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a/objects/box/mobility.urdf b/objects/box/mobility.urdf new file mode 100644 index 0000000000000000000000000000000000000000..964d0ddc0600adb0c87109e3e049ffacbb2aea73 --- /dev/null +++ b/objects/box/mobility.urdf @@ -0,0 +1,719 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+[{"id":0,"parent":4,"joint":"hinge","name":"handle","parts":[{"id":12,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[-0.805685986002324,0.26472815949389517,0],"direction":[0,0,1]},"limit":{"a":0,"b":-180,"noLimit":false}}},{"id":1,"parent":4,"joint":"hinge","name":"handle","parts":[{"id":13,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0.7863448306206458,0.2759433104106115,0],"direction":[0,0,1]},"limit":{"a":0,"b":180,"noLimit":false}}},{"id":2,"parent":4,"joint":"hinge","name":"lid_surface","parts":[{"id":28,"name":"lid_surface","children":[]}],"jointData":{"axis":{"origin":[0,0.28946216478130826,-0.460412724791655],"direction":[1,0,0]},"limit":{"a":0,"b":-180,"noLimit":false}}},{"id":3,"parent":2,"joint":"hinge","name":"buckle","parts":[{"id":30,"name":"buckle","children":[]}],"jointData":{"axis":{"origin":[0,0.3679786514430732,0.4514439143582351],"direction":[1,0,0]},"limit":{"a":0,"b":-101.88,"noLimit":false}}},{"id":4,"parent":-1,"joint":"heavy","name":"chest_box","parts":[{"id":10,"name":"chest_box","children":[]},{"id":21,"name":"other_leaf","children":[]},{"id":20,"name":"other_leaf","children":[]},{"id":19,"name":"other_leaf","children":[]},{"id":29,"name":"hinge","children":[]},{"id":23,"name":"base_side_panel","children":[]},{"id":24,"name":"base_side_panel","children":[]},{"id":25,"name":"base_side_panel","children":[]},{"id":26,"name":"base_side_panel","children":[]},{"id":27,"name":"base_side_panel","children":[]}],"jointData":{}}] \ No newline at end of file diff --git a/objects/box/model_data.json b/objects/box/model_data.json new file mode 100644 index 0000000000000000000000000000000000000000..f4c4a9755e182c2f54298b5c1dab9836a24a406b --- /dev/null +++ b/objects/box/model_data.json @@ -0,0 +1,227 @@ +{ + "center": [ + 1.4852396398396155e-07, + -4.694543494620984e-07, + 0.3801412642964436 + ], + "extents": [ + 1.0000020791712079, + 0.7604108783138809, + 0.760284606945514 + ], + "scale": [ + 0.25, + 0.25, + 0.25 + ], + "target_pose": [ + [ + [ + 1.0, + 0.0, + 0.0, + 0.1 + ], + [ + 0.0, + 1.0, + 0.0, + -0.4 + ], + [ + 0.0, + 0.0, + 1.0, + 0.3 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + ], + "contact_points_pose": [ + [ + [ + -0.4999999999999998, + 0.8660254037844387, + -5.3028761936245346e-17, + 0.32 + ], + [ + 0.0, + 6.123233995736766e-17, + 1.0, + 0.17 + ], + [ + 0.8660254037844387, + 0.4999999999999998, + -3.061616997868382e-17, + 0.3 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.5000000000000001, + -0.8660254037844386, + -5.302876193624534e-17, + -0.32 + ], + [ + 0.0, + 6.123233995736766e-17, + -1.0, + 0.1 + ], + [ + 0.8660254037844386, + 0.5000000000000001, + 3.0616169978683836e-17, + 0.3 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 6.123233995736766e-17, + 6.123233995736766e-17, + -1.0, + -0.4 + ], + [ + -1.0, + 3.749399456654644e-33, + -6.123233995736766e-17, + -0.08 + ], + [ + 0.0, + 1.0, + 6.123233995736766e-17, + 0.52 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + ], + "transform_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + -0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "functional_matrix": [ + [ + [ + 1.0, + 0.0, + 0.0, + 0.1 + ], + [ + 0.0, + 6.123233995736766e-17, + -1.0, + -0.4 + ], + [ + 0.0, + 1.0, + 6.123233995736766e-17, + 0.3 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + ], + "orientation_point": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.38020543915694044 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "contact_points_group": [ + [ + 0 + ] + ], + "contact_points_mask": [ + true + ], + "contact_points_discription": [ + "Grasping the side of the camera.", + "Grasping the side of the camera.", + "Pointing the shutter." + ], + "target_point_discription": [ + "The center of the object." + ], + "functional_point_discription": [ + "" + ], + "orientation_point_discription": [ + "" + ] +} \ No newline at end of file diff --git a/objects/box/parts_render/0.png b/objects/box/parts_render/0.png new file mode 100644 index 0000000000000000000000000000000000000000..c7947a70932eafa88bcbe952b0a5cd4a60838396 --- /dev/null +++ b/objects/box/parts_render/0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3cd624051f67987bd4cac72f30d6da09b01dd88dac566edfce09a0446dfd1ca3 +size 23559 diff --git a/objects/box/parts_render/0.txt b/objects/box/parts_render/0.txt new file mode 100644 index 0000000000000000000000000000000000000000..000055119a8f586744ae4cc6685e399ee604f6b6 --- /dev/null +++ b/objects/box/parts_render/0.txt @@ -0,0 +1 @@ +0 storage_furniture Storage Furniture \ No newline at end of file diff --git a/objects/box/parts_render/10.png b/objects/box/parts_render/10.png new file mode 100644 index 0000000000000000000000000000000000000000..53946c8053b5d04a963ded5c8388857dec2b4b61 --- /dev/null +++ b/objects/box/parts_render/10.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39d27e28d1b459f1056987a6ca550c553878d10ea85b6cad96630caac9ee4652 +size 28462 diff --git a/objects/box/parts_render/10.txt b/objects/box/parts_render/10.txt new file mode 100644 index 0000000000000000000000000000000000000000..3aede45a9b3859043ae5382f9855bf1a56ce9e8e --- /dev/null +++ b/objects/box/parts_render/10.txt @@ -0,0 +1 @@ +10 chest_box Chest box \ No newline at end of file diff --git a/objects/box/parts_render/11.png b/objects/box/parts_render/11.png new file mode 100644 index 0000000000000000000000000000000000000000..f3846b29484fa8d3fa468fa82b20288e8e1cb608 --- /dev/null +++ b/objects/box/parts_render/11.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1122d2678069d61cc92bbc44d0b78bd2fcd2573f5903d1c0d138b12af3e3b793 +size 26008 diff --git a/objects/box/parts_render/11.txt b/objects/box/parts_render/11.txt new file mode 100644 index 0000000000000000000000000000000000000000..ecab6f70ffb660ecb1e0b97c7222635615a21ca6 --- /dev/null +++ b/objects/box/parts_render/11.txt @@ -0,0 +1 @@ +11 chest_base Chest Base \ No newline at end of file diff --git a/objects/box/parts_render/12.png b/objects/box/parts_render/12.png new file mode 100644 index 0000000000000000000000000000000000000000..d1aa30a46a7005514affc7c8d544378da3ea2fae --- /dev/null +++ b/objects/box/parts_render/12.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc52534c857a994c887a6106d01ef245561d0398add1c8ea9b418a81aa718136 +size 19777 diff --git a/objects/box/parts_render/12.txt b/objects/box/parts_render/12.txt new file mode 100644 index 0000000000000000000000000000000000000000..87e069ce6bd215d833bca9eb27b3f603535e7ca1 --- /dev/null +++ b/objects/box/parts_render/12.txt @@ -0,0 +1 @@ +12 handle Handle \ No newline at end of file diff --git a/objects/box/parts_render/13.png b/objects/box/parts_render/13.png new file mode 100644 index 0000000000000000000000000000000000000000..1893352ba309ddc708eee581839fd8f0c7da0711 --- /dev/null +++ b/objects/box/parts_render/13.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e7ea4c114d15f396f83e37c21500b832c9d081cca706d0f8e4ac2663c37d770 +size 19174 diff --git a/objects/box/parts_render/13.txt b/objects/box/parts_render/13.txt new file mode 100644 index 0000000000000000000000000000000000000000..5a060f292dc9c05b5bfcdff30e1b301d684e1537 --- /dev/null +++ b/objects/box/parts_render/13.txt @@ -0,0 +1 @@ +13 handle Handle \ No newline at end of file diff --git a/objects/box/parts_render/14.png b/objects/box/parts_render/14.png new file mode 100644 index 0000000000000000000000000000000000000000..ed767d386ec176f427ba97e9536fa7a021f49bc5 --- /dev/null +++ b/objects/box/parts_render/14.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21d1e68514a0e344305ad15f7b08efd490ecb24fc18fbeb2d42e5ba3b1e4e559 +size 18924 diff --git a/objects/box/parts_render/14.txt b/objects/box/parts_render/14.txt new file mode 100644 index 0000000000000000000000000000000000000000..65c1e6e8a1e02a0bb5e6427d23faf4365f2b510d --- /dev/null +++ b/objects/box/parts_render/14.txt @@ -0,0 +1 @@ +14 other bolt (other) \ No newline at end of file diff --git a/objects/box/parts_render/15.png b/objects/box/parts_render/15.png new file mode 100644 index 0000000000000000000000000000000000000000..6997907f962bedee720a77b238ff6c1541f54110 --- /dev/null +++ b/objects/box/parts_render/15.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d1c31bc5d26457c9311d50dbb2c6ce6c2c138fb51a4e6da07192c19d0e94cd8 +size 19146 diff --git a/objects/box/parts_render/15.txt b/objects/box/parts_render/15.txt new file mode 100644 index 0000000000000000000000000000000000000000..4ea8d6e9bcacc24ec7af59645830704d27117227 --- /dev/null +++ b/objects/box/parts_render/15.txt @@ -0,0 +1 @@ +15 other bolt (other) \ No newline at end of file diff --git a/objects/box/parts_render/16.png b/objects/box/parts_render/16.png new file mode 100644 index 0000000000000000000000000000000000000000..7fabb5ba8b2869a2843dd2988d3894ab0fdb6ed6 --- /dev/null +++ b/objects/box/parts_render/16.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78810ce5523b6e36d359d78d920218acdfa3f9e7c42eb056459693ab4436e97e +size 18747 diff --git a/objects/box/parts_render/16.txt b/objects/box/parts_render/16.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e9eefe12a5bd87a07d9191d098fc8a50f94f4bf --- /dev/null +++ b/objects/box/parts_render/16.txt @@ -0,0 +1 @@ +16 other bolt (other) \ No newline at end of file diff --git a/objects/box/parts_render/19.png b/objects/box/parts_render/19.png new file mode 100644 index 0000000000000000000000000000000000000000..7fabb5ba8b2869a2843dd2988d3894ab0fdb6ed6 --- /dev/null +++ b/objects/box/parts_render/19.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78810ce5523b6e36d359d78d920218acdfa3f9e7c42eb056459693ab4436e97e +size 18747 diff --git a/objects/box/parts_render/19.txt b/objects/box/parts_render/19.txt new file mode 100644 index 0000000000000000000000000000000000000000..ee89bbff8d69d3c48a34661f08cbf0a98f5fc81f --- /dev/null +++ b/objects/box/parts_render/19.txt @@ -0,0 +1 @@ +19 other_leaf other_leaf \ No newline at end of file diff --git a/objects/box/parts_render/20.png b/objects/box/parts_render/20.png new file mode 100644 index 0000000000000000000000000000000000000000..6997907f962bedee720a77b238ff6c1541f54110 --- /dev/null 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0000000000000000000000000000000000000000..8facd2c6895339e60c6c62579a3ad14f9eda03d8 --- /dev/null +++ b/objects/box/parts_render/21.txt @@ -0,0 +1 @@ +21 other_leaf other_leaf \ No newline at end of file diff --git a/objects/box/parts_render/22.png b/objects/box/parts_render/22.png new file mode 100644 index 0000000000000000000000000000000000000000..f3846b29484fa8d3fa468fa82b20288e8e1cb608 --- /dev/null +++ b/objects/box/parts_render/22.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1122d2678069d61cc92bbc44d0b78bd2fcd2573f5903d1c0d138b12af3e3b793 +size 26008 diff --git a/objects/box/parts_render/22.txt b/objects/box/parts_render/22.txt new file mode 100644 index 0000000000000000000000000000000000000000..7d415867bedd7ed6fb0132212e9213ae86cfa7e0 --- /dev/null +++ b/objects/box/parts_render/22.txt @@ -0,0 +1 @@ +22 panel_base Panel Base \ No newline at end of file diff --git a/objects/box/parts_render/23.png b/objects/box/parts_render/23.png new file mode 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"objs": ["original-35"], "id": 24, "name": "base_side_panel"}, {"text": "Base side panel", "objs": ["original-36"], "id": 25, "name": "base_side_panel"}, {"text": "Base side panel", "objs": ["original-38"], "id": 26, "name": "base_side_panel"}, {"text": "Base side panel", "objs": ["original-37"], "id": 27, "name": "base_side_panel"}], "id": 22, "name": "panel_base"}], "id": 11, "name": "chest_base"}, {"text": "Handle", "objs": ["original-60"], "id": 12, "name": "handle"}, {"text": "Handle", "objs": ["original-61"], "id": 13, "name": "handle"}, {"text": "bolt (other)", "children": [{"text": "other_leaf", "objs": ["original-25", "original-26", "original-27"], "id": 21, "name": "other_leaf"}], "id": 14, "name": "other"}, {"text": "bolt (other)", "children": [{"text": "other_leaf", "objs": ["original-30", "original-29", "original-31"], "id": 20, "name": "other_leaf"}], "id": 15, "name": "other"}, {"text": "bolt (other)", "children": [{"text": "other_leaf", "objs": ["original-22", "original-21", "original-23"], "id": 19, "name": "other_leaf"}], "id": 16, "name": "other"}], "id": 8, "name": "chest"}], "id": 0, "name": "storage_furniture"}] \ No newline at end of file diff --git a/objects/box/result_after_merging.json b/objects/box/result_after_merging.json new file mode 100644 index 0000000000000000000000000000000000000000..01671e48285386e68b42e6fc9745e76d102defab --- /dev/null +++ b/objects/box/result_after_merging.json @@ -0,0 +1 @@ +[{"text": "storage_furniture", "ori_id": 0, "name": "storage_furniture", "objs": ["original-15", "original-10", "original-33", "original-32", "original-18", "original-12", "original-11", "original-53", "original-54", "original-59", "original-57", "original-56", "original-58", "original-45", "original-42", "original-16", "original-1", "original-41", "original-49", "original-3", "original-48", "original-5", "original-19", "original-2", "original-13", "original-39", "original-4", "original-47", "original-7", "original-8", 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a/objects/box/textured_objs/original-16.mtl b/objects/box/textured_objs/original-16.mtl new file mode 100644 index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860 --- /dev/null +++ b/objects/box/textured_objs/original-16.mtl @@ -0,0 +1,8 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 +map_Kd ../images/texture_0.jpg + diff --git a/objects/box/textured_objs/original-16.obj b/objects/box/textured_objs/original-16.obj new file mode 100644 index 0000000000000000000000000000000000000000..017fd475b7e5e52d7896186c68c6f81b3c8d24d4 --- /dev/null +++ b/objects/box/textured_objs/original-16.obj @@ -0,0 +1,184 @@ +# SSTK version 0.8.0 +# 16 +mtllib original-16.mtl +o mid_brace2/mid_brace/mesh24/mesh24-geometry#mesh24-geometry +v -0.044984 0.285797 0.421453 +v 0.020565 0.285797 0.432378 +v 0.020565 0.285797 0.421453 +v -0.044984 0.285797 0.432378 +v 0.020565 -0.331455 0.421453 +v -0.055909 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20/40/2 +f 20/40/1 12/37/1 26/39/1 +f 26/39/2 5/36/2 12/37/2 +f 12/37/1 5/36/1 26/39/1 +f 13/24/2 23/33/2 27/30/2 +f 27/30/1 23/33/1 13/24/1 +f 16/13/3 14/38/3 28/41/3 +f 28/41/4 14/38/4 16/13/4 diff --git a/objects/box/textured_objs/original-17.mtl b/objects/box/textured_objs/original-17.mtl new file mode 100644 index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860 --- /dev/null +++ b/objects/box/textured_objs/original-17.mtl @@ -0,0 +1,8 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 +map_Kd ../images/texture_0.jpg + diff --git a/objects/box/textured_objs/original-17.obj b/objects/box/textured_objs/original-17.obj new file mode 100644 index 0000000000000000000000000000000000000000..2e5ce016684cc6523dabe35077c017c6e59a7411 --- /dev/null +++ b/objects/box/textured_objs/original-17.obj @@ -0,0 +1,201 @@ +# SSTK version 0.8.0 +# 17 +mtllib original-17.mtl +o 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22/36/4 19/9/4 +f 13/37/5 19/3/5 26/1/5 +f 26/1/6 19/3/6 13/37/6 +f 23/36/3 17/16/3 27/40/3 +f 27/40/4 17/16/4 23/36/4 +f 22/27/5 20/38/5 23/41/5 +f 23/41/6 20/38/6 22/27/6 +f 28/17/6 17/34/6 21/28/6 +f 21/28/5 17/34/5 28/17/5 +f 24/31/4 13/18/4 26/13/4 +f 26/13/3 13/18/3 24/31/3 +f 21/35/4 24/31/4 29/42/4 +f 29/42/3 24/31/3 21/35/3 +f 25/2/3 22/36/3 28/40/3 +f 28/40/4 22/36/4 25/2/4 +f 24/29/2 19/13/2 25/31/2 +f 25/31/1 19/13/1 24/29/1 +f 19/13/2 24/29/2 26/14/2 +f 26/14/1 24/29/1 19/13/1 +f 17/34/6 28/17/6 27/43/6 +f 27/43/5 28/17/5 17/34/5 +f 28/30/2 23/44/2 27/45/2 +f 27/45/1 23/44/1 28/30/1 +f 23/44/2 28/30/2 22/46/2 +f 22/46/1 28/30/1 23/44/1 +f 21/47/1 30/2/1 28/26/1 +f 28/26/2 30/2/2 21/47/2 +f 24/1/6 30/17/6 29/28/6 +f 29/28/5 30/17/5 24/1/5 +f 30/2/1 21/47/1 29/4/1 +f 29/4/2 21/47/2 30/2/2 +f 25/2/3 28/40/3 30/48/3 +f 30/48/4 28/40/4 25/2/4 +f 30/17/6 24/1/6 25/3/6 +f 25/3/5 24/1/5 30/17/5 diff --git a/objects/box/textured_objs/original-18.mtl b/objects/box/textured_objs/original-18.mtl new file mode 100644 index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860 --- /dev/null +++ b/objects/box/textured_objs/original-18.mtl @@ -0,0 +1,8 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 +map_Kd ../images/texture_0.jpg + diff --git a/objects/box/textured_objs/original-18.obj b/objects/box/textured_objs/original-18.obj new file mode 100644 index 0000000000000000000000000000000000000000..93338052304d32b5f818970a3fe25b1f11b86406 --- /dev/null +++ b/objects/box/textured_objs/original-18.obj @@ -0,0 +1,325 @@ +# SSTK version 0.8.0 +# 18 +mtllib original-18.mtl +o mid_support1/mid_support/mesh28/mesh28-geometry#mesh28-geometry +v -0.028714 0.285797 0.410529 +v -0.017789 0.285797 -0.419756 +v -0.017789 0.285797 0.410529 +v -0.028714 0.285797 -0.419756 +v -0.017789 0.285796 -0.436144 +v -0.017789 0.351345 0.410529 +v -0.028714 0.351345 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b/objects/box/textured_objs/original-30.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 0.8 0.19215686274509805 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/objects/box/textured_objs/original-30.obj b/objects/box/textured_objs/original-30.obj new file mode 100644 index 0000000000000000000000000000000000000000..6d956a7ad72a62ee1a92170d5b1730e0a0f1da71 --- /dev/null +++ b/objects/box/textured_objs/original-30.obj @@ -0,0 +1,1919 @@ +# SSTK version 0.8.0 +# 30 +mtllib original-30.mtl +o Group2/mesh31/mesh31-geometry#mesh31-geometry +v -0.775014 0.281229 -0.452531 +v -0.775009 0.278498 -0.456173 +v -0.775009 0.278498 -0.452531 +v -0.775014 0.281229 -0.456173 +v -0.792762 0.278498 -0.452531 +v -0.768869 0.271214 -0.452531 +v -0.757262 0.281229 -0.456173 +v -0.775014 0.282947 -0.454241 +v -0.768869 0.271214 -0.456173 +v -0.792762 0.278498 -0.456173 +v -0.790741 0.260635 -0.452531 +v -0.768776 0.271921 -0.452531 +v -0.791290 0.258618 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b/objects/box/textured_objs/original-4.mtl new file mode 100644 index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860 --- /dev/null +++ b/objects/box/textured_objs/original-4.mtl @@ -0,0 +1,8 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 +map_Kd ../images/texture_0.jpg + diff --git a/objects/box/textured_objs/original-4.obj b/objects/box/textured_objs/original-4.obj new file mode 100644 index 0000000000000000000000000000000000000000..2e443f2d7d0d16f6986286292d1f5d7a3bd137c5 --- /dev/null +++ b/objects/box/textured_objs/original-4.obj @@ -0,0 +1,187 @@ +# SSTK version 0.8.0 +# 4 +mtllib original-4.mtl +o left_right_side_post1/left_right_side_post/mesh9/mesh9-geometry#mesh9-geometry +v 0.785184 0.285797 0.410529 +v 0.774259 -0.331455 0.410529 +v 0.785184 -0.331455 0.410529 +v 0.774259 0.285797 0.410529 +v 0.785184 -0.331455 0.355905 +v 0.774259 0.285797 0.355905 +v 0.774259 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a/objects/box/textured_objs/original-41.mtl b/objects/box/textured_objs/original-41.mtl new file mode 100644 index 0000000000000000000000000000000000000000..041ddd31593bf50a03eed647c4b66808020b1198 --- /dev/null +++ b/objects/box/textured_objs/original-41.mtl @@ -0,0 +1,8 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 +map_Kd ../images/texture_1.jpg + diff --git a/objects/box/textured_objs/original-41.obj b/objects/box/textured_objs/original-41.obj new file mode 100644 index 0000000000000000000000000000000000000000..6d14e3ce13f5d9cd7f8a33ed08a739f7bc4927a3 --- /dev/null +++ b/objects/box/textured_objs/original-41.obj @@ -0,0 +1,246 @@ +# SSTK version 0.8.0 +# 41 +mtllib original-41.mtl +o front_back_boards1/front_back_boards/mesh46/mesh46-geometry#mesh46-geometry +v -0.055909 0.198398 0.415991 +v -0.055909 -0.331455 0.421453 +v -0.055909 -0.331455 0.415991 +v -0.055909 0.198398 0.421453 +v -0.722439 -0.331455 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file mode 100644 index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860 --- /dev/null +++ b/objects/box/textured_objs/original-48.mtl @@ -0,0 +1,8 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 +map_Kd ../images/texture_0.jpg + diff --git a/objects/box/textured_objs/original-48.obj b/objects/box/textured_objs/original-48.obj new file mode 100644 index 0000000000000000000000000000000000000000..7d2c12a53cc25f54458befca27993bc1f06eaa7f --- /dev/null +++ b/objects/box/textured_objs/original-48.obj @@ -0,0 +1,188 @@ +# SSTK version 0.8.0 +# 48 +mtllib original-48.mtl +o front_back_upper_support1/front_back_upper_support/mesh52/mesh52-geometry#mesh52-geometry +v -0.733364 0.285797 0.421454 +v -0.722439 0.285797 0.432379 +v -0.722439 0.285797 0.421454 +v -0.733364 0.285797 0.432379 +v -0.722439 0.285797 0.443303 +v -0.722439 0.209323 0.421454 +v -0.733364 0.209323 0.432379 +v -0.722439 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1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 +map_Kd ../images/texture_0.jpg + diff --git a/objects/box/textured_objs/original-8.obj b/objects/box/textured_objs/original-8.obj new file mode 100644 index 0000000000000000000000000000000000000000..a47f9ab2909d52a2934a425867a5dcd1412f5cc1 --- /dev/null +++ b/objects/box/textured_objs/original-8.obj @@ -0,0 +1,201 @@ +# SSTK version 0.8.0 +# 8 +mtllib original-8.mtl +o side_post3/side_post12/mesh11/mesh11-geometry#mesh11-geometry +v 0.785184 -0.331455 -0.452530 +v 0.697786 -0.331455 -0.452530 +v 0.785184 0.285797 -0.452530 +v 0.741485 -0.331455 -0.441606 +v 0.697786 0.285797 -0.452530 +v 0.785184 -0.331455 -0.419756 +v 0.774259 -0.331455 -0.430681 +v 0.708710 -0.331455 -0.441606 +v 0.774259 0.285797 -0.430681 +v 0.697786 0.285797 -0.441606 +v 0.785184 0.285797 -0.419756 +v 0.752410 -0.331455 -0.430681 +v 0.697786 -0.331455 -0.441606 +v 0.708710 -0.353304 -0.441606 +v 0.752410 0.285797 -0.430681 +v 0.774259 0.285797 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0.024306 0 +vt 0.027778 0.858347 +vt -0.013889 -0.030384 +vt 0.006944 -0.030384 +vt 0.003472 0.858347 +vt 0.024306 0.858347 +vt -0.013889 0.015192 +vt -0.003472 0.858347 +vt -0.006944 0 +vt -0.006944 -0.030384 +vt 0.024306 0.015192 +vt -0.003472 -0.030384 +vt -0.024306 0.015192 +vt 0.013889 0 +vt 0.013889 -0.030384 +vt 0.003472 -0.030384 +vt 0.024306 -0.030384 +vt -0.024306 0.858347 +vt 0.027778 0.015192 +vt -0.027778 0.015192 +vn 0 0 -1 +vn 0 0 1 +vn 0 -1 0 +vn 0 1 0 +vn 1 0 0 +vn -1 0 0 +usemtl material_0_0 +f 1/1/1 2/2/1 3/3/1 +f 3/3/2 2/2/2 1/1/2 +f 2/4/3 1/5/3 4/6/3 +f 4/6/4 1/5/4 2/4/4 +f 5/7/1 3/3/1 2/2/1 +f 2/2/2 3/3/2 5/7/2 +f 1/8/5 3/9/5 6/1/5 +f 6/1/6 3/9/6 1/8/6 +f 4/6/3 1/5/3 7/10/3 +f 7/10/4 1/5/4 4/6/4 +f 8/11/3 2/4/3 4/6/3 +f 4/6/4 2/4/4 8/11/4 +f 5/12/4 9/13/4 3/5/4 +f 3/5/3 9/13/3 5/12/3 +f 5/14/6 2/15/6 10/16/6 +f 10/16/5 2/15/5 5/14/5 +f 11/3/5 6/1/5 3/9/5 +f 3/9/6 6/1/6 11/3/6 +f 6/1/3 7/10/3 1/5/3 +f 1/5/4 7/10/4 6/1/4 +f 12/17/3 4/6/3 7/10/3 +f 7/10/4 4/6/4 12/17/4 +f 13/18/3 2/4/3 8/11/3 +f 8/11/4 2/4/4 13/18/4 +f 8/19/1 4/20/1 14/21/1 +f 14/21/2 4/20/2 8/19/2 +f 15/22/4 9/13/4 5/12/4 +f 5/12/3 9/13/3 15/22/3 +f 9/13/4 16/23/4 3/5/4 +f 3/5/3 16/23/3 9/13/3 +f 13/24/6 10/16/6 2/15/6 +f 2/15/5 10/16/5 13/24/5 +f 10/25/4 17/26/4 5/12/4 +f 5/12/3 17/26/3 10/25/3 +f 6/1/2 11/3/2 18/23/2 +f 18/23/1 11/3/1 6/1/1 +f 11/1/4 3/5/4 16/23/4 +f 16/23/3 3/5/3 11/1/3 +f 7/10/3 6/1/3 18/27/3 +f 18/27/4 6/1/4 7/10/4 +f 19/8/3 4/6/3 12/17/3 +f 12/17/4 4/6/4 19/8/4 +f 12/15/2 7/23/2 15/14/2 +f 15/14/1 7/23/1 12/15/1 +f 13/28/2 8/29/2 10/30/2 +f 10/30/1 8/29/1 13/28/1 +f 20/31/1 14/21/1 4/20/1 +f 4/20/2 14/21/2 20/31/2 +f 8/24/6 14/32/6 17/16/6 +f 17/16/5 14/32/5 8/24/5 +f 9/33/2 15/14/2 7/23/2 +f 7/23/1 15/14/1 9/33/1 +f 17/26/4 15/22/4 5/12/4 +f 5/12/3 15/22/3 17/26/3 +f 9/33/6 7/23/6 16/3/6 +f 16/3/5 7/23/5 9/33/5 +f 17/34/2 10/30/2 8/29/2 +f 8/29/1 10/30/1 17/34/1 +f 16/33/2 18/23/2 11/3/2 +f 11/3/1 18/23/1 16/33/1 +f 18/1/6 16/3/6 7/23/6 +f 7/23/5 16/3/5 18/1/5 +f 4/6/3 19/8/3 21/35/3 +f 21/35/4 19/8/4 4/6/4 +f 12/27/5 15/36/5 19/1/5 +f 19/1/6 15/36/6 12/27/6 +f 20/6/3 22/35/3 14/11/3 +f 14/11/4 22/35/4 20/6/4 +f 4/37/5 21/27/5 20/38/5 +f 20/38/6 21/27/6 4/37/6 +f 17/16/6 14/32/6 23/33/6 +f 23/33/5 14/32/5 17/16/5 +f 23/39/4 15/22/4 17/26/4 +f 17/26/3 15/22/3 23/39/3 +f 24/2/3 21/35/3 19/8/3 +f 19/8/4 21/35/4 24/2/4 +f 25/3/5 19/1/5 15/36/5 +f 15/36/6 19/1/6 25/3/6 +f 22/40/5 20/38/5 21/27/5 +f 21/27/6 20/38/6 22/40/6 +f 26/41/3 14/11/3 22/35/3 +f 22/35/4 14/11/4 26/41/4 +f 23/33/6 14/32/6 27/23/6 +f 27/23/5 14/32/5 23/33/5 +f 23/39/4 28/28/4 15/22/4 +f 15/22/3 28/28/3 23/39/3 +f 27/41/3 21/35/3 24/2/3 +f 24/2/4 21/35/4 27/41/4 +f 24/28/2 19/15/2 28/30/2 +f 28/30/1 19/15/1 24/28/1 +f 25/14/2 28/30/2 19/15/2 +f 19/15/1 28/30/1 25/14/1 +f 25/15/4 15/22/4 28/28/4 +f 28/28/3 15/22/3 25/15/3 +f 21/42/2 27/29/2 22/43/2 +f 22/43/1 27/29/1 21/42/1 +f 26/44/6 27/23/6 14/32/6 +f 14/32/5 27/23/5 26/44/5 +f 26/45/2 22/43/2 27/29/2 +f 27/29/1 22/43/1 26/45/1 +f 27/19/1 29/2/1 23/46/1 +f 23/46/2 29/2/2 27/19/2 +f 30/47/4 28/28/4 23/39/4 +f 23/39/3 28/28/3 30/47/3 +f 29/48/3 27/41/3 24/2/3 +f 24/2/4 27/41/4 29/48/4 +f 24/1/6 28/3/6 29/23/6 +f 29/23/5 28/3/5 24/1/5 +f 30/7/1 23/46/1 29/2/1 +f 29/2/2 23/46/2 30/7/2 +f 30/33/6 29/23/6 28/3/6 +f 28/3/5 29/23/5 30/33/5 diff --git a/objects/box/textured_objs/original-9.mtl b/objects/box/textured_objs/original-9.mtl new file mode 100644 index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860 --- /dev/null +++ b/objects/box/textured_objs/original-9.mtl @@ -0,0 +1,8 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 +map_Kd ../images/texture_0.jpg + diff --git a/objects/box/textured_objs/original-9.obj b/objects/box/textured_objs/original-9.obj new file mode 100644 index 0000000000000000000000000000000000000000..9a6b501c2d6cd45c0a312c33c3cec73139de6e78 --- /dev/null +++ b/objects/box/textured_objs/original-9.obj @@ -0,0 +1,187 @@ +# SSTK version 0.8.0 +# 9 +mtllib original-9.mtl +o left_right_side_post4/left_right_side_post/mesh9/mesh9-geometry#mesh9-geometry +v -0.809837 0.285797 -0.419756 +v -0.798913 -0.331455 -0.419756 +v -0.809837 -0.331455 -0.419756 +v -0.798913 0.285797 -0.419756 +v -0.809837 -0.331455 -0.365132 +v -0.798913 0.285797 -0.365132 +v -0.798913 0.285797 -0.430681 +v -0.798913 -0.331455 -0.365132 +v -0.809837 0.285797 -0.365132 +v -0.798913 0.285797 -0.376057 +v -0.798913 -0.331455 -0.430681 +v -0.787988 0.285797 -0.376057 +v -0.798913 -0.331455 -0.408831 +v -0.798913 -0.331455 -0.376057 +v -0.777063 -0.331455 -0.430681 +v -0.777063 0.285797 -0.430681 +v -0.777063 0.285797 -0.365132 +v -0.787988 -0.331455 -0.408831 +v -0.798913 -0.353304 -0.376057 +v -0.787988 -0.331455 -0.376057 +v -0.787988 0.285797 -0.365132 +v -0.787988 -0.353304 -0.408831 +v -0.798913 -0.353304 -0.408831 +v -0.787988 -0.331455 -0.365132 +v -0.777063 -0.331455 -0.365132 +v -0.787988 -0.353304 -0.376057 +vt 0 0.858347 +vt -0.003472 0 +vt 0 0 +vt -0.003472 0.858347 +vt -0.003472 0.106344 +vt 0 0.030384 +vt 0 0.106344 +vt -0.006944 0 +vt -0.024306 0.858347 +vt -0.024306 0 +vt 0.003472 0.030384 +vt 0.003472 0.106344 +vt -0.027778 0.858347 +vt -0.003472 0.030384 +vt -0.006944 0.858347 +vt 0.003472 0.045576 +vt -0.027778 0 +vt 0.006944 0.045576 +vt 0.003472 0.121536 +vt -0.003472 0.091152 +vt 0.003472 0.858347 +vt 0.003472 0 +vt 0.006944 0.858347 +vt 0.010417 0 +vt 0.010417 0.858347 +vt -0.010417 0 +vt -0.010417 0.121536 +vt -0.003472 0.121536 +vt 0.010417 0.121536 +vt -0.003472 0.045576 +vt 0.006944 0 +vt -0.010417 0.858347 +vt 0.010417 0.030384 +vt -0.006944 0.091152 +vt -0.020833 0 +vt -0.010417 -0.030384 +vt 0.027778 0 +vt 0.027778 0.858347 +vt 0.006944 0.030384 +vt -0.006944 0.045576 +vt -0.006944 -0.030384 +vt -0.020833 -0.030384 +vt 0.003472 -0.030384 +vt -0.006944 0.030384 +vt 0.020833 -0.030384 +vt 0.020833 0 +vt -0.003472 -0.030384 +vt 0.006944 -0.030384 +vt -0.010417 0.030384 +vt 0.010417 -0.030384 +vn 0 0 -1 +vn 0 0 1 +vn 0 -1 0 +vn 0 1 0 +vn -1 0 0 +vn 1 0 0 +usemtl material_0_0 +f 1/1/1 2/2/1 3/3/1 +f 2/2/1 1/1/1 4/4/1 +f 3/3/2 2/2/2 1/1/2 +f 4/4/2 1/1/2 2/2/2 +f 2/5/3 5/6/3 3/7/3 +f 3/7/4 5/6/4 2/5/4 +f 5/8/5 1/9/5 3/10/5 +f 3/10/6 1/9/6 5/8/6 +f 1/7/4 6/11/4 4/12/4 +f 4/12/3 6/11/3 1/7/3 +f 7/13/5 2/10/5 4/9/5 +f 4/9/6 2/10/6 7/13/6 +f 5/6/3 2/5/3 8/14/3 +f 8/14/4 2/5/4 5/6/4 +f 1/9/5 5/8/5 9/15/5 +f 9/15/6 5/8/6 1/9/6 +f 6/11/4 1/7/4 9/6/4 +f 9/6/3 1/7/3 6/11/3 +f 4/12/4 6/11/4 10/16/4 +f 10/16/3 6/11/3 4/12/3 +f 2/10/5 7/13/5 11/17/5 +f 11/17/6 7/13/6 2/10/6 +f 4/12/4 12/18/4 7/19/4 +f 7/19/3 12/18/3 4/12/3 +f 8/14/3 2/5/3 13/20/3 +f 13/20/4 2/5/4 8/14/4 +f 6/21/2 5/3/2 8/22/2 +f 8/22/1 5/3/1 6/21/1 +f 5/3/2 6/21/2 9/1/2 +f 9/1/1 6/21/1 5/3/1 +f 6/23/6 14/24/6 10/25/6 +f 10/25/5 14/24/5 6/23/5 +f 4/12/4 10/16/4 12/18/4 +f 12/18/3 10/16/3 4/12/3 +f 7/4/1 15/26/1 11/2/1 +f 11/2/2 15/26/2 7/4/2 +f 15/27/3 2/5/3 11/28/3 +f 11/28/4 2/5/4 15/27/4 +f 7/19/4 12/18/4 16/29/4 +f 16/29/3 12/18/3 7/19/3 +f 2/5/3 15/27/3 13/20/3 +f 13/20/4 15/27/4 2/5/4 +f 8/14/3 13/20/3 14/30/3 +f 14/30/4 13/20/4 8/14/4 +f 14/24/6 6/23/6 8/31/6 +f 8/31/5 6/23/5 14/24/5 +f 14/22/2 12/23/2 10/21/2 +f 10/21/1 12/23/1 14/22/1 +f 15/26/1 7/4/1 16/32/1 +f 16/32/2 7/4/2 15/26/2 +f 16/29/4 12/18/4 17/33/4 +f 17/33/3 12/18/3 16/29/3 +f 13/20/3 15/27/3 18/34/3 +f 18/34/4 15/27/4 13/20/4 +f 13/35/5 19/36/5 14/26/5 +f 14/26/6 19/36/6 13/35/6 +f 18/34/3 14/30/3 13/20/3 +f 13/20/4 14/30/4 18/34/4 +f 12/23/2 14/22/2 20/31/2 +f 20/31/1 14/22/1 12/23/1 +f 17/23/6 15/37/6 16/38/6 +f 16/38/5 15/37/5 17/23/5 +f 17/33/4 12/18/4 21/39/4 +f 21/39/3 12/18/3 17/33/3 +f 18/34/3 15/27/3 20/40/3 +f 20/40/4 15/27/4 18/34/4 +f 22/41/1 13/2/1 18/8/1 +f 18/8/2 13/2/2 22/41/2 +f 19/36/5 13/35/5 23/42/5 +f 23/42/6 13/35/6 19/36/6 +f 19/43/2 20/31/2 14/22/2 +f 14/22/1 20/31/1 19/43/1 +f 14/30/3 18/34/3 20/40/3 +f 20/40/4 18/34/4 14/30/4 +f 24/8/5 12/32/5 20/26/5 +f 20/26/6 12/32/6 24/8/6 +f 15/37/6 17/23/6 25/31/6 +f 25/31/5 17/23/5 15/37/5 +f 12/32/5 24/8/5 21/15/5 +f 21/15/6 24/8/6 12/32/6 +f 24/31/2 17/25/2 21/23/2 +f 21/23/1 17/25/1 24/31/1 +f 20/40/3 15/27/3 24/44/3 +f 24/44/4 15/27/4 20/40/4 +f 20/24/6 22/45/6 18/46/6 +f 18/46/5 22/45/5 20/24/5 +f 13/2/1 22/41/1 23/47/1 +f 23/47/2 22/41/2 13/2/2 +f 22/34/3 19/30/3 23/20/3 +f 23/20/4 19/30/4 22/34/4 +f 20/31/2 19/43/2 26/48/2 +f 26/48/1 19/43/1 20/31/1 +f 17/25/2 24/31/2 25/24/2 +f 25/24/1 24/31/1 17/25/1 +f 24/44/3 15/27/3 25/49/3 +f 25/49/4 15/27/4 24/44/4 +f 22/45/6 20/24/6 26/50/6 +f 26/50/5 20/24/5 22/45/5 +f 19/30/3 22/34/3 26/40/3 +f 26/40/4 22/34/4 19/30/4 diff --git a/objects/box/tree_hier.html b/objects/box/tree_hier.html new file mode 100644 index 0000000000000000000000000000000000000000..3264fd55c98b3d66e75da39de7d257a4cf6e31d8 --- /dev/null +++ b/objects/box/tree_hier.html @@ -0,0 +1,2 @@ +Simple Viewer +

0 storage_furniture Storage Furniture

8 chest Chest

9 chest_lid Chest lid

10 chest_box Chest box

11 chest_base Chest Base

12 handle Handle

13 handle Handle

14 other bolt (other)

15 other bolt (other)

16 other bolt (other)

28 lid_surface Lid surface

29 hinge Hinge

30 buckle Buckle

22 panel_base Panel Base

21 other_leaf other_leaf

20 other_leaf other_leaf

19 other_leaf other_leaf

23 base_side_panel Base side panel

24 base_side_panel Base side panel

25 base_side_panel Base side panel

26 base_side_panel Base side panel

27 base_side_panel Base side panel

\ No newline at end of file diff --git a/objects/box/tree_hier_after_merging.html b/objects/box/tree_hier_after_merging.html new file mode 100644 index 0000000000000000000000000000000000000000..68f737717dfeea5958e9c542c3725f3e7c06bf4f --- /dev/null +++ b/objects/box/tree_hier_after_merging.html @@ -0,0 +1,2 @@ +Simple Viewer +

0 storage_furniture storage_furniture

\ No newline at end of file diff --git a/objects/teamug_annotated/models.json b/objects/teamug_annotated/models.json new file mode 100644 index 0000000000000000000000000000000000000000..94ea0e25093795aa52790d0855c2fac6f8095e6a --- /dev/null +++ b/objects/teamug_annotated/models.json @@ -0,0 +1,121 @@ +{ + "center": [ + -1.0542605000000351, + 0.048616999999999695, + 0.12036150000019262 + ], + "extents": [ + 1935.6160890000003, + 8.47857223437236, + 2174.179199 + ], + "scale": [ + 0.13, + 0.13, + 0.13 + ], + "target_pose": [ + [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + ], + "contact_points_pose": [ + [ + [ + 1.0, + 0.0, + 0.0, + -0.8 + ], + [ + 0.0, + 1.0, + 0.0, + 0.1 + ], + [ + -0.0, + 0.0, + 1.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + ], + "transform_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + -0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "functional_matrix": [], + "orientation_point": [], + "contact_points_group": [ + [ + 0 + ] + ], + "contact_points_mask": [ + true + ], + "contact_points_discription": [ + "Grasping the side of the cup." + ], + "target_point_discription": [ + "The center of the object." + ], + "functional_point_discription": [ + "" + ], + "orientation_point_discription": [ + "" + ] +} \ No newline at end of file diff --git a/objects/teamug_annotated/models.py b/objects/teamug_annotated/models.py new file mode 100644 index 0000000000000000000000000000000000000000..9744d87ae8415efb85e9ae025cd6219726614c4c --- /dev/null +++ b/objects/teamug_annotated/models.py @@ -0,0 +1,105 @@ +import trimesh +import json +import numpy as np + + +PI = np.pi + +def create_model_data(id): + file_path = f"./teamugobj.obj" + save_path = f"./models.json" + + with open(save_path, 'r') as json_file: + data = json.load(json_file) + + with open(file_path, 'rb') as file_obj: + mesh = trimesh.load(file_obj, file_type='obj') + scene = trimesh.Scene(mesh) + + oriented_bounding_box = mesh.bounding_box_oriented + red_color = [1.0, 0.0, 0.0, 0.5] + scale = [1.0, 1.0, 1.0] + + shape = oriented_bounding_box.extents.tolist() + target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.1) + target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0,0]) + + target_sphere.apply_transform(target_trans_matrix_sphere) + target_sphere.visual.vertex_colors = np.array([red_color] * len(target_sphere.vertices)) + target_points_list = [target_trans_matrix_sphere.tolist()] + + scene.add_geometry(target_sphere) + + contact_points_list = [] + contact_point_discription_list = [] + orientation_point_list = [] + functional_matrix = [] + + def add_contact_point(point_radius, pose:list, euler:list, discription: str): + contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=point_radius) + contact_trans_matrix_sphere = trimesh.transformations.translation_matrix(pose) @ trimesh.transformations.euler_matrix(euler[0], euler[1], euler[2]) + contact_sphere.apply_transform(contact_trans_matrix_sphere) + contact_sphere.visual.vertex_colors = np.array([red_color] * len(contact_sphere.vertices)) + contact_points_list.append(contact_trans_matrix_sphere.tolist()) + + axis = trimesh.creation.axis(axis_length=1.5) + axis.apply_transform(contact_trans_matrix_sphere) + scene.add_geometry(axis) + scene.add_geometry(contact_sphere) + contact_point_discription_list.append(discription) + + add_contact_point(0.3, [-0.8, 1.2, 1.2], [PI / 2, - PI / 4, 0], "Grasping the side of the cup.") + # add_contact_point(0.3, [0, 0, 0], [0, PI/2, 0], "Grasping the side of the bottle.") + # add_contact_point(0.3, [0, 0, 0], [0, PI, 0], "Grasping the side of the bottle.") + # add_contact_point(0.3, [0, 0, 0], [0, -PI/2, 0], "Grasping the side of the bottle.") + + transform_matrix = trimesh.transformations.euler_matrix(0,0,0) + transform_matrix = transform_matrix.tolist() + # orientation_point = trimesh.creation.icosphere(subdivisions=2, radius=0.1) + # orientation_point_sphere = trimesh.transformations.translation_matrix([0,oriented_bounding_box.extents[1]/2,0]) + # orientation_point.apply_transform(orientation_point_sphere) + # orientation_point.visual.vertex_colors = np.array([red_color] * len(orientation_point.vertices)) + # orientation_point_list = orientation_point_sphere.tolist() + # scene.add_geometry(orientation_point) + + # axis1 + axis1 = trimesh.creation.axis(axis_length=1.5) + axis1.apply_transform(transform_matrix) + + # functional_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15) + # functional_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0,0]) @ trimesh.transformations.euler_matrix(0,0,0) + # functional_sphere.apply_transform(functional_trans_matrix_sphere) + # functional_sphere.visual.vertex_colors = np.array([red_color] * len(functional_sphere.vertices)) + # functional_matrix = functional_trans_matrix_sphere.tolist() + # axis = trimesh.creation.axis(axis_length=1.5) + # axis.apply_transform(functional_trans_matrix_sphere) + # scene.add_geometry(axis) + # scene.add_geometry(functional_sphere) + + data = { + 'center': oriented_bounding_box.centroid.tolist(), # 中心点 + 'extents': oriented_bounding_box.extents.tolist(), # 尺寸 + 'scale': scale, # 缩放 + 'target_pose': target_points_list, # 目标点矩阵 + 'contact_points_pose' : contact_points_list, # 抓取点矩阵（多个） + 'transform_matrix': transform_matrix, # 模型到标轴的旋转矩阵 + "functional_matrix": functional_matrix, # 功能点矩阵 + 'orientation_point': orientation_point_list, + 'contact_points_group': [[0]], + 'contact_points_mask': [True], + 'contact_points_discription': contact_point_discription_list, # 抓取点描述 + 'target_point_discription': ["The center of the object."], # 目标点描述 + 'functional_point_discription': [""], + 'orientation_point_discription': [""] + } + # with open(save_path, 'w') as json_file: + # json.dump(data, json_file, indent=4, separators=(',', ': ')) + + # 将坐标轴添加到场景 + axis = trimesh.creation.axis(axis_length=1.5,origin_size= 0.05) + # scene.add_geometry(axis1) + scene.show() + +if __name__ == "__main__": + id = "" + create_model_data(id) diff --git a/objects/teamug_annotated/teamugobj.obj b/objects/teamug_annotated/teamugobj.obj new file mode 100644 index 0000000000000000000000000000000000000000..4bc013f9cded566e34221d5b60168f69aee07322 --- /dev/null +++ b/objects/teamug_annotated/teamugobj.obj @@ -0,0 +1,101992 @@ +# Blender 4.3.0 +# www.blender.org +mtllib teamugobj.mtl +o tea_mug_Cylinder +v 0.484221 0.192995 -0.670329 +v 0.572119 2.142416 -0.792009 +v 0.605692 0.192995 -0.562982 +v 0.715639 2.142416 -0.665176 +v 0.703886 0.192995 -0.434000 +v 0.831658 2.142416 -0.512781 +v 0.775030 0.192995 -0.288339 +v 0.915716 2.142416 -0.340680 +v 0.816390 0.192995 -0.131598 +v 0.964584 2.142416 -0.155486 +v 0.826377 0.192995 0.030200 +v 0.976384 2.142416 0.035682 +v 0.804607 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