0.2005842114635701 0.02750199361465766 0.012073427209372878"/>
+			<geometry>
+				<mesh filename="textured_objs/original_26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle_5">
+			<origin xyz="0.2005842114635701 0.02750199361465766 0.012073427209372878"/>
+			<geometry>
+				<mesh filename="textured_objs/original_27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle_5">
+			<origin xyz="0.2005842114635701 0.02750199361465766 0.012073427209372878"/>
+			<geometry>
+				<mesh filename="textured_objs/original_28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.2005842114635701 0.02750199361465766 0.012073427209372878"/>
+			<geometry>
+				<mesh filename="textured_objs/original_10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.2005842114635701 0.02750199361465766 0.012073427209372878"/>
+			<geometry>
+				<mesh filename="textured_objs/original_8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.2005842114635701 0.02750199361465766 0.012073427209372878"/>
+			<geometry>
+				<mesh filename="textured_objs/original_9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.2005842114635701 0.02750199361465766 0.012073427209372878"/>
+			<geometry>
+				<mesh filename="textured_objs/original_4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.2005842114635701 0.02750199361465766 0.012073427209372878"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.2005842114635701 0.02750199361465766 0.012073427209372878"/>
+			<geometry>
+				<mesh filename="textured_objs/original_26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.2005842114635701 0.02750199361465766 0.012073427209372878"/>
+			<geometry>
+				<mesh filename="textured_objs/original_27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.2005842114635701 0.02750199361465766 0.012073427209372878"/>
+			<geometry>
+				<mesh filename="textured_objs/original_28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.2005842114635701 -0.02750199361465766 -0.012073427209372878"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.1759291886010284" upper="-0.0"/>
+	</joint>
+	<link name="link_1">
+		<visual name="screw_3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="screw_3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="screw_3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="screw_3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf_11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf_11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf_11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="blade_6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="blade_6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle_7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle_7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle_7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>

PartNetMobility/Scissors/10450/mobility_v2.json

@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"handle","parts":[{"id":13,"name":"other_leaf"},{"id":4,"name":"blade"},{"id":5,"name":"handle"}],"jointData":{"axis":{"origin":[-0.2005842114635701,-0.02750199361465766,-0.012073427209372878],"direction":[0,1,0]},"limit":{"a":10.08,"b":0,"noLimit":false}}},{"id":1,"parent":-1,"joint":"free","name":"screw","parts":[{"id":3,"name":"screw"},{"id":11,"name":"other_leaf"},{"id":6,"name":"blade"},{"id":7,"name":"handle"}],"jointData":{}}]

PartNetMobility/Scissors/10450/result.json

@@ -0,0 +1 @@
+[{"text": "Scissors", "children": [{"text": "Blade Handle Set", "children": [{"text": "Blade", "objs": ["original-23", "original-22"], "id": 6, "name": "blade"}, {"text": "Handle", "objs": ["original-18", "original-20", "original-19"], "id": 7, "name": "handle"}], "id": 1, "name": "blade_handle_set"}, {"text": "Blade Handle Set", "children": [{"text": "Blade", "objs": ["original-4", "original-3"], "id": 4, "name": "blade"}, {"text": "Handle", "objs": ["original-26", "original-27", "original-28"], "id": 5, "name": "handle"}], "id": 2, "name": "blade_handle_set"}, {"text": "Screw", "objs": ["original-1", "original-24", "original-16", "original-5"], "id": 3, "name": "screw"}, {"text": "Securing clip (other)", "children": [{"text": "other_leaf", "objs": ["original-15", "original-13", "original-14"], "id": 11, "name": "other_leaf"}], "id": 8, "name": "other"}, {"text": "Securing clip (other)", "children": [{"text": "other_leaf", "objs": ["original-10", "original-8", "original-9"], "id": 13, "name": "other_leaf"}], "id": 12, "name": "other"}], "id": 0, "name": "scissors"}]

PartNetMobility/Scissors/10450/result_after_merging.json

@@ -0,0 +1 @@
+[{"ori_id": 0, "id": 0, "children": [{"ori_id": 1, "id": 1, "children": [{"ori_id": 6, "id": 2, "objs": ["original-23", "original-22"], "name": "blade", "text": "blade"}, {"ori_id": 7, "id": 3, "objs": ["original-18", "original-20", "original-19"], "name": "handle", "text": "handle"}], "objs": ["original-23", "original-22", "original-18", "original-20", "original-19"], "name": "blade_handle_set", "text": "blade_handle_set"}, {"ori_id": 2, "id": 4, "children": [{"ori_id": 4, "id": 5, "objs": ["original-4", "original-3"], "name": "blade", "text": "blade"}, {"ori_id": 5, "id": 6, "objs": ["original-26", "original-27", "original-28"], "name": "handle", "text": "handle"}], "objs": ["original-4", "original-3", "original-26", "original-27", "original-28"], "name": "blade_handle_set", "text": "blade_handle_set"}, {"ori_id": 3, "id": 7, "objs": ["original-1", "original-24", "original-16", "original-5"], "name": "screw", "text": "screw"}], "objs": ["original-23", "original-22", "original-18", "original-20", "original-19", "original-4", "original-3", "original-26", "original-27", "original-28", "original-1", "original-24", "original-16", "original-5", "original-15", "original-13", "original-14", "original-10", "original-8", "original-9"], "name": "scissors", "text": "scissors"}]

PartNetMobility/Scissors/10450/semantics.txt

@@ -0,0 +1,2 @@
+link_0 hinge leg
+link_1 free leg

PartNetMobility/Scissors/10450/tree_hier.html

@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 scissors Scissors</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 blade_handle_set Blade Handle Set</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>2 blade_handle_set Blade Handle Set</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>3 screw Screw</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td><p>8 other Securing clip (other)</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>12 other Securing clip (other)</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td></tr><tr><td><p>6 blade Blade</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 handle Handle</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 blade Blade</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 handle Handle</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>11 other_leaf other_leaf</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>13 other_leaf other_leaf</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td></tr></table></body></html>

PartNetMobility/Scissors/10450/tree_hier_after_merging.html

@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 scissors scissors</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 blade_handle_set blade_handle_set</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>4 blade_handle_set blade_handle_set</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>7 screw screw</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 blade blade</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 handle handle</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>5 blade blade</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 handle handle</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td></tr></table></body></html>

PartNetMobility/Scissors/10495/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-1.012054, -0.025924, -0.487872], "max": [0.596837, 0.026597, 0.441846]}

PartNetMobility/Scissors/10495/meta.json

@@ -0,0 +1 @@
+{"model_id": "3bba19a52cbe211cb458c00230942e4e", "anno_id": "10495", "user_id": "chuangda014", "time_in_sec": "102", "version": "2", "model_cat": "Scissors"}

PartNetMobility/Scissors/10495/mobility.urdf

@@ -0,0 +1,92 @@
+<?xml version="1.0" ?>
+<robot name="partnet_3bba19a52cbe211cb458c00230942e4e">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="blade_6">
+			<origin xyz="0.23275055403563558 0 -0.011401075312618584"/>
+			<geometry>
+				<mesh filename="textured_objs/new_1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle_7">
+			<origin xyz="0.23275055403563558 0 -0.011401075312618584"/>
+			<geometry>
+				<mesh filename="textured_objs/original_6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.23275055403563558 0 -0.011401075312618584"/>
+			<geometry>
+				<mesh filename="textured_objs/new_1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.23275055403563558 0 -0.011401075312618584"/>
+			<geometry>
+				<mesh filename="textured_objs/original_6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.23275055403563558 0 0.011401075312618584"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.5969026041820605" upper="0.0"/>
+	</joint>
+	<link name="link_1">
+		<visual name="screw_3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="screw_3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="blade_4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>

PartNetMobility/Scissors/10495/mobility_v2.json

@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"blade_handle_set","parts":[{"id":6,"name":"blade","children":[]},{"id":7,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[-0.23275055403563558,0,0.011401075312618584],"direction":[0,1,0]},"limit":{"a":-34.19999999999999,"b":0,"noLimit":false}}},{"id":1,"parent":-1,"joint":"free","name":"screw","parts":[{"id":3,"name":"screw","children":[]},{"id":4,"name":"blade","children":[]},{"id":5,"name":"handle","children":[]}],"jointData":{}}]

PartNetMobility/Scissors/10495/result.json

@@ -0,0 +1 @@
+[{"text": "Scissors", "children": [{"text": "Blade Handle Set", "children": [{"text": "Blade", "objs": ["new-1"], "id": 6, "name": "blade"}, {"text": "Handle", "objs": ["original-6"], "id": 7, "name": "handle"}], "id": 1, "name": "blade_handle_set"}, {"text": "Blade Handle Set", "children": [{"text": "Blade", "objs": ["new-3"], "id": 4, "name": "blade"}, {"text": "Handle", "objs": ["original-3"], "id": 5, "name": "handle"}], "id": 2, "name": "blade_handle_set"}, {"text": "Screw", "objs": ["new-0", "new-2"], "id": 3, "name": "screw"}], "id": 0, "name": "scissors"}]

PartNetMobility/Scissors/10495/result_after_merging.json

@@ -0,0 +1 @@
+[{"text": "scissors", "objs": ["new-1", "original-6", "new-3", "original-3", "new-0", "new-2"], "id": 0, "children": [{"text": "blade_handle_set", "objs": ["new-1", "original-6"], "id": 1, "children": [{"text": "blade", "ori_id": 6, "objs": ["new-1"], "name": "blade", "id": 2}, {"text": "handle", "ori_id": 7, "objs": ["original-6"], "name": "handle", "id": 3}], "name": "blade_handle_set", "ori_id": 1}, {"text": "blade_handle_set", "objs": ["new-3", "original-3"], "id": 4, "children": [{"text": "blade", "ori_id": 4, "objs": ["new-3"], "name": "blade", "id": 5}, {"text": "handle", "ori_id": 5, "objs": ["original-3"], "name": "handle", "id": 6}], "name": "blade_handle_set", "ori_id": 2}, {"text": "screw", "ori_id": 3, "objs": ["new-0", "new-2"], "name": "screw", "id": 7}], "name": "scissors", "ori_id": 0}]

PartNetMobility/Scissors/10495/semantics.txt

@@ -0,0 +1,2 @@
+link_0 hinge leg
+link_1 free leg

PartNetMobility/Scissors/10495/tree_hier.html

@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 scissors Scissors</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 blade_handle_set Blade Handle Set</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>2 blade_handle_set Blade Handle Set</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>3 screw Screw</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td></tr><tr><td><p>6 blade Blade</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 handle Handle</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 blade Blade</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 handle Handle</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td></tr></table></body></html>

PartNetMobility/Scissors/10495/tree_hier_after_merging.html

@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 scissors scissors</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 blade_handle_set blade_handle_set</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>4 blade_handle_set blade_handle_set</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>7 screw screw</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 blade blade</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 handle handle</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>5 blade blade</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 handle handle</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td></tr></table></body></html>

PartNetMobility/Scissors/10499/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-1.016696, -0.021123, -0.297498], "max": [0.60238, 0.021764, 0.311282]}

PartNetMobility/Scissors/10499/meta.json

@@ -0,0 +1 @@
+{"model_id": "3e01d939-a8a8-4644-bcc5-f38a90a6ba78", "anno_id": "10499", "user_id": "chuangda014", "time_in_sec": "322", "version": "4", "model_cat": "Scissors"}

PartNetMobility/Scissors/10499/mobility.urdf

@@ -0,0 +1,128 @@
+<?xml version="1.0" ?>
+<robot name="partnet_3e01d939_a8a8_4644_bcc5_f38a90a6ba78">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="blade_3">
+			<origin xyz="0.23124759946417 -0.021764000000001005 0.004993553005931078"/>
+			<geometry>
+				<mesh filename="textured_objs/new_5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="blade_3">
+			<origin xyz="0.23124759946417 -0.021764000000001005 0.004993553005931078"/>
+			<geometry>
+				<mesh filename="textured_objs/new_8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle_4">
+			<origin xyz="0.23124759946417 -0.021764000000001005 0.004993553005931078"/>
+			<geometry>
+				<mesh filename="textured_objs/new_9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle_4">
+			<origin xyz="0.23124759946417 -0.021764000000001005 0.004993553005931078"/>
+			<geometry>
+				<mesh filename="textured_objs/new_4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.23124759946417 -0.021764000000001005 0.004993553005931078"/>
+			<geometry>
+				<mesh filename="textured_objs/new_5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.23124759946417 -0.021764000000001005 0.004993553005931078"/>
+			<geometry>
+				<mesh filename="textured_objs/new_8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.23124759946417 -0.021764000000001005 0.004993553005931078"/>
+			<geometry>
+				<mesh filename="textured_objs/new_9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.23124759946417 -0.021764000000001005 0.004993553005931078"/>
+			<geometry>
+				<mesh filename="textured_objs/new_4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.23124759946417 0.021764000000001005 -0.004993553005931078"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.0" upper="0.7099999397112934"/>
+	</joint>
+	<link name="link_1">
+		<visual name="screw_7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="blade_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="blade_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle_6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle_6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>

PartNetMobility/Scissors/10499/mobility_v2.json

@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"blade_handle_set","parts":[{"id":3,"name":"blade","children":[]},{"id":4,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[-0.23124759946417,0.021764000000001005,-0.004993553005931078],"direction":[0,1,0]},"limit":{"a":0,"b":-40.68000000000001,"noLimit":false}}},{"id":1,"parent":-1,"joint":"free","name":"screw","parts":[{"id":7,"name":"screw","children":[]},{"id":5,"name":"blade","children":[]},{"id":6,"name":"handle","children":[]}],"jointData":{}}]

PartNetMobility/Scissors/10499/result.json

@@ -0,0 +1 @@
+[{"text": "Scissors", "children": [{"text": "Blade Handle Set", "children": [{"text": "Blade", "objs": ["new-6", "new-10"], "id": 5, "name": "blade"}, {"text": "Handle", "objs": ["new-11", "new-2"], "id": 6, "name": "handle"}], "id": 1, "name": "blade_handle_set"}, {"text": "Blade Handle Set", "children": [{"text": "Blade", "objs": ["new-5", "new-8"], "id": 3, "name": "blade"}, {"text": "Handle", "objs": ["new-9", "new-4"], "id": 4, "name": "handle"}], "id": 2, "name": "blade_handle_set"}, {"text": "Screw", "objs": ["original-4"], "id": 7, "name": "screw"}], "id": 0, "name": "scissors"}]

PartNetMobility/Scissors/10499/result_after_merging.json

@@ -0,0 +1 @@
+[{"children": [{"children": [{"text": "blade", "ori_id": 5, "name": "blade", "id": 2, "objs": ["new-6", "new-10"]}, {"text": "handle", "ori_id": 6, "name": "handle", "id": 3, "objs": ["new-11", "new-2"]}], "name": "blade_handle_set", "id": 1, "text": "blade_handle_set", "ori_id": 1, "objs": ["new-6", "new-10", "new-11", "new-2"]}, {"children": [{"text": "blade", "ori_id": 3, "name": "blade", "id": 5, "objs": ["new-5", "new-8"]}, {"text": "handle", "ori_id": 4, "name": "handle", "id": 6, "objs": ["new-9", "new-4"]}], "name": "blade_handle_set", "id": 4, "text": "blade_handle_set", "ori_id": 2, "objs": ["new-5", "new-8", "new-9", "new-4"]}, {"text": "screw", "ori_id": 7, "name": "screw", "id": 7, "objs": ["original-4"]}], "name": "scissors", "id": 0, "text": "scissors", "ori_id": 0, "objs": ["new-6", "new-10", "new-11", "new-2", "new-5", "new-8", "new-9", "new-4", "original-4"]}]

PartNetMobility/Scissors/10499/semantics.txt

@@ -0,0 +1,2 @@
+link_0 hinge leg
+link_1 free leg

PartNetMobility/Scissors/10499/tree_hier.html

@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 scissors Scissors</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 blade_handle_set Blade Handle Set</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>2 blade_handle_set Blade Handle Set</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>7 screw Screw</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td></tr><tr><td><p>5 blade Blade</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 handle Handle</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>3 blade Blade</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 handle Handle</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td></tr></table></body></html>

PartNetMobility/Scissors/10499/tree_hier_after_merging.html

@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 scissors scissors</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 blade_handle_set blade_handle_set</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>4 blade_handle_set blade_handle_set</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>7 screw screw</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 blade blade</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 handle handle</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>5 blade blade</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 handle handle</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td></tr></table></body></html>

PartNetMobility/Scissors/10502/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.971688, -0.028571, -0.629762], "max": [0.655559, 0.038739, 0.576362]}

PartNetMobility/Scissors/10502/meta.json

@@ -0,0 +1 @@
+{"model_id": "51e8f39e13810eb3467ca2ad6571afff", "anno_id": "10502", "user_id": "chuangda014", "time_in_sec": "36", "version": "3", "model_cat": "Scissors"}

PartNetMobility/Scissors/10502/mobility.urdf

@@ -0,0 +1,92 @@
+<?xml version="1.0" ?>
+<robot name="partnet_51e8f39e13810eb3467ca2ad6571afff">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="blade_4">
+			<origin xyz="-0.01692144335146522 0 0.0011744420559576712"/>
+			<geometry>
+				<mesh filename="textured_objs/original_6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle_5">
+			<origin xyz="-0.01692144335146522 0 0.0011744420559576712"/>
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.01692144335146522 0 0.0011744420559576712"/>
+			<geometry>
+				<mesh filename="textured_objs/original_6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.01692144335146522 0 0.0011744420559576712"/>
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.01692144335146522 0 -0.0011744420559576712"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.6723008278682154" upper="0.3518583772020568"/>
+	</joint>
+	<link name="link_1">
+		<visual name="screw_3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="screw_3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="blade_6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle_7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>

PartNetMobility/Scissors/10502/mobility_v2.json

@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"blade_handle_set","parts":[{"id":4,"name":"blade","children":[]},{"id":5,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0.01692144335146522,0,-0.0011744420559576712],"direction":[0,1,0]},"limit":{"a":-38.51999999999998,"b":20.16,"noLimit":false}}},{"id":1,"parent":-1,"joint":"free","name":"screw","parts":[{"id":3,"name":"screw","children":[]},{"id":6,"name":"blade","children":[]},{"id":7,"name":"handle","children":[]}],"jointData":{}}]

PartNetMobility/Scissors/10502/parts_render/0.txt

@@ -0,0 +1 @@
+0 scissors Scissors

PartNetMobility/Scissors/10502/parts_render/1.txt

@@ -0,0 +1 @@
+1 blade_handle_set Blade Handle Set

PartNetMobility/Scissors/10502/parts_render/2.txt

@@ -0,0 +1 @@
+2 blade_handle_set Blade Handle Set

PartNetMobility/Scissors/10502/parts_render/3.txt

@@ -0,0 +1 @@
+3 screw Screw

PartNetMobility/Scissors/10502/parts_render/4.txt

@@ -0,0 +1 @@
+4 blade Blade

PartNetMobility/Scissors/10502/parts_render/5.txt

@@ -0,0 +1 @@
+5 handle Handle

PartNetMobility/Scissors/10502/parts_render/6.txt

@@ -0,0 +1 @@
+6 blade Blade

PartNetMobility/Scissors/10502/parts_render/7.txt

@@ -0,0 +1 @@
+7 handle Handle

PartNetMobility/Scissors/10502/parts_render_after_merging/0.txt

@@ -0,0 +1 @@
+0 scissors scissors

PartNetMobility/Scissors/10502/parts_render_after_merging/1.txt

@@ -0,0 +1 @@
+1 blade_handle_set blade_handle_set