Hugging Face's logo

Datasets:
INSAIT-Institute
/
Articulate3D

Tasks:
Robotics
Modalities:
Text
Formats:
text
Size:
< 1K
Tags:
3D
scene-understanding
segmentation
articulation
Libraries:
Datasets
License:
🇪🇺 Region: EU
Dataset card Data Studio Files
xet
Community
1
amhalacheva commited on
Commit
fbb5944
·
verified ·
1 Parent(s): c01efb8

Add files using upload-large-folder tool

Browse files
Files changed (20) hide show
  1. 7b6477cb95_parts.json +0 -0
  2. 94ee15e8ba_artic.json +973 -0
  3. 9859de300f_artic.json +790 -0
  4. 9f21bdec45_artic.json +239 -0
  5. a980334473_parts.json +0 -0
  6. aaa11940d3_artic.json +940 -0
  7. ab046f8faf_artic.json +170 -0
  8. ab046f8faf_parts.json +0 -0
  9. ab6983ae6c_artic.json +1385 -0
  10. acd69a1746_artic.json +1075 -0
  11. acd69a1746_parts.json +0 -0
  12. acd95847c5_artic.json +845 -0
  13. acd95847c5_parts.json +0 -0
  14. b0a08200c9_artic.json +414 -0
  15. b0a08200c9_parts.json +0 -0
  16. b1d75ecd55_artic.json +602 -0
  17. e898c76c1f_parts.json +0 -0
  18. e8e81396b6_artic.json +1152 -0
  19. faec2f0468_artic.json +1877 -0
  20. faec2f0468_parts.json +0 -0
7b6477cb95_parts.json ADDED
The diff for this file is too large to render. See raw diff
 
94ee15e8ba_artic.json ADDED
@@ -0,0 +1,973 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "modelId": "scannetpp.94ee15e8ba",
3
+ "data": {
4
+ "parts": [
5
+ {
6
+ "pid": 0,
7
+ "label": "unknown",
8
+ "group": "others"
9
+ },
10
+ {
11
+ "pid": 1,
12
+ "label": "door frame.1.1",
13
+ "group": "others"
14
+ },
15
+ {
16
+ "pid": 2,
17
+ "label": "door.1.1.2_1",
18
+ "group": "doors/windows"
19
+ },
20
+ {
21
+ "pid": 3,
22
+ "label": "handle base.1.1.2_1.3_1",
23
+ "group": "others"
24
+ },
25
+ {
26
+ "pid": 4,
27
+ "label": "handle.1.1.2_1.3_1.4_1",
28
+ "group": "handles movable"
29
+ },
30
+ {
31
+ "pid": 5,
32
+ "label": "hinge.1.1.2_2",
33
+ "group": "others"
34
+ },
35
+ {
36
+ "pid": 6,
37
+ "label": "hinge.1.1.2_3",
38
+ "group": "others"
39
+ },
40
+ {
41
+ "pid": 7,
42
+ "label": "window frame.3.1",
43
+ "group": "others"
44
+ },
45
+ {
46
+ "pid": 8,
47
+ "label": "window.3.1.2_1",
48
+ "group": "doors/windows"
49
+ },
50
+ {
51
+ "pid": 9,
52
+ "label": "window.3.1.2_2",
53
+ "group": "doors/windows"
54
+ },
55
+ {
56
+ "pid": 10,
57
+ "label": "handle base.3.1.2_1.3_1",
58
+ "group": "others"
59
+ },
60
+ {
61
+ "pid": 11,
62
+ "label": "handle base.3.1.2_2.3_1",
63
+ "group": "others"
64
+ },
65
+ {
66
+ "pid": 12,
67
+ "label": "handle.3.1.2_1.3_1.4_1",
68
+ "group": "handles movable"
69
+ },
70
+ {
71
+ "pid": 13,
72
+ "label": "handle.3.1.2_2.3_1.4_1",
73
+ "group": "handles movable"
74
+ },
75
+ {
76
+ "pid": 14,
77
+ "label": "cabinet.4.1",
78
+ "group": "others"
79
+ },
80
+ {
81
+ "pid": 15,
82
+ "label": "drawer.4.1.2_1",
83
+ "group": "cabinets"
84
+ },
85
+ {
86
+ "pid": 16,
87
+ "label": "cabinet.5.1",
88
+ "group": "others"
89
+ },
90
+ {
91
+ "pid": 17,
92
+ "label": "drawer.5.1.2_1",
93
+ "group": "cabinets"
94
+ },
95
+ {
96
+ "pid": 18,
97
+ "label": "handle.5.1.2_1.3_1",
98
+ "group": "others"
99
+ },
100
+ {
101
+ "pid": 19,
102
+ "label": "drawer.5.1.2_2",
103
+ "group": "cabinets"
104
+ },
105
+ {
106
+ "pid": 20,
107
+ "label": "cabinet.6.1",
108
+ "group": "others"
109
+ },
110
+ {
111
+ "pid": 21,
112
+ "label": "door.6.1.2_1",
113
+ "group": "doors/windows"
114
+ },
115
+ {
116
+ "pid": 22,
117
+ "label": "door.6.1.2_2",
118
+ "group": "doors/windows"
119
+ },
120
+ {
121
+ "pid": 23,
122
+ "label": "door.6.1.2_3",
123
+ "group": "doors/windows"
124
+ },
125
+ {
126
+ "pid": 24,
127
+ "label": "door.6.1.2_4",
128
+ "group": "doors/windows"
129
+ },
130
+ {
131
+ "pid": 25,
132
+ "label": "knob.6.1.2_2.3_1",
133
+ "group": "handles unlabeled"
134
+ },
135
+ {
136
+ "pid": 26,
137
+ "label": "knob.6.1.2_4.3_1",
138
+ "group": "handles unlabeled"
139
+ },
140
+ {
141
+ "pid": 27,
142
+ "label": "heater.7.1",
143
+ "group": "others"
144
+ },
145
+ {
146
+ "pid": 28,
147
+ "label": "heater control.7.1.2_1",
148
+ "group": "controls"
149
+ },
150
+ {
151
+ "pid": 29,
152
+ "label": "box.8.1",
153
+ "group": "others"
154
+ },
155
+ {
156
+ "pid": 30,
157
+ "label": "box lid.8.1.2_1",
158
+ "group": "others"
159
+ },
160
+ {
161
+ "pid": 31,
162
+ "label": "box.10.1",
163
+ "group": "others"
164
+ },
165
+ {
166
+ "pid": 32,
167
+ "label": "box lid.10.1.2_1",
168
+ "group": "others"
169
+ },
170
+ {
171
+ "pid": 33,
172
+ "label": "light switch base.11.1",
173
+ "group": "others"
174
+ },
175
+ {
176
+ "pid": 34,
177
+ "label": "light switch.11.1.2_1",
178
+ "group": "switches"
179
+ },
180
+ {
181
+ "pid": 35,
182
+ "label": "light switch base.12.1",
183
+ "group": "others"
184
+ },
185
+ {
186
+ "pid": 36,
187
+ "label": "light switch.12.1.2_1",
188
+ "group": "switches"
189
+ },
190
+ {
191
+ "pid": 37,
192
+ "label": "switch base.13.1",
193
+ "group": "others"
194
+ },
195
+ {
196
+ "pid": 38,
197
+ "label": "switch.13.1.2_1",
198
+ "group": "switches"
199
+ },
200
+ {
201
+ "pid": 39,
202
+ "label": "switch.13.1.2_2",
203
+ "group": "switches"
204
+ },
205
+ {
206
+ "pid": 40,
207
+ "label": "blinds rail.14.1",
208
+ "group": "others"
209
+ },
210
+ {
211
+ "pid": 41,
212
+ "label": "blinds.14.1.2_1",
213
+ "group": "curtains/blinds"
214
+ },
215
+ {
216
+ "pid": 42,
217
+ "label": "switch base.15.1",
218
+ "group": "others"
219
+ },
220
+ {
221
+ "pid": 43,
222
+ "label": "switch.15.1.2_1",
223
+ "group": "switches"
224
+ },
225
+ {
226
+ "pid": 44,
227
+ "label": "switch base.16.1",
228
+ "group": "others"
229
+ },
230
+ {
231
+ "pid": 45,
232
+ "label": "switch.16.1.2_1",
233
+ "group": "switches"
234
+ },
235
+ {
236
+ "pid": 46,
237
+ "label": "box.17.1",
238
+ "group": "others"
239
+ },
240
+ {
241
+ "pid": 47,
242
+ "label": "box lid.17.1.2_1",
243
+ "group": "others"
244
+ },
245
+ {
246
+ "pid": 48,
247
+ "label": "blinds control.14.1.2_2",
248
+ "group": "curtains/blinds"
249
+ }
250
+ ],
251
+ "articulations": [
252
+ {
253
+ "pid": 2,
254
+ "type": "rotation",
255
+ "origin": [
256
+ 0.05803230905731162,
257
+ 3.239312300892544,
258
+ 1.0845055161044002
259
+ ],
260
+ "axis": [
261
+ 0,
262
+ 0,
263
+ 1
264
+ ],
265
+ "ref": [
266
+ 0.10896557701772637,
267
+ -0.9940455236181057,
268
+ 0
269
+ ],
270
+ "base": [
271
+ 1
272
+ ],
273
+ "rangeMin": 0,
274
+ "rangeMax": 1.5707963267948966,
275
+ "motionStates": {
276
+ "closed": {
277
+ "percent": 0,
278
+ "value": 0
279
+ }
280
+ },
281
+ "needsReview": false
282
+ },
283
+ {
284
+ "pid": 4,
285
+ "type": "rotation",
286
+ "origin": [
287
+ 0.1992773124583154,
288
+ 2.341877228725828,
289
+ 1.0775593519210815
290
+ ],
291
+ "axis": [
292
+ 0.999957819267889,
293
+ 0.00918475285501257,
294
+ 0
295
+ ],
296
+ "ref": [
297
+ -0.009184752855012572,
298
+ 0.9999578192678891,
299
+ 0
300
+ ],
301
+ "base": [
302
+ 3
303
+ ],
304
+ "rangeMin": -0.6632251157578453,
305
+ "rangeMax": 0,
306
+ "motionStates": {
307
+ "closed": {
308
+ "percent": 0,
309
+ "value": -38
310
+ }
311
+ },
312
+ "needsReview": false
313
+ },
314
+ {
315
+ "pid": 8,
316
+ "type": "rotation",
317
+ "origin": [
318
+ 4.8971420846914695,
319
+ 4.1517997281479975,
320
+ 1.7075107097625732
321
+ ],
322
+ "axis": [
323
+ 0,
324
+ 0,
325
+ 1
326
+ ],
327
+ "ref": [
328
+ -0.11582546057401961,
329
+ 0.9932695820787105,
330
+ 0
331
+ ],
332
+ "base": [
333
+ 7
334
+ ],
335
+ "rangeMin": -1.5533430342749532,
336
+ "rangeMax": 0,
337
+ "motionStates": {
338
+ "closed": {
339
+ "percent": 0,
340
+ "value": -89
341
+ }
342
+ },
343
+ "needsReview": false
344
+ },
345
+ {
346
+ "pid": 9,
347
+ "type": "rotation",
348
+ "origin": [
349
+ 4.9956142485449995,
350
+ 3.284280242110149,
351
+ 1.72088623046875
352
+ ],
353
+ "axis": [
354
+ 0,
355
+ 0,
356
+ 1
357
+ ],
358
+ "ref": [
359
+ -0.11582546057401961,
360
+ 0.9932695820787105,
361
+ 0
362
+ ],
363
+ "base": [
364
+ 7
365
+ ],
366
+ "rangeMin": 0,
367
+ "rangeMax": 1.605702911834783,
368
+ "motionStates": {
369
+ "closed": {
370
+ "percent": 0,
371
+ "value": 0
372
+ }
373
+ },
374
+ "needsReview": false
375
+ },
376
+ {
377
+ "pid": 12,
378
+ "type": "rotation",
379
+ "origin": [
380
+ 4.881395443129024,
381
+ 3.6414243891934044,
382
+ 1.7129729995773413
383
+ ],
384
+ "axis": [
385
+ 0.995237227075706,
386
+ 0.021148310778142783,
387
+ -0.09516097306086509
388
+ ],
389
+ "ref": [
390
+ -0.019723094682906603,
391
+ 0.999679158895561,
392
+ 0.0158927280852921
393
+ ],
394
+ "base": [
395
+ 10
396
+ ],
397
+ "rangeMin": 0,
398
+ "rangeMax": 1.605702911834783,
399
+ "motionStates": {
400
+ "closed": {
401
+ "percent": 0,
402
+ "value": 0
403
+ }
404
+ },
405
+ "needsReview": false
406
+ },
407
+ {
408
+ "pid": 13,
409
+ "type": "rotation",
410
+ "origin": [
411
+ 4.89359994928757,
412
+ 3.5359472144300996,
413
+ 1.7048533479642698
414
+ ],
415
+ "axis": [
416
+ 0.9869187806350715,
417
+ 0.15614176999415974,
418
+ -0.040138112721882765
419
+ ],
420
+ "ref": [
421
+ -0.15579524284703444,
422
+ 0.9877207831142448,
423
+ 0.011640314017080797
424
+ ],
425
+ "base": [
426
+ 11
427
+ ],
428
+ "rangeMin": -1.5707963267948966,
429
+ "rangeMax": 0,
430
+ "motionStates": {
431
+ "closed": {
432
+ "percent": 0,
433
+ "value": -90
434
+ }
435
+ },
436
+ "needsReview": false
437
+ },
438
+ {
439
+ "pid": 15,
440
+ "type": "translation",
441
+ "origin": [
442
+ 3.266132704215169,
443
+ 3.0616579093950658,
444
+ 0.5183708965778351
445
+ ],
446
+ "axis": [
447
+ -0.12558984114469754,
448
+ 0.9920822505222285,
449
+ 0
450
+ ],
451
+ "base": [
452
+ 14
453
+ ],
454
+ "rangeMin": 0,
455
+ "rangeMax": 0.1438208453819838,
456
+ "motionStates": {},
457
+ "needsReview": false
458
+ },
459
+ {
460
+ "pid": 17,
461
+ "type": "translation",
462
+ "origin": [
463
+ 3.403692778927355,
464
+ 1.4504777009141208,
465
+ 0.3081462234258652
466
+ ],
467
+ "axis": [
468
+ -0.011164347352661084,
469
+ -0.9999376767319998,
470
+ 0
471
+ ],
472
+ "base": [
473
+ 16
474
+ ],
475
+ "rangeMin": 0,
476
+ "rangeMax": 0.02175540607035842,
477
+ "motionStates": {},
478
+ "needsReview": false
479
+ },
480
+ {
481
+ "pid": 19,
482
+ "type": "translation",
483
+ "origin": [
484
+ 3.5094822556325163,
485
+ 1.4482916017427874,
486
+ 0.1590758115053177
487
+ ],
488
+ "axis": [
489
+ 0.0014051193848593738,
490
+ -0.9999990128192697,
491
+ 0
492
+ ],
493
+ "base": [
494
+ 16
495
+ ],
496
+ "rangeMin": 0,
497
+ "rangeMax": 0.024457729110227477,
498
+ "motionStates": {},
499
+ "needsReview": false
500
+ },
501
+ {
502
+ "pid": 21,
503
+ "type": "rotation",
504
+ "origin": [
505
+ 0.8393131780212243,
506
+ 0.06827737849802956,
507
+ 1.2748714685440063
508
+ ],
509
+ "axis": [
510
+ 0,
511
+ 0,
512
+ -1
513
+ ],
514
+ "ref": [
515
+ 0.10896557701772637,
516
+ -0.9940455236181057,
517
+ 0
518
+ ],
519
+ "base": [
520
+ 20
521
+ ],
522
+ "rangeMin": 0,
523
+ "rangeMax": 1.5882496193148399,
524
+ "motionStates": {
525
+ "closed": {
526
+ "percent": 0,
527
+ "value": 0
528
+ }
529
+ },
530
+ "needsReview": false
531
+ },
532
+ {
533
+ "pid": 22,
534
+ "type": "rotation",
535
+ "origin": [
536
+ 0.7354618194344948,
537
+ 1.0654747189175025,
538
+ 1.1471837759017944
539
+ ],
540
+ "axis": [
541
+ 0,
542
+ 0,
543
+ 1
544
+ ],
545
+ "ref": [
546
+ 0.10896557701772637,
547
+ -0.9940455236181057,
548
+ 0
549
+ ],
550
+ "base": [
551
+ 20
552
+ ],
553
+ "rangeMin": 0,
554
+ "rangeMax": 1.6406094968746698,
555
+ "motionStates": {
556
+ "closed": {
557
+ "percent": 0,
558
+ "value": 0
559
+ }
560
+ },
561
+ "needsReview": false
562
+ },
563
+ {
564
+ "pid": 23,
565
+ "type": "rotation",
566
+ "origin": [
567
+ 0.7375796656351821,
568
+ 1.059188668522412,
569
+ 1.1466803875339782
570
+ ],
571
+ "axis": [
572
+ -0.004240316624361422,
573
+ 0.014054017985311177,
574
+ -0.9998922463412713
575
+ ],
576
+ "ref": [
577
+ 0.10778487655842087,
578
+ -0.9940695230299708,
579
+ -0.014429267765632822
580
+ ],
581
+ "base": [
582
+ 20
583
+ ],
584
+ "rangeMin": 0,
585
+ "rangeMax": 1.5533430342749532,
586
+ "motionStates": {
587
+ "closed": {
588
+ "percent": 0,
589
+ "value": 0
590
+ }
591
+ },
592
+ "needsReview": false
593
+ },
594
+ {
595
+ "pid": 24,
596
+ "type": "rotation",
597
+ "origin": [
598
+ 0.629165730685493,
599
+ 2.059597243605147,
600
+ 1.1499825045466423
601
+ ],
602
+ "axis": [
603
+ 0,
604
+ 0,
605
+ 1
606
+ ],
607
+ "ref": [
608
+ -0.11582546057401961,
609
+ 0.9932695820787105,
610
+ 0
611
+ ],
612
+ "base": [
613
+ 20
614
+ ],
615
+ "rangeMin": 0,
616
+ "rangeMax": 1.5533430342749532,
617
+ "motionStates": {
618
+ "closed": {
619
+ "percent": 0,
620
+ "value": 0
621
+ }
622
+ },
623
+ "needsReview": false
624
+ },
625
+ {
626
+ "pid": 28,
627
+ "type": "rotation",
628
+ "origin": [
629
+ 4.967015042433632,
630
+ 0.6525511025174374,
631
+ 0.5065294756721266
632
+ ],
633
+ "axis": [
634
+ 0.961594907040979,
635
+ 0.19308599553966627,
636
+ 0.1950718664474881
637
+ ],
638
+ "ref": [
639
+ -0.09537521554107409,
640
+ 0.9014880838417182,
641
+ -0.42216442644055274
642
+ ],
643
+ "base": [
644
+ 27
645
+ ],
646
+ "rangeMin": -3.141592653589793,
647
+ "rangeMax": 3.141592653589793,
648
+ "motionStates": {},
649
+ "needsReview": false
650
+ },
651
+ {
652
+ "pid": 30,
653
+ "type": "rotation",
654
+ "origin": [
655
+ 1.2709982531204227,
656
+ 0.6083914508421004,
657
+ 0.3991868156499559
658
+ ],
659
+ "axis": [
660
+ 0.9978397157232013,
661
+ 0.05217411964301931,
662
+ -0.03992196093526675
663
+ ],
664
+ "ref": [
665
+ -0.033594753357420265,
666
+ 0.9274607567972311,
667
+ 0.37240829360791833
668
+ ],
669
+ "base": [
670
+ 29
671
+ ],
672
+ "rangeMin": -3.141592653589793,
673
+ "rangeMax": 3.141592653589793,
674
+ "motionStates": {
675
+ "closed": {
676
+ "percent": 0,
677
+ "value": -180
678
+ }
679
+ }
680
+ },
681
+ {
682
+ "pid": 32,
683
+ "type": "rotation",
684
+ "origin": [
685
+ 2.407960003724977,
686
+ 3.8507843667642887,
687
+ 0.4319921875
688
+ ],
689
+ "axis": [
690
+ 0.9942989206276222,
691
+ 0.10662859109425496,
692
+ 0
693
+ ],
694
+ "ref": [
695
+ 0,
696
+ 0,
697
+ 1
698
+ ],
699
+ "base": [
700
+ 31
701
+ ],
702
+ "rangeMin": -3.141592653589793,
703
+ "rangeMax": 3.141592653589793,
704
+ "motionStates": {
705
+ "closed": {
706
+ "percent": 0,
707
+ "value": -180
708
+ }
709
+ }
710
+ },
711
+ {
712
+ "pid": 34,
713
+ "type": "rotation",
714
+ "origin": [
715
+ 0.17666961351093313,
716
+ 2.1320451592006773,
717
+ 1.1208285689353943
718
+ ],
719
+ "axis": [
720
+ 0.14139157175005368,
721
+ -0.9899537481307141,
722
+ 0
723
+ ],
724
+ "ref": [
725
+ 0,
726
+ 0,
727
+ 1
728
+ ],
729
+ "base": [
730
+ 33
731
+ ],
732
+ "rangeMin": -0.3141592653589793,
733
+ "rangeMax": 0.2617993877991494,
734
+ "motionStates": {
735
+ "closed": {
736
+ "percent": 0,
737
+ "value": -18
738
+ }
739
+ },
740
+ "needsReview": false
741
+ },
742
+ {
743
+ "pid": 36,
744
+ "type": "rotation",
745
+ "origin": [
746
+ 4.9092708211541805,
747
+ 0.6507977518214634,
748
+ 0.7771918475627899
749
+ ],
750
+ "axis": [
751
+ -0.07939159353660533,
752
+ 0.9968435057097571,
753
+ 0
754
+ ],
755
+ "ref": [
756
+ 0,
757
+ 0,
758
+ 1
759
+ ],
760
+ "base": [
761
+ 35
762
+ ],
763
+ "rangeMin": -0.15707963267948966,
764
+ "rangeMax": 0.20943951023931953,
765
+ "motionStates": {
766
+ "closed": {
767
+ "percent": 0,
768
+ "value": -9
769
+ }
770
+ },
771
+ "needsReview": false
772
+ },
773
+ {
774
+ "pid": 38,
775
+ "type": "rotation",
776
+ "origin": [
777
+ 4.493308690112493,
778
+ 3.919803289139744,
779
+ 0.7733998000621796
780
+ ],
781
+ "axis": [
782
+ -1.4940313446108698e-05,
783
+ -0.9999999998883935,
784
+ 0
785
+ ],
786
+ "ref": [
787
+ 0,
788
+ 0,
789
+ 1
790
+ ],
791
+ "base": [
792
+ 37
793
+ ],
794
+ "rangeMin": -0.24434609527920614,
795
+ "rangeMax": 0.22689280275926282,
796
+ "motionStates": {
797
+ "closed": {
798
+ "percent": 0,
799
+ "value": -14
800
+ }
801
+ }
802
+ },
803
+ {
804
+ "pid": 39,
805
+ "type": "rotation",
806
+ "origin": [
807
+ 4.5042493902868666,
808
+ 3.8641132695770355,
809
+ 0.7741818428039551
810
+ ],
811
+ "axis": [
812
+ -0.13875151452473225,
813
+ 0.9903272273431107,
814
+ 0
815
+ ],
816
+ "ref": [
817
+ 0,
818
+ 0,
819
+ 1
820
+ ],
821
+ "base": [
822
+ 37
823
+ ],
824
+ "rangeMin": -0.15707963267948966,
825
+ "rangeMax": 0.22689280275926282,
826
+ "motionStates": {
827
+ "closed": {
828
+ "percent": 0,
829
+ "value": -9
830
+ }
831
+ },
832
+ "needsReview": false
833
+ },
834
+ {
835
+ "pid": 41,
836
+ "type": "translation",
837
+ "origin": [
838
+ 4.778165369442434,
839
+ 2.4660568655025643,
840
+ 1.8588520288467407
841
+ ],
842
+ "axis": [
843
+ -0.10851529851939061,
844
+ 0.9940947791771404,
845
+ 0
846
+ ],
847
+ "base": [
848
+ 40
849
+ ],
850
+ "rangeMin": -1.15980126690019,
851
+ "rangeMax": 0.956198733099808,
852
+ "motionStates": {
853
+ "closed": {
854
+ "percent": 0,
855
+ "value": -1.15980126690019
856
+ }
857
+ },
858
+ "needsReview": false
859
+ },
860
+ {
861
+ "pid": 43,
862
+ "type": "rotation",
863
+ "origin": [
864
+ 4.654129481177214,
865
+ 2.961305379520258,
866
+ 0.7763090133666992
867
+ ],
868
+ "axis": [
869
+ -0.16508765283882976,
870
+ 0.9862788991356177,
871
+ 0
872
+ ],
873
+ "ref": [
874
+ 0,
875
+ 0,
876
+ 1
877
+ ],
878
+ "base": [
879
+ 42
880
+ ],
881
+ "rangeMin": -0.17453292519943295,
882
+ "rangeMax": 0.296705972839036,
883
+ "motionStates": {
884
+ "closed": {
885
+ "percent": 0,
886
+ "value": -10
887
+ }
888
+ }
889
+ },
890
+ {
891
+ "pid": 45,
892
+ "type": "rotation",
893
+ "origin": [
894
+ 4.72428799635816,
895
+ 2.311200118045037,
896
+ 0.7775890231132507
897
+ ],
898
+ "axis": [
899
+ 0.10363393575543402,
900
+ -0.9946155072990962,
901
+ 0
902
+ ],
903
+ "ref": [
904
+ 0,
905
+ 0,
906
+ 1
907
+ ],
908
+ "base": [
909
+ 44
910
+ ],
911
+ "rangeMin": -0.19198621771937624,
912
+ "rangeMax": 0.3141592653589793,
913
+ "motionStates": {
914
+ "closed": {
915
+ "percent": 0,
916
+ "value": -11
917
+ }
918
+ }
919
+ },
920
+ {
921
+ "pid": 47,
922
+ "type": "rotation",
923
+ "origin": [
924
+ 1.207553190374914,
925
+ 0.6078319903201681,
926
+ 0.17196799251437184
927
+ ],
928
+ "axis": [
929
+ -0.9968896194095916,
930
+ -0.0788104479964413,
931
+ 0
932
+ ],
933
+ "ref": [
934
+ 0,
935
+ 0,
936
+ 1
937
+ ],
938
+ "base": [
939
+ 46
940
+ ],
941
+ "rangeMin": -1.5882496193148399,
942
+ "rangeMax": 0,
943
+ "motionStates": {
944
+ "closed": {
945
+ "percent": 0,
946
+ "value": -91
947
+ }
948
+ }
949
+ },
950
+ {
951
+ "pid": 48,
952
+ "type": "translation",
953
+ "origin": [
954
+ 4.624968591478456,
955
+ 4.128037549529931,
956
+ 1.9038883703163734
957
+ ],
958
+ "axis": [
959
+ -0.021493268330863055,
960
+ -0.013350349103692621,
961
+ -0.9996798525504388
962
+ ],
963
+ "base": [
964
+ 40
965
+ ],
966
+ "rangeMin": 0,
967
+ "rangeMax": 0.034326698404525846,
968
+ "motionStates": {},
969
+ "needsReview": false
970
+ }
971
+ ]
972
+ }
973
+ }
9859de300f_artic.json ADDED
@@ -0,0 +1,790 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "modelId": "scannetpp.9859de300f",
3
+ "data": {
4
+ "parts": [
5
+ {
6
+ "pid": 0,
7
+ "label": "unknown",
8
+ "group": "others"
9
+ },
10
+ {
11
+ "pid": 1,
12
+ "label": "door frame.1.1",
13
+ "group": "others"
14
+ },
15
+ {
16
+ "pid": 2,
17
+ "label": "door.1.1.2_1",
18
+ "group": "doors/windows"
19
+ },
20
+ {
21
+ "pid": 3,
22
+ "label": "cabinet.2.1",
23
+ "group": "others"
24
+ },
25
+ {
26
+ "pid": 4,
27
+ "label": "door.2.1.2_1",
28
+ "group": "doors/windows"
29
+ },
30
+ {
31
+ "pid": 5,
32
+ "label": "door.2.1.2_2",
33
+ "group": "doors/windows"
34
+ },
35
+ {
36
+ "pid": 6,
37
+ "label": "door.2.1.2_3",
38
+ "group": "doors/windows"
39
+ },
40
+ {
41
+ "pid": 7,
42
+ "label": "handle.2.1.2_1.3_1",
43
+ "group": "others"
44
+ },
45
+ {
46
+ "pid": 8,
47
+ "label": "handle.2.1.2_2.3_1",
48
+ "group": "others"
49
+ },
50
+ {
51
+ "pid": 9,
52
+ "label": "handle.2.1.2_3.3_1",
53
+ "group": "others"
54
+ },
55
+ {
56
+ "pid": 10,
57
+ "label": "cabinet.3.1",
58
+ "group": "others"
59
+ },
60
+ {
61
+ "pid": 11,
62
+ "label": "door.3.1.2_1",
63
+ "group": "doors/windows"
64
+ },
65
+ {
66
+ "pid": 12,
67
+ "label": "door.3.1.2_2",
68
+ "group": "doors/windows"
69
+ },
70
+ {
71
+ "pid": 13,
72
+ "label": "handle.3.1.2_1.3_1",
73
+ "group": "others"
74
+ },
75
+ {
76
+ "pid": 14,
77
+ "label": "handle.3.1.2_2.3_1",
78
+ "group": "others"
79
+ },
80
+ {
81
+ "pid": 15,
82
+ "label": "cabinet.5.1",
83
+ "group": "others"
84
+ },
85
+ {
86
+ "pid": 16,
87
+ "label": "door.5.1.2_1",
88
+ "group": "doors/windows"
89
+ },
90
+ {
91
+ "pid": 17,
92
+ "label": "door.5.1.2_2",
93
+ "group": "doors/windows"
94
+ },
95
+ {
96
+ "pid": 18,
97
+ "label": "handle.5.1.2_1.3_1",
98
+ "group": "others"
99
+ },
100
+ {
101
+ "pid": 19,
102
+ "label": "handle.5.1.2_2.3_1",
103
+ "group": "others"
104
+ },
105
+ {
106
+ "pid": 20,
107
+ "label": "cabinet.6.1",
108
+ "group": "others"
109
+ },
110
+ {
111
+ "pid": 21,
112
+ "label": "drawer.6.1.2_1",
113
+ "group": "cabinets"
114
+ },
115
+ {
116
+ "pid": 22,
117
+ "label": "drawer.6.1.2_2",
118
+ "group": "cabinets"
119
+ },
120
+ {
121
+ "pid": 23,
122
+ "label": "drawer.6.1.2_3",
123
+ "group": "cabinets"
124
+ },
125
+ {
126
+ "pid": 24,
127
+ "label": "dishwasher.7.1",
128
+ "group": "others"
129
+ },
130
+ {
131
+ "pid": 25,
132
+ "label": "dishwasher door.7.1.2_1",
133
+ "group": "others"
134
+ },
135
+ {
136
+ "pid": 26,
137
+ "label": "cabinet.8.1",
138
+ "group": "others"
139
+ },
140
+ {
141
+ "pid": 27,
142
+ "label": "drawer.8.1.2_1",
143
+ "group": "cabinets"
144
+ },
145
+ {
146
+ "pid": 28,
147
+ "label": "door.8.1.2_2",
148
+ "group": "doors/windows"
149
+ },
150
+ {
151
+ "pid": 29,
152
+ "label": "handle.8.1.2_2.3_1",
153
+ "group": "others"
154
+ },
155
+ {
156
+ "pid": 30,
157
+ "label": "light switch base.9.1",
158
+ "group": "others"
159
+ },
160
+ {
161
+ "pid": 31,
162
+ "label": "light switch.9.1.2_1",
163
+ "group": "switches"
164
+ },
165
+ {
166
+ "pid": 32,
167
+ "label": "lock.1.1.2_1.3_1",
168
+ "group": "others"
169
+ },
170
+ {
171
+ "pid": 33,
172
+ "label": "door.5.1.2_3",
173
+ "group": "doors/windows"
174
+ },
175
+ {
176
+ "pid": 34,
177
+ "label": "microwave.10.1",
178
+ "group": "others"
179
+ },
180
+ {
181
+ "pid": 35,
182
+ "label": "door.10.1.2_1",
183
+ "group": "doors/windows"
184
+ },
185
+ {
186
+ "pid": 36,
187
+ "label": "handle.10.1.2_1.3_1",
188
+ "group": "others"
189
+ },
190
+ {
191
+ "pid": 37,
192
+ "label": "water kettle.11.1",
193
+ "group": "others"
194
+ },
195
+ {
196
+ "pid": 38,
197
+ "label": "lid.11.1.2_1",
198
+ "group": "lids"
199
+ },
200
+ {
201
+ "pid": 39,
202
+ "label": "water kettle.12.1",
203
+ "group": "others"
204
+ },
205
+ {
206
+ "pid": 40,
207
+ "label": "lid.12.1.2_1",
208
+ "group": "lids"
209
+ },
210
+ {
211
+ "pid": 41,
212
+ "label": "handle.7.1.2_1.3_1",
213
+ "group": "others"
214
+ }
215
+ ],
216
+ "articulations": [
217
+ {
218
+ "pid": 2,
219
+ "type": "rotation",
220
+ "origin": [
221
+ 1.3215264941177607,
222
+ 0.010628052207208888,
223
+ 1.092403283342719
224
+ ],
225
+ "axis": [
226
+ 0,
227
+ 0,
228
+ 1
229
+ ],
230
+ "ref": [
231
+ 0.8572708986399175,
232
+ -0.5148656196961579,
233
+ 0
234
+ ],
235
+ "base": [
236
+ 1
237
+ ],
238
+ "rangeMin": 0,
239
+ "rangeMax": 1.5533430342749532,
240
+ "motionStates": {
241
+ "closed": {
242
+ "percent": 0,
243
+ "value": 0
244
+ }
245
+ }
246
+ },
247
+ {
248
+ "pid": 4,
249
+ "type": "rotation",
250
+ "origin": [
251
+ 0.3422372439805331,
252
+ 0.9255063148319491,
253
+ 1.8979771733283997
254
+ ],
255
+ "axis": [
256
+ 0,
257
+ 0,
258
+ 1
259
+ ],
260
+ "ref": [
261
+ -0.9999554157853652,
262
+ 0,
263
+ -0.009442798394414169
264
+ ],
265
+ "base": [
266
+ 3
267
+ ],
268
+ "rangeMin": -1.5533430342749532,
269
+ "rangeMax": 0,
270
+ "motionStates": {
271
+ "closed": {
272
+ "percent": 0,
273
+ "value": -89
274
+ }
275
+ },
276
+ "needsReview": false
277
+ },
278
+ {
279
+ "pid": 5,
280
+ "type": "rotation",
281
+ "origin": [
282
+ 0.9364306021563829,
283
+ 1.9605025497423516,
284
+ 1.9029532670974731
285
+ ],
286
+ "axis": [
287
+ 0,
288
+ 0,
289
+ 1
290
+ ],
291
+ "ref": [
292
+ -0.4912493486911534,
293
+ -0.8710189879735789,
294
+ 0
295
+ ],
296
+ "base": [
297
+ 3
298
+ ],
299
+ "rangeMin": 0,
300
+ "rangeMax": 1.7104226669544427,
301
+ "motionStates": {
302
+ "closed": {
303
+ "percent": 0,
304
+ "value": 0
305
+ }
306
+ }
307
+ },
308
+ {
309
+ "pid": 6,
310
+ "type": "rotation",
311
+ "origin": [
312
+ 1.1357457631890846,
313
+ 2.3320074554054746,
314
+ 1.9060362577438354
315
+ ],
316
+ "axis": [
317
+ 0,
318
+ 0,
319
+ 1
320
+ ],
321
+ "ref": [
322
+ -0.9999554157853652,
323
+ 0,
324
+ -0.009442798394414169
325
+ ],
326
+ "base": [
327
+ 3
328
+ ],
329
+ "rangeMin": 0,
330
+ "rangeMax": 1.5882496193148399,
331
+ "motionStates": {
332
+ "closed": {
333
+ "percent": 0,
334
+ "value": 0
335
+ }
336
+ },
337
+ "needsReview": false
338
+ },
339
+ {
340
+ "pid": 11,
341
+ "type": "rotation",
342
+ "origin": [
343
+ 2.7738811789461657,
344
+ 1.3502671637901285,
345
+ 1.9138606786727905
346
+ ],
347
+ "axis": [
348
+ 0,
349
+ 0,
350
+ 1
351
+ ],
352
+ "ref": [
353
+ 0.8572708986399175,
354
+ -0.5148656196961579,
355
+ 0
356
+ ],
357
+ "base": [
358
+ 10
359
+ ],
360
+ "rangeMin": -1.5882496193148399,
361
+ "rangeMax": 0,
362
+ "motionStates": {
363
+ "closed": {
364
+ "percent": 0,
365
+ "value": -91
366
+ }
367
+ },
368
+ "needsReview": false
369
+ },
370
+ {
371
+ "pid": 12,
372
+ "type": "rotation",
373
+ "origin": [
374
+ 2.270590985879246,
375
+ 0.4880147609530125,
376
+ 1.9178166389465332
377
+ ],
378
+ "axis": [
379
+ 0,
380
+ 0,
381
+ 1
382
+ ],
383
+ "ref": [
384
+ 0.8572708986399175,
385
+ -0.5148656196961579,
386
+ 0
387
+ ],
388
+ "base": [
389
+ 10
390
+ ],
391
+ "rangeMin": 0,
392
+ "rangeMax": 1.6231562043547265,
393
+ "motionStates": {
394
+ "closed": {
395
+ "percent": 0,
396
+ "value": 0
397
+ }
398
+ },
399
+ "needsReview": false
400
+ },
401
+ {
402
+ "pid": 16,
403
+ "type": "rotation",
404
+ "origin": [
405
+ 1.7584476816567585,
406
+ 0.08121773307040292,
407
+ 2.20053493976593
408
+ ],
409
+ "axis": [
410
+ 0,
411
+ 0,
412
+ 1
413
+ ],
414
+ "ref": [
415
+ 0.8572708986399175,
416
+ -0.5148656196961579,
417
+ 0
418
+ ],
419
+ "base": [
420
+ 15
421
+ ],
422
+ "rangeMin": 0,
423
+ "rangeMax": 1.4660765716752369,
424
+ "motionStates": {
425
+ "closed": {
426
+ "percent": 0,
427
+ "value": 0
428
+ }
429
+ },
430
+ "needsReview": false
431
+ },
432
+ {
433
+ "pid": 17,
434
+ "type": "rotation",
435
+ "origin": [
436
+ 1.7538431857921588,
437
+ 0.05813246586736509,
438
+ 1.351243793964386
439
+ ],
440
+ "axis": [
441
+ 0,
442
+ 0,
443
+ 1
444
+ ],
445
+ "ref": [
446
+ 0.8572708986399175,
447
+ -0.5148656196961579,
448
+ 0
449
+ ],
450
+ "base": [
451
+ 15
452
+ ],
453
+ "rangeMin": 0,
454
+ "rangeMax": 1.5882496193148399,
455
+ "motionStates": {
456
+ "closed": {
457
+ "percent": 0,
458
+ "value": 0
459
+ }
460
+ },
461
+ "needsReview": false
462
+ },
463
+ {
464
+ "pid": 21,
465
+ "type": "translation",
466
+ "origin": [
467
+ 2.22283670638251,
468
+ 0.8667766645149999,
469
+ 0.7780745625495911
470
+ ],
471
+ "axis": [
472
+ -0.8575731880049312,
473
+ 0.5143619612831599,
474
+ 0
475
+ ],
476
+ "base": [
477
+ 20
478
+ ],
479
+ "rangeMin": 0,
480
+ "rangeMax": 0.01451325439344009,
481
+ "motionStates": {},
482
+ "needsReview": false
483
+ },
484
+ {
485
+ "pid": 22,
486
+ "type": "translation",
487
+ "origin": [
488
+ 2.2836338237084797,
489
+ 0.9759985198770451,
490
+ 0.6489892601966858
491
+ ],
492
+ "axis": [
493
+ -0.8566651105723484,
494
+ 0.5158729381621663,
495
+ 0
496
+ ],
497
+ "base": [
498
+ 20
499
+ ],
500
+ "rangeMin": 0,
501
+ "rangeMax": 0.013981881425289888,
502
+ "motionStates": {},
503
+ "needsReview": false
504
+ },
505
+ {
506
+ "pid": 23,
507
+ "type": "translation",
508
+ "origin": [
509
+ 2.325219944550959,
510
+ 1.0286591738728588,
511
+ 0.5070476979017258
512
+ ],
513
+ "axis": [
514
+ -0.8552658872666217,
515
+ 0.5181894075316849,
516
+ 0
517
+ ],
518
+ "base": [
519
+ 20
520
+ ],
521
+ "rangeMin": 0,
522
+ "rangeMax": 0.0131660551407915,
523
+ "motionStates": {},
524
+ "needsReview": false
525
+ },
526
+ {
527
+ "pid": 25,
528
+ "type": "rotation",
529
+ "origin": [
530
+ 0.6768231256405646,
531
+ 1.072879871192046,
532
+ 0.1435546875000001
533
+ ],
534
+ "axis": [
535
+ -0.5051441101034903,
536
+ -0.8630350097346879,
537
+ 0
538
+ ],
539
+ "ref": [
540
+ 0,
541
+ 0,
542
+ 1
543
+ ],
544
+ "base": [
545
+ 24
546
+ ],
547
+ "rangeMin": -1.5009831567151235,
548
+ "rangeMax": 0,
549
+ "motionStates": {
550
+ "closed": {
551
+ "percent": 0,
552
+ "value": -86
553
+ }
554
+ },
555
+ "needsReview": false
556
+ },
557
+ {
558
+ "pid": 27,
559
+ "type": "translation",
560
+ "origin": [
561
+ 0.9752758953149897,
562
+ 1.6024493438265415,
563
+ 0.7822738289833069
564
+ ],
565
+ "axis": [
566
+ 0.8583388617267674,
567
+ -0.5130832276050322,
568
+ 0
569
+ ],
570
+ "base": [
571
+ 26
572
+ ],
573
+ "rangeMin": 0,
574
+ "rangeMax": 0.026244675051047994,
575
+ "motionStates": {},
576
+ "needsReview": false
577
+ },
578
+ {
579
+ "pid": 28,
580
+ "type": "rotation",
581
+ "origin": [
582
+ 1.1302903072198902,
583
+ 1.8597938746679592,
584
+ 0.43426740169525146
585
+ ],
586
+ "axis": [
587
+ 0,
588
+ 0,
589
+ 1
590
+ ],
591
+ "ref": [
592
+ -0.9999554157853652,
593
+ 0,
594
+ -0.009442798394414169
595
+ ],
596
+ "base": [
597
+ 26
598
+ ],
599
+ "rangeMin": 0,
600
+ "rangeMax": 1.5882496193148399,
601
+ "motionStates": {
602
+ "closed": {
603
+ "percent": 0,
604
+ "value": 0
605
+ }
606
+ },
607
+ "needsReview": false
608
+ },
609
+ {
610
+ "pid": 31,
611
+ "type": "rotation",
612
+ "origin": [
613
+ 0.476489544478812,
614
+ 0.8237457981265477,
615
+ 1.0956586003303528
616
+ ],
617
+ "axis": [
618
+ 0.855644796429589,
619
+ -0.5175635056135306,
620
+ 0
621
+ ],
622
+ "ref": [
623
+ 0,
624
+ 0,
625
+ 1
626
+ ],
627
+ "base": [
628
+ 30
629
+ ],
630
+ "rangeMin": -0.24434609527920614,
631
+ "rangeMax": 0.33161255787892263,
632
+ "motionStates": {
633
+ "closed": {
634
+ "percent": 0,
635
+ "value": -14
636
+ }
637
+ }
638
+ },
639
+ {
640
+ "pid": 32,
641
+ "type": "rotation",
642
+ "origin": [
643
+ 0.5518972506774471,
644
+ 0.45950235054471555,
645
+ 1.019390634111524
646
+ ],
647
+ "axis": [
648
+ 0.14434768903601755,
649
+ 0.9517998537401299,
650
+ 0.2706303439938483
651
+ ],
652
+ "ref": [
653
+ -0.9481655640728412,
654
+ 0.21128653561499672,
655
+ -0.23736061799347344
656
+ ],
657
+ "base": [
658
+ 2
659
+ ],
660
+ "rangeMin": -3.141592653589793,
661
+ "rangeMax": 3.141592653589793,
662
+ "motionStates": {}
663
+ },
664
+ {
665
+ "pid": 33,
666
+ "type": "rotation",
667
+ "origin": [
668
+ 1.8261064456535303,
669
+ 0.18989547631102957,
670
+ 0.5983189462198548
671
+ ],
672
+ "axis": [
673
+ -0.2700905006458843,
674
+ -0.4769916778779139,
675
+ -0.8363791369325684
676
+ ],
677
+ "ref": [
678
+ 0.42834659219098425,
679
+ 0.7184391527531498,
680
+ -0.5480550891559234
681
+ ],
682
+ "base": [
683
+ 15
684
+ ],
685
+ "rangeMin": -1.3089969389957472,
686
+ "rangeMax": 0,
687
+ "motionStates": {
688
+ "closed": {
689
+ "percent": 0,
690
+ "value": -75
691
+ }
692
+ },
693
+ "needsReview": false
694
+ },
695
+ {
696
+ "pid": 35,
697
+ "type": "rotation",
698
+ "origin": [
699
+ 2.762780371340069,
700
+ 1.4280238536318766,
701
+ 1.0273876094818115
702
+ ],
703
+ "axis": [
704
+ 0,
705
+ 0,
706
+ 1
707
+ ],
708
+ "ref": [
709
+ 0.8572708986399175,
710
+ -0.5148656196961579,
711
+ 0
712
+ ],
713
+ "base": [
714
+ 34
715
+ ],
716
+ "rangeMin": -1.5882496193148399,
717
+ "rangeMax": 0,
718
+ "motionStates": {
719
+ "closed": {
720
+ "percent": 0,
721
+ "value": -91
722
+ }
723
+ },
724
+ "needsReview": false
725
+ },
726
+ {
727
+ "pid": 38,
728
+ "type": "rotation",
729
+ "origin": [
730
+ 1.8579285664648961,
731
+ 1.6599731406085798,
732
+ 1.1366398930549622
733
+ ],
734
+ "axis": [
735
+ -0.998578087019701,
736
+ 0.05330857458303072,
737
+ 0
738
+ ],
739
+ "ref": [
740
+ 0,
741
+ 0,
742
+ 1
743
+ ],
744
+ "base": [
745
+ 37
746
+ ],
747
+ "rangeMin": -1.48352986419518,
748
+ "rangeMax": 0,
749
+ "motionStates": {
750
+ "closed": {
751
+ "percent": 0,
752
+ "value": -85
753
+ }
754
+ },
755
+ "needsReview": false
756
+ },
757
+ {
758
+ "pid": 40,
759
+ "type": "rotation",
760
+ "origin": [
761
+ 1.6440985081786161,
762
+ 1.8311617698835196,
763
+ 1.1225625872612
764
+ ],
765
+ "axis": [
766
+ 0.40928056923257755,
767
+ -0.9124085793374903,
768
+ 0
769
+ ],
770
+ "ref": [
771
+ 0,
772
+ 0,
773
+ 1
774
+ ],
775
+ "base": [
776
+ 39
777
+ ],
778
+ "rangeMin": 0,
779
+ "rangeMax": 1.5533430342749532,
780
+ "motionStates": {
781
+ "closed": {
782
+ "percent": 0,
783
+ "value": 0
784
+ }
785
+ },
786
+ "needsReview": false
787
+ }
788
+ ]
789
+ }
790
+ }
9f21bdec45_artic.json ADDED
@@ -0,0 +1,239 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "modelId": "scannetpp.9f21bdec45",
3
+ "data": {
4
+ "parts": [
5
+ {
6
+ "pid": 0,
7
+ "label": "unknown",
8
+ "group": "others"
9
+ },
10
+ {
11
+ "pid": 1,
12
+ "label": "cabinet.1.1",
13
+ "group": "others"
14
+ },
15
+ {
16
+ "pid": 2,
17
+ "label": "door.1.1.2_1",
18
+ "group": "doors/windows"
19
+ },
20
+ {
21
+ "pid": 3,
22
+ "label": "door.1.1.2_2",
23
+ "group": "doors/windows"
24
+ },
25
+ {
26
+ "pid": 4,
27
+ "label": "handle.1.1.2_1.3_1",
28
+ "group": "handles movable"
29
+ },
30
+ {
31
+ "pid": 5,
32
+ "label": "door frame.2.1",
33
+ "group": "others"
34
+ },
35
+ {
36
+ "pid": 6,
37
+ "label": "door.2.1.2_1",
38
+ "group": "doors/windows"
39
+ },
40
+ {
41
+ "pid": 7,
42
+ "label": "handle base.2.1.2_1.3_1",
43
+ "group": "others"
44
+ },
45
+ {
46
+ "pid": 8,
47
+ "label": "handle.2.1.2_1.3_1.4_1",
48
+ "group": "handles movable"
49
+ },
50
+ {
51
+ "pid": 9,
52
+ "label": "light switch base.3.1",
53
+ "group": "others"
54
+ },
55
+ {
56
+ "pid": 10,
57
+ "label": "light switch.3.1.2_1",
58
+ "group": "switches"
59
+ }
60
+ ],
61
+ "articulations": [
62
+ {
63
+ "pid": 2,
64
+ "type": "rotation",
65
+ "origin": [
66
+ 2.133867364337585,
67
+ 0.5115721138623124,
68
+ 1.068687915802002
69
+ ],
70
+ "axis": [
71
+ 0,
72
+ 0,
73
+ 1
74
+ ],
75
+ "ref": [
76
+ -0.9966629115931285,
77
+ 0.08162745037490536,
78
+ 0
79
+ ],
80
+ "base": [
81
+ 1
82
+ ],
83
+ "rangeMin": 0,
84
+ "rangeMax": 1.6231562043547265,
85
+ "motionStates": {
86
+ "closed": {
87
+ "percent": 0,
88
+ "value": 0
89
+ }
90
+ }
91
+ },
92
+ {
93
+ "pid": 3,
94
+ "type": "rotation",
95
+ "origin": [
96
+ 3.021007084161664,
97
+ 0.4390914330569885,
98
+ 1.0686777638062361
99
+ ],
100
+ "axis": [
101
+ 0.016166215603362732,
102
+ 0.00036900271248959597,
103
+ 0.9998692501072647
104
+ ],
105
+ "ref": [
106
+ 0.0759674452386669,
107
+ 0.9971090207432087,
108
+ -0.0015962507414802457
109
+ ],
110
+ "base": [
111
+ 1
112
+ ],
113
+ "rangeMin": -1.6929693744344996,
114
+ "rangeMax": 0,
115
+ "motionStates": {
116
+ "closed": {
117
+ "percent": 0,
118
+ "value": -97
119
+ }
120
+ }
121
+ },
122
+ {
123
+ "pid": 4,
124
+ "type": "rotation",
125
+ "origin": [
126
+ 2.5199142644972845,
127
+ 0.4988309337198882,
128
+ 1.080123046875
129
+ ],
130
+ "axis": [
131
+ 0.08162745037490536,
132
+ 0.9966629115931285,
133
+ 0
134
+ ],
135
+ "ref": [
136
+ -0.9966629115931285,
137
+ 0.08162745037490536,
138
+ 0
139
+ ],
140
+ "base": [
141
+ 2
142
+ ],
143
+ "rangeMin": -3.141592653589793,
144
+ "rangeMax": 3.141592653589793,
145
+ "motionStates": {}
146
+ },
147
+ {
148
+ "pid": 6,
149
+ "type": "rotation",
150
+ "origin": [
151
+ 3.2897523922755525,
152
+ 0.4613860915575344,
153
+ 1.1389551013708115
154
+ ],
155
+ "axis": [
156
+ 0,
157
+ 0,
158
+ 1
159
+ ],
160
+ "ref": [
161
+ 0.11206930439425228,
162
+ 0.9937003929820037,
163
+ 0
164
+ ],
165
+ "base": [
166
+ 5
167
+ ],
168
+ "rangeMin": -1.6755160819145563,
169
+ "rangeMax": 0,
170
+ "motionStates": {
171
+ "closed": {
172
+ "percent": 0,
173
+ "value": -96
174
+ }
175
+ }
176
+ },
177
+ {
178
+ "pid": 8,
179
+ "type": "rotation",
180
+ "origin": [
181
+ 3.4077445151256254,
182
+ 1.3509956631283346,
183
+ 1.0721889500983193
184
+ ],
185
+ "axis": [
186
+ -0.9877047339935022,
187
+ -0.09128082416638207,
188
+ 0.12691402438789368
189
+ ],
190
+ "ref": [
191
+ 0.1267706448449371,
192
+ 0.007390694458467736,
193
+ 0.9919045222404324
194
+ ],
195
+ "base": [
196
+ 7
197
+ ],
198
+ "rangeMin": -0.9424777960769379,
199
+ "rangeMax": 0,
200
+ "motionStates": {
201
+ "closed": {
202
+ "percent": 0,
203
+ "value": -54
204
+ }
205
+ }
206
+ },
207
+ {
208
+ "pid": 10,
209
+ "type": "rotation",
210
+ "origin": [
211
+ 3.126163432454062,
212
+ 1.6157520614615795,
213
+ 1.078485730977935
214
+ ],
215
+ "axis": [
216
+ 0.07580137616670685,
217
+ 0.9968009639173334,
218
+ 0.02533751575644934
219
+ ],
220
+ "ref": [
221
+ 0.09284478126839607,
222
+ 0.018244439619771423,
223
+ -0.9955134288467355
224
+ ],
225
+ "base": [
226
+ 9
227
+ ],
228
+ "rangeMin": -0.24434609527920614,
229
+ "rangeMax": 0.20943951023931953,
230
+ "motionStates": {
231
+ "closed": {
232
+ "percent": 0,
233
+ "value": -14
234
+ }
235
+ }
236
+ }
237
+ ]
238
+ }
239
+ }
a980334473_parts.json ADDED
The diff for this file is too large to render. See raw diff
 
aaa11940d3_artic.json ADDED
@@ -0,0 +1,940 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "modelId": "scannetpp.aaa11940d3",
3
+ "data": {
4
+ "parts": [
5
+ {
6
+ "pid": 0,
7
+ "label": "unknown",
8
+ "group": "others"
9
+ },
10
+ {
11
+ "pid": 1,
12
+ "label": "cabinet.1.1",
13
+ "group": "others"
14
+ },
15
+ {
16
+ "pid": 2,
17
+ "label": "door.1.1.2_1",
18
+ "group": "doors/windows"
19
+ },
20
+ {
21
+ "pid": 3,
22
+ "label": "door.1.1.2_2",
23
+ "group": "doors/windows"
24
+ },
25
+ {
26
+ "pid": 4,
27
+ "label": "door.1.1.2_3",
28
+ "group": "doors/windows"
29
+ },
30
+ {
31
+ "pid": 5,
32
+ "label": "door.1.1.2_4",
33
+ "group": "doors/windows"
34
+ },
35
+ {
36
+ "pid": 6,
37
+ "label": "knob.1.1.2_2.3_1",
38
+ "group": "others"
39
+ },
40
+ {
41
+ "pid": 7,
42
+ "label": "knob.1.1.2_4.3_1",
43
+ "group": "others"
44
+ },
45
+ {
46
+ "pid": 8,
47
+ "label": "door frame.2.1",
48
+ "group": "others"
49
+ },
50
+ {
51
+ "pid": 9,
52
+ "label": "door.2.1.2_1",
53
+ "group": "doors/windows"
54
+ },
55
+ {
56
+ "pid": 10,
57
+ "label": "handle base.2.1.2_1.3_1",
58
+ "group": "others"
59
+ },
60
+ {
61
+ "pid": 11,
62
+ "label": "handle.2.1.2_1.3_1.4_1",
63
+ "group": "handles movable"
64
+ },
65
+ {
66
+ "pid": 12,
67
+ "label": "hinge.2.1.2_2",
68
+ "group": "others"
69
+ },
70
+ {
71
+ "pid": 13,
72
+ "label": "hinge.2.1.2_3",
73
+ "group": "others"
74
+ },
75
+ {
76
+ "pid": 14,
77
+ "label": "light switch base.3.1",
78
+ "group": "others"
79
+ },
80
+ {
81
+ "pid": 15,
82
+ "label": "light switch.3.1.2_1",
83
+ "group": "switches"
84
+ },
85
+ {
86
+ "pid": 16,
87
+ "label": "cabinet.4.1",
88
+ "group": "others"
89
+ },
90
+ {
91
+ "pid": 17,
92
+ "label": "drawer.4.1.2_1",
93
+ "group": "cabinets"
94
+ },
95
+ {
96
+ "pid": 18,
97
+ "label": "drawer.4.1.2_2",
98
+ "group": "cabinets"
99
+ },
100
+ {
101
+ "pid": 19,
102
+ "label": "drawer.4.1.2_3",
103
+ "group": "cabinets"
104
+ },
105
+ {
106
+ "pid": 20,
107
+ "label": "drawer.4.1.2_4",
108
+ "group": "cabinets"
109
+ },
110
+ {
111
+ "pid": 21,
112
+ "label": "handle.4.1.2_1.3_1",
113
+ "group": "others"
114
+ },
115
+ {
116
+ "pid": 22,
117
+ "label": "handle.4.1.2_2.3_1",
118
+ "group": "others"
119
+ },
120
+ {
121
+ "pid": 23,
122
+ "label": "handle.4.1.2_3.3_1",
123
+ "group": "others"
124
+ },
125
+ {
126
+ "pid": 24,
127
+ "label": "handle.4.1.2_4.3_1",
128
+ "group": "others"
129
+ },
130
+ {
131
+ "pid": 25,
132
+ "label": "cabinet.5.1",
133
+ "group": "others"
134
+ },
135
+ {
136
+ "pid": 26,
137
+ "label": "drawer.5.1.2_1",
138
+ "group": "cabinets"
139
+ },
140
+ {
141
+ "pid": 27,
142
+ "label": "drawer.5.1.2_2",
143
+ "group": "cabinets"
144
+ },
145
+ {
146
+ "pid": 28,
147
+ "label": "drawer.5.1.2_3",
148
+ "group": "cabinets"
149
+ },
150
+ {
151
+ "pid": 29,
152
+ "label": "handle.5.1.2_3.3_1",
153
+ "group": "others"
154
+ },
155
+ {
156
+ "pid": 30,
157
+ "label": "handle.5.1.2_2.3_1",
158
+ "group": "others"
159
+ },
160
+ {
161
+ "pid": 31,
162
+ "label": "handle.5.1.2_1.3_1",
163
+ "group": "others"
164
+ },
165
+ {
166
+ "pid": 32,
167
+ "label": "heater.6.1",
168
+ "group": "others"
169
+ },
170
+ {
171
+ "pid": 33,
172
+ "label": "heater control.6.1.2_1",
173
+ "group": "controls"
174
+ },
175
+ {
176
+ "pid": 34,
177
+ "label": "cabinet.7.1",
178
+ "group": "others"
179
+ },
180
+ {
181
+ "pid": 35,
182
+ "label": "drawer.7.1.2_1",
183
+ "group": "cabinets"
184
+ },
185
+ {
186
+ "pid": 36,
187
+ "label": "drawer.7.1.2_2",
188
+ "group": "cabinets"
189
+ },
190
+ {
191
+ "pid": 37,
192
+ "label": "drawer.7.1.2_3",
193
+ "group": "cabinets"
194
+ },
195
+ {
196
+ "pid": 38,
197
+ "label": "drawer.7.1.2_4",
198
+ "group": "cabinets"
199
+ },
200
+ {
201
+ "pid": 39,
202
+ "label": "handle.7.1.2_4.3_1",
203
+ "group": "others"
204
+ },
205
+ {
206
+ "pid": 40,
207
+ "label": "handle.7.1.2_3.3_1",
208
+ "group": "others"
209
+ },
210
+ {
211
+ "pid": 41,
212
+ "label": "handle.7.1.2_2.3_1",
213
+ "group": "others"
214
+ },
215
+ {
216
+ "pid": 42,
217
+ "label": "handle.7.1.2_1.3_1",
218
+ "group": "others"
219
+ },
220
+ {
221
+ "pid": 43,
222
+ "label": "switch base.8.1",
223
+ "group": "others"
224
+ },
225
+ {
226
+ "pid": 44,
227
+ "label": "switch.8.1.2_1",
228
+ "group": "switches"
229
+ },
230
+ {
231
+ "pid": 45,
232
+ "label": "blinds.9.1.2_2",
233
+ "group": "curtains/blinds"
234
+ },
235
+ {
236
+ "pid": 46,
237
+ "label": "blinds control.9.1.2_1",
238
+ "group": "curtains/blinds"
239
+ },
240
+ {
241
+ "pid": 47,
242
+ "label": "blinds rail.9.1",
243
+ "group": "others"
244
+ },
245
+ {
246
+ "pid": 48,
247
+ "label": "cabinet",
248
+ "group": "others"
249
+ },
250
+ {
251
+ "pid": 49,
252
+ "label": "window frame.10.1",
253
+ "group": "others"
254
+ },
255
+ {
256
+ "pid": 50,
257
+ "label": "window.10.1.2_1",
258
+ "group": "doors/windows"
259
+ },
260
+ {
261
+ "pid": 51,
262
+ "label": "window.10.1.2_2",
263
+ "group": "doors/windows"
264
+ },
265
+ {
266
+ "pid": 52,
267
+ "label": "handle base.10.1.2_2.3_1",
268
+ "group": "others"
269
+ },
270
+ {
271
+ "pid": 53,
272
+ "label": "handle.10.1.2_2.3_1.4_1",
273
+ "group": "handles movable"
274
+ },
275
+ {
276
+ "pid": 54,
277
+ "label": "handle base.10.1.2_1.3_1",
278
+ "group": "others"
279
+ },
280
+ {
281
+ "pid": 55,
282
+ "label": "handle.10.1.2_1.3_1.4_1",
283
+ "group": "handles movable"
284
+ }
285
+ ],
286
+ "articulations": [
287
+ {
288
+ "pid": 2,
289
+ "type": "rotation",
290
+ "origin": [
291
+ 0.5825932845097348,
292
+ 1.9089236693096534,
293
+ 1.204546704293366
294
+ ],
295
+ "axis": [
296
+ 0.0027896987926874935,
297
+ -0.003635316235306895,
298
+ 0.9999895009731429
299
+ ],
300
+ "ref": [
301
+ 0.06319376023774914,
302
+ 0.9979953075684255,
303
+ 0.0034517732279827993
304
+ ],
305
+ "base": [
306
+ 1
307
+ ],
308
+ "rangeMin": -1.5707963267948966,
309
+ "rangeMax": 0,
310
+ "motionStates": {
311
+ "closed": {
312
+ "percent": 0,
313
+ "value": -90
314
+ }
315
+ }
316
+ },
317
+ {
318
+ "pid": 3,
319
+ "type": "rotation",
320
+ "origin": [
321
+ 0.6457072749666715,
322
+ 2.91001487366524,
323
+ 1.208172507584095
324
+ ],
325
+ "axis": [
326
+ 0,
327
+ 0,
328
+ 1
329
+ ],
330
+ "ref": [
331
+ 0.06319376023774914,
332
+ 0.9979953075684255,
333
+ 0.0034517732279827993
334
+ ],
335
+ "base": [
336
+ 1
337
+ ],
338
+ "rangeMin": 0,
339
+ "rangeMax": 1.6580627893946132,
340
+ "motionStates": {
341
+ "closed": {
342
+ "percent": 0,
343
+ "value": 0
344
+ }
345
+ }
346
+ },
347
+ {
348
+ "pid": 4,
349
+ "type": "rotation",
350
+ "origin": [
351
+ 0.6459665379381366,
352
+ 2.903115274065896,
353
+ 1.2765819281339645
354
+ ],
355
+ "axis": [
356
+ 0,
357
+ 0,
358
+ 1
359
+ ],
360
+ "ref": [
361
+ 0.06319376023774914,
362
+ 0.9979953075684255,
363
+ 0.0034517732279827993
364
+ ],
365
+ "base": [
366
+ 1
367
+ ],
368
+ "rangeMin": -1.6580627893946132,
369
+ "rangeMax": 0,
370
+ "motionStates": {
371
+ "closed": {
372
+ "percent": 0,
373
+ "value": -95
374
+ }
375
+ }
376
+ },
377
+ {
378
+ "pid": 5,
379
+ "type": "rotation",
380
+ "origin": [
381
+ 0.7109225190438059,
382
+ 3.915120182120366,
383
+ 1.4688628315925598
384
+ ],
385
+ "axis": [
386
+ 0,
387
+ 0,
388
+ 1
389
+ ],
390
+ "ref": [
391
+ 0.06319376023774914,
392
+ 0.9979953075684255,
393
+ 0.0034517732279827993
394
+ ],
395
+ "base": [
396
+ 1
397
+ ],
398
+ "rangeMin": 0,
399
+ "rangeMax": 1.5707963267948966,
400
+ "motionStates": {
401
+ "closed": {
402
+ "percent": 0,
403
+ "value": 0
404
+ }
405
+ }
406
+ },
407
+ {
408
+ "pid": 9,
409
+ "type": "rotation",
410
+ "origin": [
411
+ 0.058241269708944055,
412
+ 0.7129926940731537,
413
+ 1.1397936642169952
414
+ ],
415
+ "axis": [
416
+ 0,
417
+ 0,
418
+ 1
419
+ ],
420
+ "ref": [
421
+ 0.06319376023774914,
422
+ 0.9979953075684255,
423
+ 0.0034517732279827993
424
+ ],
425
+ "base": [
426
+ 8
427
+ ],
428
+ "rangeMin": -1.6231562043547265,
429
+ "rangeMax": 0,
430
+ "motionStates": {
431
+ "closed": {
432
+ "percent": 0,
433
+ "value": -93
434
+ }
435
+ }
436
+ },
437
+ {
438
+ "pid": 11,
439
+ "type": "rotation",
440
+ "origin": [
441
+ 0.1535813060695478,
442
+ 1.6247613717950051,
443
+ 1.133609116077423
444
+ ],
445
+ "axis": [
446
+ 0.9998671990775159,
447
+ -0.016296754550620997,
448
+ 0
449
+ ],
450
+ "ref": [
451
+ 0.016296754550620997,
452
+ 0.9998671990775159,
453
+ 0
454
+ ],
455
+ "base": [
456
+ 10
457
+ ],
458
+ "rangeMin": 0,
459
+ "rangeMax": 0.890117918517108,
460
+ "motionStates": {
461
+ "closed": {
462
+ "percent": 0,
463
+ "value": 0
464
+ }
465
+ }
466
+ },
467
+ {
468
+ "pid": 15,
469
+ "type": "rotation",
470
+ "origin": [
471
+ 0.1346800512540689,
472
+ 1.83463133076386,
473
+ 1.1855984330177307
474
+ ],
475
+ "axis": [
476
+ 0.06160716205174802,
477
+ 0.9981004746937703,
478
+ 0
479
+ ],
480
+ "ref": [
481
+ 0,
482
+ 0,
483
+ 1
484
+ ],
485
+ "base": [
486
+ 14
487
+ ],
488
+ "rangeMin": -0.24434609527920614,
489
+ "rangeMax": 0.20943951023931953,
490
+ "motionStates": {
491
+ "closed": {
492
+ "percent": 0,
493
+ "value": -14
494
+ }
495
+ }
496
+ },
497
+ {
498
+ "pid": 17,
499
+ "type": "translation",
500
+ "origin": [
501
+ 0.9008148704620336,
502
+ 3.0021567354997627,
503
+ 0.5610138475894928
504
+ ],
505
+ "axis": [
506
+ -0.03453619106145553,
507
+ -0.9994034478162294,
508
+ 0
509
+ ],
510
+ "base": [
511
+ 16
512
+ ],
513
+ "rangeMin": 0,
514
+ "rangeMax": 0.39936889954544075,
515
+ "motionStates": {}
516
+ },
517
+ {
518
+ "pid": 18,
519
+ "type": "translation",
520
+ "origin": [
521
+ 0.9068089031075424,
522
+ 3.003511821437977,
523
+ 0.4782021939754486
524
+ ],
525
+ "axis": [
526
+ -0.03754850141659164,
527
+ -0.9992948063716576,
528
+ 0
529
+ ],
530
+ "base": [
531
+ 16
532
+ ],
533
+ "rangeMin": 0,
534
+ "rangeMax": 0.40001812930100744,
535
+ "motionStates": {}
536
+ },
537
+ {
538
+ "pid": 19,
539
+ "type": "translation",
540
+ "origin": [
541
+ 0.8212504703750088,
542
+ 3.0016399645515803,
543
+ 0.35270996391773224
544
+ ],
545
+ "axis": [
546
+ -0.0514199937892174,
547
+ -0.9986771171097879,
548
+ 0
549
+ ],
550
+ "base": [
551
+ 16
552
+ ],
553
+ "rangeMin": 0,
554
+ "rangeMax": 0.4029618067184568,
555
+ "motionStates": {}
556
+ },
557
+ {
558
+ "pid": 20,
559
+ "type": "translation",
560
+ "origin": [
561
+ 0.9102189664607008,
562
+ 3.006568102233974,
563
+ 0.20123711228370667
564
+ ],
565
+ "axis": [
566
+ -0.05335792612669115,
567
+ -0.9985754511900733,
568
+ 0
569
+ ],
570
+ "base": [
571
+ 16
572
+ ],
573
+ "rangeMin": 0,
574
+ "rangeMax": 0.4033670361004118,
575
+ "motionStates": {}
576
+ },
577
+ {
578
+ "pid": 26,
579
+ "type": "translation",
580
+ "origin": [
581
+ 2.2254033137340197,
582
+ 2.2284430967078164,
583
+ 0.41028517112135887
584
+ ],
585
+ "axis": [
586
+ 0.07301500091961433,
587
+ 0.9973308426197942,
588
+ 0
589
+ ],
590
+ "base": [
591
+ 25
592
+ ],
593
+ "rangeMin": 0,
594
+ "rangeMax": 0.4331351935143406,
595
+ "motionStates": {}
596
+ },
597
+ {
598
+ "pid": 27,
599
+ "type": "translation",
600
+ "origin": [
601
+ 2.2129226803431,
602
+ 1.3722864141458393,
603
+ 0.42798058316111565
604
+ ],
605
+ "axis": [
606
+ -0.07595506470233282,
607
+ -0.9971112416105158,
608
+ 0
609
+ ],
610
+ "base": [
611
+ 25
612
+ ],
613
+ "rangeMin": 0,
614
+ "rangeMax": 0.4315009054174752,
615
+ "motionStates": {},
616
+ "needsReview": false
617
+ },
618
+ {
619
+ "pid": 28,
620
+ "type": "translation",
621
+ "origin": [
622
+ 2.753647294500041,
623
+ 1.332993208321244,
624
+ 0.41368816420435905
625
+ ],
626
+ "axis": [
627
+ -0.07503476291463235,
628
+ -0.9971809185671098,
629
+ 0
630
+ ],
631
+ "base": [
632
+ 25
633
+ ],
634
+ "rangeMin": 0,
635
+ "rangeMax": 0.4320129147078169,
636
+ "motionStates": {}
637
+ },
638
+ {
639
+ "pid": 33,
640
+ "type": "rotation",
641
+ "origin": [
642
+ 4.659024724402094,
643
+ 0.18104143030099573,
644
+ 0.5717840784917784
645
+ ],
646
+ "axis": [
647
+ 0.9660745729166861,
648
+ 0.15160065044606386,
649
+ 0.2090864948966645
650
+ ],
651
+ "ref": [
652
+ -0.2520671115532047,
653
+ 0.7297546702592725,
654
+ 0.6355472386125239
655
+ ],
656
+ "base": [
657
+ 32
658
+ ],
659
+ "rangeMin": -3.141592653589793,
660
+ "rangeMax": 3.141592653589793,
661
+ "motionStates": {}
662
+ },
663
+ {
664
+ "pid": 35,
665
+ "type": "translation",
666
+ "origin": [
667
+ 4.265001116309947,
668
+ 0.9986630249281926,
669
+ 0.5569884777069092
670
+ ],
671
+ "axis": [
672
+ -0.07539860464067112,
673
+ -0.9971534738535688,
674
+ 0
675
+ ],
676
+ "base": [
677
+ 34
678
+ ],
679
+ "rangeMin": 0,
680
+ "rangeMax": 0.2843917544849781,
681
+ "motionStates": {}
682
+ },
683
+ {
684
+ "pid": 36,
685
+ "type": "translation",
686
+ "origin": [
687
+ 4.270232538253809,
688
+ 1.0016960590712944,
689
+ 0.479566752910614
690
+ ],
691
+ "axis": [
692
+ -0.07924742170352869,
693
+ -0.9968549774933881,
694
+ 0
695
+ ],
696
+ "base": [
697
+ 34
698
+ ],
699
+ "rangeMin": 0,
700
+ "rangeMax": 0.2852283792130439,
701
+ "motionStates": {}
702
+ },
703
+ {
704
+ "pid": 37,
705
+ "type": "translation",
706
+ "origin": [
707
+ 4.272469017054607,
708
+ 1.00001746374698,
709
+ 0.2805553302168846
710
+ ],
711
+ "axis": [
712
+ -0.08403261961400141,
713
+ -0.9964630042509399,
714
+ 0
715
+ ],
716
+ "base": [
717
+ 34
718
+ ],
719
+ "rangeMin": 0,
720
+ "rangeMax": 0.28626297423095504,
721
+ "motionStates": {}
722
+ },
723
+ {
724
+ "pid": 38,
725
+ "type": "translation",
726
+ "origin": [
727
+ 4.274241656288099,
728
+ 1.0051897772816547,
729
+ 0.2109290435910225
730
+ ],
731
+ "axis": [
732
+ -0.07303187443301952,
733
+ -0.9973296071594384,
734
+ 0
735
+ ],
736
+ "base": [
737
+ 34
738
+ ],
739
+ "rangeMin": 0,
740
+ "rangeMax": 0.2838753113759205,
741
+ "motionStates": {}
742
+ },
743
+ {
744
+ "pid": 44,
745
+ "type": "rotation",
746
+ "origin": [
747
+ 4.624462119878885,
748
+ 0.9741309893357603,
749
+ 0.8299859166145325
750
+ ],
751
+ "axis": [
752
+ -0.02921273074781009,
753
+ 0.9995732171093101,
754
+ 0
755
+ ],
756
+ "ref": [
757
+ 0,
758
+ 0,
759
+ 1
760
+ ],
761
+ "base": [
762
+ 43
763
+ ],
764
+ "rangeMin": -0.20943951023931953,
765
+ "rangeMax": 0.22689280275926282,
766
+ "motionStates": {
767
+ "closed": {
768
+ "percent": 0,
769
+ "value": -12
770
+ }
771
+ }
772
+ },
773
+ {
774
+ "pid": 45,
775
+ "type": "translation",
776
+ "origin": [
777
+ 4.6306737601672365,
778
+ 0.2854493587682978,
779
+ 1.9236068427562714
780
+ ],
781
+ "axis": [
782
+ -0.06034223428944033,
783
+ 0.9981777470776226,
784
+ 0
785
+ ],
786
+ "base": [
787
+ 47
788
+ ],
789
+ "rangeMin": 0,
790
+ "rangeMax": 1.7930459285409486,
791
+ "motionStates": {}
792
+ },
793
+ {
794
+ "pid": 46,
795
+ "type": "rotation",
796
+ "origin": [
797
+ 4.862486077361584,
798
+ 3.649515482073981,
799
+ 2.486127734184265
800
+ ],
801
+ "axis": [
802
+ 0,
803
+ 0,
804
+ 1
805
+ ],
806
+ "ref": [
807
+ 0.9986771171097879,
808
+ -0.0514199937892174,
809
+ 0
810
+ ],
811
+ "base": [
812
+ 47
813
+ ],
814
+ "rangeMin": -3.141592653589793,
815
+ "rangeMax": 3.141592653589793,
816
+ "motionStates": {}
817
+ },
818
+ {
819
+ "pid": 50,
820
+ "type": "rotation",
821
+ "origin": [
822
+ 5.165956220656755,
823
+ 3.6348429129444133,
824
+ 1.764776736497879
825
+ ],
826
+ "axis": [
827
+ 0,
828
+ 0,
829
+ 1
830
+ ],
831
+ "ref": [
832
+ 0.9986771171097879,
833
+ -0.0514199937892174,
834
+ 0
835
+ ],
836
+ "base": [
837
+ 49
838
+ ],
839
+ "rangeMin": -1.6580627893946132,
840
+ "rangeMax": 0,
841
+ "motionStates": {
842
+ "closed": {
843
+ "percent": 0,
844
+ "value": -95
845
+ }
846
+ }
847
+ },
848
+ {
849
+ "pid": 51,
850
+ "type": "rotation",
851
+ "origin": [
852
+ 5.040894490898438,
853
+ 1.8925542025443938,
854
+ 1.7622510194778442
855
+ ],
856
+ "axis": [
857
+ 0,
858
+ 0,
859
+ 1
860
+ ],
861
+ "ref": [
862
+ 0.9986771171097879,
863
+ -0.0514199937892174,
864
+ 0
865
+ ],
866
+ "base": [
867
+ 49
868
+ ],
869
+ "rangeMin": 0,
870
+ "rangeMax": 1.6755160819145563,
871
+ "motionStates": {
872
+ "closed": {
873
+ "percent": 0,
874
+ "value": 0
875
+ }
876
+ }
877
+ },
878
+ {
879
+ "pid": 53,
880
+ "type": "rotation",
881
+ "origin": [
882
+ 5.048440143666836,
883
+ 3.027177637772624,
884
+ 1.7714184917566027
885
+ ],
886
+ "axis": [
887
+ 0.984401145188371,
888
+ -0.15781482782414322,
889
+ -0.0777744525577642
890
+ ],
891
+ "ref": [
892
+ 0.16073057535714919,
893
+ 0.9864552582253246,
894
+ 0.03273691593550018
895
+ ],
896
+ "base": [
897
+ 52
898
+ ],
899
+ "rangeMin": -1.7104226669544427,
900
+ "rangeMax": 0,
901
+ "motionStates": {
902
+ "closed": {
903
+ "percent": 0,
904
+ "value": -98
905
+ }
906
+ }
907
+ },
908
+ {
909
+ "pid": 55,
910
+ "type": "rotation",
911
+ "origin": [
912
+ 5.091557782776766,
913
+ 3.1332146877561837,
914
+ 1.7781669464111327
915
+ ],
916
+ "axis": [
917
+ -0.9984093242659324,
918
+ 0.056381035985906776,
919
+ 0
920
+ ],
921
+ "ref": [
922
+ 0,
923
+ 0,
924
+ 1
925
+ ],
926
+ "base": [
927
+ 54
928
+ ],
929
+ "rangeMin": -1.6929693744344996,
930
+ "rangeMax": 0,
931
+ "motionStates": {
932
+ "closed": {
933
+ "percent": 0,
934
+ "value": -97
935
+ }
936
+ }
937
+ }
938
+ ]
939
+ }
940
+ }
ab046f8faf_artic.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "modelId": "scannetpp.ab046f8faf",
3
+ "data": {
4
+ "parts": [
5
+ {
6
+ "pid": 0,
7
+ "label": "unknown",
8
+ "group": "others"
9
+ },
10
+ {
11
+ "pid": 1,
12
+ "label": "cabinet.1.1",
13
+ "group": "others"
14
+ },
15
+ {
16
+ "pid": 2,
17
+ "label": "drawer.1.1.2_1",
18
+ "group": "cabinets"
19
+ },
20
+ {
21
+ "pid": 3,
22
+ "label": "drawer.1.1.2_2",
23
+ "group": "cabinets"
24
+ },
25
+ {
26
+ "pid": 4,
27
+ "label": "handle.1.1.2_2.3_1",
28
+ "group": "others"
29
+ },
30
+ {
31
+ "pid": 5,
32
+ "label": "knob.1.1.2_1.3_1",
33
+ "group": "others"
34
+ },
35
+ {
36
+ "pid": 6,
37
+ "label": "cabinet.2.1",
38
+ "group": "others"
39
+ },
40
+ {
41
+ "pid": 7,
42
+ "label": "drawer.2.1.2_1",
43
+ "group": "cabinets"
44
+ },
45
+ {
46
+ "pid": 8,
47
+ "label": "drawer.2.1.2_2",
48
+ "group": "cabinets"
49
+ },
50
+ {
51
+ "pid": 9,
52
+ "label": "knob.2.1.2_1.3_1",
53
+ "group": "others"
54
+ },
55
+ {
56
+ "pid": 10,
57
+ "label": "handle.2.1.2_2.3_1",
58
+ "group": "others"
59
+ }
60
+ ],
61
+ "articulations": [
62
+ {
63
+ "pid": 2,
64
+ "type": "rotation",
65
+ "origin": [
66
+ 0.04061618796646599,
67
+ 1.909136573301322,
68
+ 0.45095065981149673
69
+ ],
70
+ "axis": [
71
+ 0,
72
+ 0,
73
+ 1
74
+ ],
75
+ "ref": [
76
+ 0.9992031646467477,
77
+ 0.03991285206452457,
78
+ 0
79
+ ],
80
+ "base": [
81
+ 1
82
+ ],
83
+ "rangeMin": -1.5882496193148399,
84
+ "rangeMax": 0,
85
+ "motionStates": {
86
+ "closed": {
87
+ "percent": 0,
88
+ "value": -91
89
+ }
90
+ }
91
+ },
92
+ {
93
+ "pid": 3,
94
+ "type": "translation",
95
+ "origin": [
96
+ 0.3011173166366219,
97
+ 1.9336664085147972,
98
+ 0.7520834662173852
99
+ ],
100
+ "axis": [
101
+ 0.05554172898619073,
102
+ -0.9981982950334269,
103
+ -0.022699782677017548
104
+ ],
105
+ "base": [
106
+ 1
107
+ ],
108
+ "rangeMin": 0,
109
+ "rangeMax": 0.09531333201382153,
110
+ "motionStates": {}
111
+ },
112
+ {
113
+ "pid": 7,
114
+ "type": "rotation",
115
+ "origin": [
116
+ 1.7335930717898416,
117
+ 2.0014273300151455,
118
+ 0.4506768584251404
119
+ ],
120
+ "axis": [
121
+ 0,
122
+ 0,
123
+ 1
124
+ ],
125
+ "ref": [
126
+ 0.9998258091697453,
127
+ 0.018664172043362338,
128
+ 0
129
+ ],
130
+ "base": [
131
+ 6
132
+ ],
133
+ "rangeMin": 0,
134
+ "rangeMax": 1.6231562043547265,
135
+ "motionStates": {
136
+ "closed": {
137
+ "percent": 0,
138
+ "value": 0
139
+ }
140
+ },
141
+ "needsReview": false
142
+ },
143
+ {
144
+ "pid": 8,
145
+ "type": "translation",
146
+ "origin": [
147
+ 1.4733068295835825,
148
+ 1.9875144711899644,
149
+ 0.7413740456104279
150
+ ],
151
+ "axis": [
152
+ 0.03991285206452457,
153
+ -0.9992031646467477,
154
+ 0
155
+ ],
156
+ "base": [
157
+ 6
158
+ ],
159
+ "rangeMin": 3.407729189108e-05,
160
+ "rangeMax": 0.0390340772918911,
161
+ "motionStates": {
162
+ "closed": {
163
+ "percent": 0,
164
+ "value": 3.407729189108e-05
165
+ }
166
+ }
167
+ }
168
+ ]
169
+ }
170
+ }
ab046f8faf_parts.json ADDED
The diff for this file is too large to render. See raw diff
 
ab6983ae6c_artic.json ADDED
@@ -0,0 +1,1385 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "modelId": "scannetpp.ab6983ae6c",
3
+ "data": {
4
+ "parts": [
5
+ {
6
+ "pid": 0,
7
+ "label": "unknown",
8
+ "group": "others"
9
+ },
10
+ {
11
+ "pid": 1,
12
+ "label": "blinds rail.1.1",
13
+ "group": "others"
14
+ },
15
+ {
16
+ "pid": 2,
17
+ "label": "blinds.1.1.2_1",
18
+ "group": "curtains/blinds"
19
+ },
20
+ {
21
+ "pid": 3,
22
+ "label": "blinds.1.1.2_2",
23
+ "group": "curtains/blinds"
24
+ },
25
+ {
26
+ "pid": 4,
27
+ "label": "blinds control.1.1.2_2.3_1",
28
+ "group": "curtains/blinds"
29
+ },
30
+ {
31
+ "pid": 5,
32
+ "label": "cabinet.2.1",
33
+ "group": "others"
34
+ },
35
+ {
36
+ "pid": 6,
37
+ "label": "drawer.2.1.2_1",
38
+ "group": "cabinets"
39
+ },
40
+ {
41
+ "pid": 7,
42
+ "label": "drawer.2.1.2_2",
43
+ "group": "cabinets"
44
+ },
45
+ {
46
+ "pid": 8,
47
+ "label": "drawer.2.1.2_3",
48
+ "group": "cabinets"
49
+ },
50
+ {
51
+ "pid": 9,
52
+ "label": "drawer.2.1.2_4",
53
+ "group": "cabinets"
54
+ },
55
+ {
56
+ "pid": 10,
57
+ "label": "handle.2.1.2_4.3_1",
58
+ "group": "others"
59
+ },
60
+ {
61
+ "pid": 11,
62
+ "label": "handle.2.1.2_3.3_1",
63
+ "group": "others"
64
+ },
65
+ {
66
+ "pid": 12,
67
+ "label": "handle.2.1.2_2.3_1",
68
+ "group": "others"
69
+ },
70
+ {
71
+ "pid": 13,
72
+ "label": "handle.2.1.2_1.3_1",
73
+ "group": "others"
74
+ },
75
+ {
76
+ "pid": 14,
77
+ "label": "cabinet.3.1",
78
+ "group": "others"
79
+ },
80
+ {
81
+ "pid": 15,
82
+ "label": "drawer.3.1.2_1",
83
+ "group": "cabinets"
84
+ },
85
+ {
86
+ "pid": 16,
87
+ "label": "drawer.3.1.2_2",
88
+ "group": "cabinets"
89
+ },
90
+ {
91
+ "pid": 17,
92
+ "label": "drawer.3.1.2_3",
93
+ "group": "cabinets"
94
+ },
95
+ {
96
+ "pid": 18,
97
+ "label": "drawer.3.1.2_4",
98
+ "group": "cabinets"
99
+ },
100
+ {
101
+ "pid": 19,
102
+ "label": "heater.4.1",
103
+ "group": "others"
104
+ },
105
+ {
106
+ "pid": 20,
107
+ "label": "heater control.4.1.2_1",
108
+ "group": "controls"
109
+ },
110
+ {
111
+ "pid": 21,
112
+ "label": "panel.5.1",
113
+ "group": "others"
114
+ },
115
+ {
116
+ "pid": 22,
117
+ "label": "switch.5.1.2_1",
118
+ "group": "switches"
119
+ },
120
+ {
121
+ "pid": 23,
122
+ "label": "switch.5.1.2_2",
123
+ "group": "switches"
124
+ },
125
+ {
126
+ "pid": 24,
127
+ "label": "window frame.6.1",
128
+ "group": "others"
129
+ },
130
+ {
131
+ "pid": 25,
132
+ "label": "window.6.1.2_1",
133
+ "group": "doors/windows"
134
+ },
135
+ {
136
+ "pid": 26,
137
+ "label": "window.6.1.2_2",
138
+ "group": "doors/windows"
139
+ },
140
+ {
141
+ "pid": 27,
142
+ "label": "handle base.6.1.2_2.3_1",
143
+ "group": "others"
144
+ },
145
+ {
146
+ "pid": 28,
147
+ "label": "handle.6.1.2_2.3_1.4_1",
148
+ "group": "handles movable"
149
+ },
150
+ {
151
+ "pid": 29,
152
+ "label": "handle base.6.1.2_1.3_1",
153
+ "group": "others"
154
+ },
155
+ {
156
+ "pid": 30,
157
+ "label": "handle.6.1.2_1.3_1.4_1",
158
+ "group": "handles movable"
159
+ },
160
+ {
161
+ "pid": 31,
162
+ "label": "window frame.7.1",
163
+ "group": "others"
164
+ },
165
+ {
166
+ "pid": 32,
167
+ "label": "window.7.1.2_1",
168
+ "group": "doors/windows"
169
+ },
170
+ {
171
+ "pid": 33,
172
+ "label": "window.7.1.2_2",
173
+ "group": "doors/windows"
174
+ },
175
+ {
176
+ "pid": 34,
177
+ "label": "handle base.7.1.2_1.3_1",
178
+ "group": "others"
179
+ },
180
+ {
181
+ "pid": 35,
182
+ "label": "handle base.7.1.2_2.3_1",
183
+ "group": "others"
184
+ },
185
+ {
186
+ "pid": 36,
187
+ "label": "handle.7.1.2_1.3_1.4_1",
188
+ "group": "handles movable"
189
+ },
190
+ {
191
+ "pid": 37,
192
+ "label": "handle.7.1.2_2.3_1.4_1",
193
+ "group": "handles movable"
194
+ },
195
+ {
196
+ "pid": 38,
197
+ "label": "cabinet.8.1",
198
+ "group": "others"
199
+ },
200
+ {
201
+ "pid": 39,
202
+ "label": "drawer.8.1.2_1",
203
+ "group": "cabinets"
204
+ },
205
+ {
206
+ "pid": 40,
207
+ "label": "drawer.8.1.2_2",
208
+ "group": "cabinets"
209
+ },
210
+ {
211
+ "pid": 41,
212
+ "label": "handle.8.1.2_1.3_1",
213
+ "group": "others"
214
+ },
215
+ {
216
+ "pid": 42,
217
+ "label": "heater.9.1",
218
+ "group": "others"
219
+ },
220
+ {
221
+ "pid": 43,
222
+ "label": "heater control.9.1.2_1",
223
+ "group": "controls"
224
+ },
225
+ {
226
+ "pid": 44,
227
+ "label": "blinds control.1.1.2_1.3_1",
228
+ "group": "curtains/blinds"
229
+ },
230
+ {
231
+ "pid": 45,
232
+ "label": "heater.10.1",
233
+ "group": "others"
234
+ },
235
+ {
236
+ "pid": 46,
237
+ "label": "heater control.10.1.2_1",
238
+ "group": "controls"
239
+ },
240
+ {
241
+ "pid": 47,
242
+ "label": "switch base.11.1",
243
+ "group": "others"
244
+ },
245
+ {
246
+ "pid": 48,
247
+ "label": "switch.11.1.2_1",
248
+ "group": "switches"
249
+ },
250
+ {
251
+ "pid": 49,
252
+ "label": "cabinet.12.1",
253
+ "group": "others"
254
+ },
255
+ {
256
+ "pid": 50,
257
+ "label": "door.12.1.2_1",
258
+ "group": "doors/windows"
259
+ },
260
+ {
261
+ "pid": 51,
262
+ "label": "door.12.1.2_2",
263
+ "group": "doors/windows"
264
+ },
265
+ {
266
+ "pid": 52,
267
+ "label": "knob.12.1.2_2.3_1",
268
+ "group": "others"
269
+ },
270
+ {
271
+ "pid": 53,
272
+ "label": "door frame.14.1",
273
+ "group": "others"
274
+ },
275
+ {
276
+ "pid": 54,
277
+ "label": "door.14.1.2_1",
278
+ "group": "doors/windows"
279
+ },
280
+ {
281
+ "pid": 55,
282
+ "label": "window.14.1.2_1.3_2",
283
+ "group": "doors/windows"
284
+ },
285
+ {
286
+ "pid": 56,
287
+ "label": "handle base.14.1.2_1.3_1",
288
+ "group": "others"
289
+ },
290
+ {
291
+ "pid": 57,
292
+ "label": "handle.14.1.2_1.3_1.4_1",
293
+ "group": "handles movable"
294
+ },
295
+ {
296
+ "pid": 58,
297
+ "label": "hinge.14.1.2_2",
298
+ "group": "others"
299
+ },
300
+ {
301
+ "pid": 59,
302
+ "label": "hinge.14.1.2_3",
303
+ "group": "others"
304
+ },
305
+ {
306
+ "pid": 60,
307
+ "label": "light switch base.16.1",
308
+ "group": "others"
309
+ },
310
+ {
311
+ "pid": 61,
312
+ "label": "light switch.16.1.2_1",
313
+ "group": "switches"
314
+ },
315
+ {
316
+ "pid": 62,
317
+ "label": "light switch.16.1.2_2",
318
+ "group": "switches"
319
+ },
320
+ {
321
+ "pid": 63,
322
+ "label": "light switch.16.1.2_3",
323
+ "group": "switches"
324
+ },
325
+ {
326
+ "pid": 64,
327
+ "label": "control.16.1.2_4",
328
+ "group": "controls"
329
+ },
330
+ {
331
+ "pid": 65,
332
+ "label": "thermostat base.15.1",
333
+ "group": "others"
334
+ },
335
+ {
336
+ "pid": 66,
337
+ "label": "thermostat.15.1.2_1",
338
+ "group": "controls"
339
+ },
340
+ {
341
+ "pid": 67,
342
+ "label": "panel.17.1",
343
+ "group": "others"
344
+ },
345
+ {
346
+ "pid": 68,
347
+ "label": "lid.17.1.2_1",
348
+ "group": "others"
349
+ }
350
+ ],
351
+ "articulations": [
352
+ {
353
+ "pid": 2,
354
+ "type": "translation",
355
+ "origin": [
356
+ 5.93476250938439,
357
+ 0.36848651545892785,
358
+ 1.970931887626648
359
+ ],
360
+ "axis": [
361
+ 0.9999789006182893,
362
+ -0.0064960232633206605,
363
+ 0
364
+ ],
365
+ "base": [
366
+ 1
367
+ ],
368
+ "rangeMin": 0,
369
+ "rangeMax": 3.6860433367600054,
370
+ "motionStates": {},
371
+ "needsReview": false
372
+ },
373
+ {
374
+ "pid": 2,
375
+ "type": "translation",
376
+ "origin": [
377
+ 5.93476250938439,
378
+ 0.36848651545892785,
379
+ 1.970931887626648
380
+ ],
381
+ "axis": [
382
+ -0.9999789006182893,
383
+ 0.0064960232633206605,
384
+ 0
385
+ ],
386
+ "base": [
387
+ 1
388
+ ],
389
+ "rangeMin": 0,
390
+ "rangeMax": 3.6860433367600045,
391
+ "motionStates": {},
392
+ "needsReview": false
393
+ },
394
+ {
395
+ "pid": 3,
396
+ "type": "translation",
397
+ "origin": [
398
+ 2.416859829627276,
399
+ 0.41450156851717646,
400
+ 1.9684147238731384
401
+ ],
402
+ "axis": [
403
+ -0.9998948633058051,
404
+ 0.014500425327051002,
405
+ 0
406
+ ],
407
+ "base": [
408
+ 1
409
+ ],
410
+ "rangeMin": 0,
411
+ "rangeMax": 3.686110792449668,
412
+ "motionStates": {},
413
+ "needsReview": false
414
+ },
415
+ {
416
+ "pid": 3,
417
+ "type": "translation",
418
+ "origin": [
419
+ 2.416859829627276,
420
+ 0.41450156851717646,
421
+ 1.9684147238731384
422
+ ],
423
+ "axis": [
424
+ 0.9998948633058051,
425
+ -0.014500425327051002,
426
+ 0
427
+ ],
428
+ "base": [
429
+ 1
430
+ ],
431
+ "rangeMin": 0,
432
+ "rangeMax": 3.6861107924496688,
433
+ "motionStates": {}
434
+ },
435
+ {
436
+ "pid": 4,
437
+ "type": "rotation",
438
+ "origin": [
439
+ 0.0734629100945452,
440
+ 0.40357827045739336,
441
+ 2.044080138206482
442
+ ],
443
+ "axis": [
444
+ 0,
445
+ 0,
446
+ 1
447
+ ],
448
+ "ref": [
449
+ -0.6125165428501567,
450
+ 0.7904247165874613,
451
+ -0.0072285643473558835
452
+ ],
453
+ "base": [
454
+ 3
455
+ ],
456
+ "rangeMin": -3.141592653589793,
457
+ "rangeMax": 3.141592653589793,
458
+ "motionStates": {},
459
+ "needsReview": false
460
+ },
461
+ {
462
+ "pid": 6,
463
+ "type": "translation",
464
+ "origin": [
465
+ 1.3149221300993679,
466
+ 2.1135715584758192,
467
+ 0.5643215735229481
468
+ ],
469
+ "axis": [
470
+ -0.9988969506488325,
471
+ 0.038953084742091956,
472
+ -0.026220968203696286
473
+ ],
474
+ "base": [
475
+ 5
476
+ ],
477
+ "rangeMin": 0,
478
+ "rangeMax": 0.4066489829181805,
479
+ "motionStates": {}
480
+ },
481
+ {
482
+ "pid": 7,
483
+ "type": "translation",
484
+ "origin": [
485
+ 1.3113256749021107,
486
+ 2.114330439159745,
487
+ 0.4817451238632202
488
+ ],
489
+ "axis": [
490
+ -0.9993067355857563,
491
+ 0.03722966845056924,
492
+ 0
493
+ ],
494
+ "base": [
495
+ 5
496
+ ],
497
+ "rangeMin": 0,
498
+ "rangeMax": 0.399260895097022,
499
+ "motionStates": {}
500
+ },
501
+ {
502
+ "pid": 8,
503
+ "type": "translation",
504
+ "origin": [
505
+ 1.3140151732866632,
506
+ 2.11675031990026,
507
+ 0.352996826171875
508
+ ],
509
+ "axis": [
510
+ -0.9994362333192461,
511
+ 0.0335740305688396,
512
+ 0
513
+ ],
514
+ "base": [
515
+ 5
516
+ ],
517
+ "rangeMin": 0,
518
+ "rangeMax": 0.39836437122774826,
519
+ "motionStates": {}
520
+ },
521
+ {
522
+ "pid": 9,
523
+ "type": "translation",
524
+ "origin": [
525
+ 1.3149060695346098,
526
+ 2.1138083511715284,
527
+ 0.20412401854991913
528
+ ],
529
+ "axis": [
530
+ -0.9994810781316975,
531
+ 0.0322114025882101,
532
+ 0
533
+ ],
534
+ "base": [
535
+ 5
536
+ ],
537
+ "rangeMin": 0,
538
+ "rangeMax": 0.39802885927130927,
539
+ "motionStates": {}
540
+ },
541
+ {
542
+ "pid": 15,
543
+ "type": "translation",
544
+ "origin": [
545
+ 1.4356039154296156,
546
+ 4.667465226054958,
547
+ 0.373199462890625
548
+ ],
549
+ "axis": [
550
+ -0.9999064614402011,
551
+ -0.01367729396247431,
552
+ 0
553
+ ],
554
+ "base": [
555
+ 14
556
+ ],
557
+ "rangeMin": 0,
558
+ "rangeMax": 0.29715186852496545,
559
+ "motionStates": {}
560
+ },
561
+ {
562
+ "pid": 16,
563
+ "type": "translation",
564
+ "origin": [
565
+ 1.4346229565317157,
566
+ 4.665914899065642,
567
+ 0.4819609075784683
568
+ ],
569
+ "axis": [
570
+ -0.9999351387120671,
571
+ -0.011389397213163361,
572
+ 0
573
+ ],
574
+ "base": [
575
+ 14
576
+ ],
577
+ "rangeMin": 0,
578
+ "rangeMax": 0.297649142752221,
579
+ "motionStates": {}
580
+ },
581
+ {
582
+ "pid": 17,
583
+ "type": "translation",
584
+ "origin": [
585
+ 1.4364286889387605,
586
+ 4.663424339196989,
587
+ 0.5576577051659234
588
+ ],
589
+ "axis": [
590
+ -0.9997307455064142,
591
+ -0.003266088391446765,
592
+ 0.022973226935041443
593
+ ],
594
+ "base": [
595
+ 14
596
+ ],
597
+ "rangeMin": 0,
598
+ "rangeMax": 0.2934606077628741,
599
+ "motionStates": {}
600
+ },
601
+ {
602
+ "pid": 18,
603
+ "type": "translation",
604
+ "origin": [
605
+ 1.435078868294732,
606
+ 4.666627292610592,
607
+ 0.20586548000574112
608
+ ],
609
+ "axis": [
610
+ -0.9998058711581851,
611
+ -0.01970329915579255,
612
+ 0
613
+ ],
614
+ "base": [
615
+ 14
616
+ ],
617
+ "rangeMin": 0,
618
+ "rangeMax": 0.29583459661632805,
619
+ "motionStates": {}
620
+ },
621
+ {
622
+ "pid": 20,
623
+ "type": "rotation",
624
+ "origin": [
625
+ 0.1911364159357558,
626
+ 0.3999882140896829,
627
+ 0.5815436123738918
628
+ ],
629
+ "axis": [
630
+ 0.16888829320313,
631
+ -0.9507372520586592,
632
+ 0.2599527302547193
633
+ ],
634
+ "ref": [
635
+ -0.5158489799397573,
636
+ -0.309996880544407,
637
+ -0.7986249206904631
638
+ ],
639
+ "base": [
640
+ 19
641
+ ],
642
+ "rangeMin": -3.141592653589793,
643
+ "rangeMax": 3.141592653589793,
644
+ "motionStates": {}
645
+ },
646
+ {
647
+ "pid": 22,
648
+ "type": "rotation",
649
+ "origin": [
650
+ 0.2491415091389726,
651
+ 0.5431552576214318,
652
+ 0.8386875092983246
653
+ ],
654
+ "axis": [
655
+ -0.9945121676441707,
656
+ -0.10462097498920918,
657
+ 0
658
+ ],
659
+ "ref": [
660
+ 0,
661
+ 0,
662
+ 1
663
+ ],
664
+ "base": [
665
+ 21
666
+ ],
667
+ "rangeMin": -0.2617993877991494,
668
+ "rangeMax": 0.24434609527920614,
669
+ "motionStates": {
670
+ "closed": {
671
+ "percent": 0,
672
+ "value": -15
673
+ }
674
+ }
675
+ },
676
+ {
677
+ "pid": 23,
678
+ "type": "rotation",
679
+ "origin": [
680
+ 0.2968684410475797,
681
+ 0.542142570965342,
682
+ 0.8320520520210266
683
+ ],
684
+ "axis": [
685
+ 0.9998434888582302,
686
+ 0.01769174349243727,
687
+ 0
688
+ ],
689
+ "ref": [
690
+ 0,
691
+ 0,
692
+ 1
693
+ ],
694
+ "base": [
695
+ 21
696
+ ],
697
+ "rangeMin": -0.17453292519943295,
698
+ "rangeMax": 0.296705972839036,
699
+ "motionStates": {
700
+ "closed": {
701
+ "percent": 0,
702
+ "value": -10
703
+ }
704
+ }
705
+ },
706
+ {
707
+ "pid": 25,
708
+ "type": "rotation",
709
+ "origin": [
710
+ 0.06240411343260821,
711
+ 0.12377419139212507,
712
+ 1.7706697285175323
713
+ ],
714
+ "axis": [
715
+ 0,
716
+ 0,
717
+ 1
718
+ ],
719
+ "ref": [
720
+ 0.9999864131814609,
721
+ 0.0052128161752306446,
722
+ 0
723
+ ],
724
+ "base": [
725
+ 24
726
+ ],
727
+ "rangeMin": 0,
728
+ "rangeMax": 1.5533430342749532,
729
+ "motionStates": {
730
+ "closed": {
731
+ "percent": 0,
732
+ "value": 0
733
+ }
734
+ }
735
+ },
736
+ {
737
+ "pid": 26,
738
+ "type": "rotation",
739
+ "origin": [
740
+ 1.1609021459884492,
741
+ 0.11591372371216015,
742
+ 1.7809771001338959
743
+ ],
744
+ "axis": [
745
+ 0,
746
+ 0,
747
+ 1
748
+ ],
749
+ "ref": [
750
+ 0.9999864131814609,
751
+ 0.0052128161752306446,
752
+ 0
753
+ ],
754
+ "base": [
755
+ 24
756
+ ],
757
+ "rangeMin": -1.6231562043547265,
758
+ "rangeMax": 0,
759
+ "motionStates": {
760
+ "closed": {
761
+ "percent": 0,
762
+ "value": -93
763
+ }
764
+ }
765
+ },
766
+ {
767
+ "pid": 28,
768
+ "type": "rotation",
769
+ "origin": [
770
+ 0.6761188253803837,
771
+ 0.1614462677912828,
772
+ 1.7703361978530883
773
+ ],
774
+ "axis": [
775
+ -0.9999148905500934,
776
+ -0.013046518930155793,
777
+ 0
778
+ ],
779
+ "ref": [
780
+ 0.013046518930155793,
781
+ -0.9999148905500934,
782
+ 0
783
+ ],
784
+ "base": [
785
+ 27
786
+ ],
787
+ "rangeMin": -1.6406094968746698,
788
+ "rangeMax": 0,
789
+ "motionStates": {
790
+ "closed": {
791
+ "percent": 0,
792
+ "value": -94
793
+ }
794
+ }
795
+ },
796
+ {
797
+ "pid": 30,
798
+ "type": "rotation",
799
+ "origin": [
800
+ 0.568764469810277,
801
+ 0.16160041806027442,
802
+ 1.7854770052305247
803
+ ],
804
+ "axis": [
805
+ -0.12417003874505668,
806
+ 0.9647506777324982,
807
+ 0.23203002239524195
808
+ ],
809
+ "ref": [
810
+ 0.9921348472465533,
811
+ 0.11698409785396334,
812
+ 0.04453274894223892
813
+ ],
814
+ "base": [
815
+ 29
816
+ ],
817
+ "rangeMin": 0,
818
+ "rangeMax": 1.605702911834783,
819
+ "motionStates": {
820
+ "closed": {
821
+ "percent": 0,
822
+ "value": 0
823
+ }
824
+ }
825
+ },
826
+ {
827
+ "pid": 32,
828
+ "type": "rotation",
829
+ "origin": [
830
+ 3.8094142805464464,
831
+ 0.09077505862730459,
832
+ 1.7722527086734772
833
+ ],
834
+ "axis": [
835
+ 0,
836
+ 0,
837
+ 1
838
+ ],
839
+ "ref": [
840
+ 0.9999555988089078,
841
+ 0.009423396984024002,
842
+ 0
843
+ ],
844
+ "base": [
845
+ 31
846
+ ],
847
+ "rangeMin": 0,
848
+ "rangeMax": 1.5882496193148399,
849
+ "motionStates": {
850
+ "closed": {
851
+ "percent": 0,
852
+ "value": 0
853
+ }
854
+ }
855
+ },
856
+ {
857
+ "pid": 33,
858
+ "type": "rotation",
859
+ "origin": [
860
+ 5.4036232144579825,
861
+ 0.10021330108588308,
862
+ 1.7757403254508972
863
+ ],
864
+ "axis": [
865
+ 0,
866
+ 0,
867
+ 1
868
+ ],
869
+ "ref": [
870
+ 0.9999555988089078,
871
+ 0.009423396984024002,
872
+ 0
873
+ ],
874
+ "base": [
875
+ 31
876
+ ],
877
+ "rangeMin": -1.6406094968746698,
878
+ "rangeMax": 0,
879
+ "motionStates": {
880
+ "closed": {
881
+ "percent": 0,
882
+ "value": -94
883
+ }
884
+ }
885
+ },
886
+ {
887
+ "pid": 36,
888
+ "type": "rotation",
889
+ "origin": [
890
+ 4.316172142676399,
891
+ 0.19141914884425823,
892
+ 1.7697587485835309
893
+ ],
894
+ "axis": [
895
+ 0.04837177651473268,
896
+ 0.9973004102942697,
897
+ 0.055245478219395606
898
+ ],
899
+ "ref": [
900
+ 0.07844551029110712,
901
+ 0.05134619978747491,
902
+ -0.9955952338588974
903
+ ],
904
+ "base": [
905
+ 34
906
+ ],
907
+ "rangeMin": 0,
908
+ "rangeMax": 1.6929693744344996,
909
+ "motionStates": {
910
+ "closed": {
911
+ "percent": 0,
912
+ "value": 0
913
+ }
914
+ }
915
+ },
916
+ {
917
+ "pid": 37,
918
+ "type": "rotation",
919
+ "origin": [
920
+ 4.42260657539534,
921
+ 0.18935073040501885,
922
+ 1.7822859158594502
923
+ ],
924
+ "axis": [
925
+ -0.13846781548695336,
926
+ 0.982389859828183,
927
+ 0.12544651203215618
928
+ ],
929
+ "ref": [
930
+ 0.030075235317286248,
931
+ 0.13077937037713336,
932
+ -0.9909552141768924
933
+ ],
934
+ "base": [
935
+ 35
936
+ ],
937
+ "rangeMin": -1.6231562043547265,
938
+ "rangeMax": 0,
939
+ "motionStates": {
940
+ "closed": {
941
+ "percent": 0,
942
+ "value": -93
943
+ }
944
+ }
945
+ },
946
+ {
947
+ "pid": 39,
948
+ "type": "translation",
949
+ "origin": [
950
+ 6.0195299806626394,
951
+ 2.196929785958596,
952
+ 0.5543205028870158
953
+ ],
954
+ "axis": [
955
+ 0.9998331168608505,
956
+ -0.018023294667366966,
957
+ 0.0029831657094699874
958
+ ],
959
+ "base": [
960
+ 38
961
+ ],
962
+ "rangeMin": 0,
963
+ "rangeMax": 0.4046118295565311,
964
+ "motionStates": {}
965
+ },
966
+ {
967
+ "pid": 40,
968
+ "type": "translation",
969
+ "origin": [
970
+ 6.016661810991011,
971
+ 2.2005696811971633,
972
+ 0.4458770751953125
973
+ ],
974
+ "axis": [
975
+ 0.9991557417934828,
976
+ 0.04108288744861308,
977
+ 0
978
+ ],
979
+ "base": [
980
+ 38
981
+ ],
982
+ "rangeMin": 0,
983
+ "rangeMax": 0.39054736893210773,
984
+ "motionStates": {}
985
+ },
986
+ {
987
+ "pid": 43,
988
+ "type": "rotation",
989
+ "origin": [
990
+ 3.9338916527492587,
991
+ 0.38757321013654433,
992
+ 0.5873053967952728
993
+ ],
994
+ "axis": [
995
+ 0.16517095765010031,
996
+ 0.9862649515971602,
997
+ 0
998
+ ],
999
+ "ref": [
1000
+ 0,
1001
+ 0,
1002
+ 1
1003
+ ],
1004
+ "base": [
1005
+ 42
1006
+ ],
1007
+ "rangeMin": -3.141592653589793,
1008
+ "rangeMax": 3.141592653589793,
1009
+ "motionStates": {}
1010
+ },
1011
+ {
1012
+ "pid": 44,
1013
+ "type": "rotation",
1014
+ "origin": [
1015
+ 3.753915496399533,
1016
+ 0.3754572283008826,
1017
+ 2.028939921943721
1018
+ ],
1019
+ "axis": [
1020
+ -0.0032029512300868804,
1021
+ 0.006662881472219042,
1022
+ 0.999972673183575
1023
+ ],
1024
+ "ref": [
1025
+ -0.6125165428501567,
1026
+ 0.7904247165874613,
1027
+ -0.0072285643473558835
1028
+ ],
1029
+ "base": [
1030
+ 2
1031
+ ],
1032
+ "rangeMin": -3.141592653589793,
1033
+ "rangeMax": 3.141592653589793,
1034
+ "motionStates": {}
1035
+ },
1036
+ {
1037
+ "pid": 46,
1038
+ "type": "rotation",
1039
+ "origin": [
1040
+ 2.0674588705665355,
1041
+ 0.3981292776497005,
1042
+ 0.580657322231159
1043
+ ],
1044
+ "axis": [
1045
+ -0.27951027545043233,
1046
+ 0.9550496148881229,
1047
+ -0.09876355106855714
1048
+ ],
1049
+ "ref": [
1050
+ 0.3999536483658033,
1051
+ 0.02230006067561343,
1052
+ -0.9162640375201613
1053
+ ],
1054
+ "base": [
1055
+ 45
1056
+ ],
1057
+ "rangeMin": -3.141592653589793,
1058
+ "rangeMax": 3.141592653589793,
1059
+ "motionStates": {}
1060
+ },
1061
+ {
1062
+ "pid": 48,
1063
+ "type": "rotation",
1064
+ "origin": [
1065
+ 3.1357717261224645,
1066
+ 0.472855504270401,
1067
+ 0.8381292819976807
1068
+ ],
1069
+ "axis": [
1070
+ -0.9999876527602288,
1071
+ 0.004969338697262257,
1072
+ 0
1073
+ ],
1074
+ "ref": [
1075
+ 0,
1076
+ 0,
1077
+ 1
1078
+ ],
1079
+ "base": [
1080
+ 47
1081
+ ],
1082
+ "rangeMin": -0.20943951023931953,
1083
+ "rangeMax": 0.22689280275926282,
1084
+ "motionStates": {
1085
+ "closed": {
1086
+ "percent": 0,
1087
+ "value": -12
1088
+ }
1089
+ },
1090
+ "needsReview": false
1091
+ },
1092
+ {
1093
+ "pid": 50,
1094
+ "type": "rotation",
1095
+ "origin": [
1096
+ 6.986548247748515,
1097
+ 3.858077403144551,
1098
+ 1.2767354886585862
1099
+ ],
1100
+ "axis": [
1101
+ 0.008278440493701605,
1102
+ -0.03160312477010215,
1103
+ -0.9994662124993308
1104
+ ],
1105
+ "ref": [
1106
+ 0.001715469352582645,
1107
+ -0.999498542633224,
1108
+ 0.03161835604457546
1109
+ ],
1110
+ "base": [
1111
+ 49
1112
+ ],
1113
+ "rangeMin": 0,
1114
+ "rangeMax": 1.6929693744344996,
1115
+ "motionStates": {
1116
+ "closed": {
1117
+ "percent": 0,
1118
+ "value": 0
1119
+ }
1120
+ },
1121
+ "needsReview": false
1122
+ },
1123
+ {
1124
+ "pid": 51,
1125
+ "type": "rotation",
1126
+ "origin": [
1127
+ 6.987769745897736,
1128
+ 2.793881250636955,
1129
+ 1.2234310711072838
1130
+ ],
1131
+ "axis": [
1132
+ -0.006548542345552862,
1133
+ 0.02989339676097155,
1134
+ 0.9995316410315581
1135
+ ],
1136
+ "ref": [
1137
+ 0.001715469352582645,
1138
+ -0.999498542633224,
1139
+ 0.03161835604457546
1140
+ ],
1141
+ "base": [
1142
+ 49
1143
+ ],
1144
+ "rangeMin": 0,
1145
+ "rangeMax": 1.6231562043547265,
1146
+ "motionStates": {
1147
+ "closed": {
1148
+ "percent": 0,
1149
+ "value": 0
1150
+ }
1151
+ }
1152
+ },
1153
+ {
1154
+ "pid": 54,
1155
+ "type": "rotation",
1156
+ "origin": [
1157
+ 5.190835381747337,
1158
+ 4.978893231703062,
1159
+ 1.1493166461586952
1160
+ ],
1161
+ "axis": [
1162
+ 0,
1163
+ 0,
1164
+ 1
1165
+ ],
1166
+ "ref": [
1167
+ 0.9999348591780444,
1168
+ -0.011413912588793686,
1169
+ 0
1170
+ ],
1171
+ "base": [
1172
+ 53
1173
+ ],
1174
+ "rangeMin": 0,
1175
+ "rangeMax": 1.5882496193148399,
1176
+ "motionStates": {
1177
+ "closed": {
1178
+ "percent": 0,
1179
+ "value": 0
1180
+ }
1181
+ }
1182
+ },
1183
+ {
1184
+ "pid": 57,
1185
+ "type": "rotation",
1186
+ "origin": [
1187
+ 4.284083987797678,
1188
+ 4.9729046108179356,
1189
+ 1.1384581923484802
1190
+ ],
1191
+ "axis": [
1192
+ -0.011025172703620986,
1193
+ -0.9999392209363803,
1194
+ 0
1195
+ ],
1196
+ "ref": [
1197
+ 0,
1198
+ 0,
1199
+ 1
1200
+ ],
1201
+ "base": [
1202
+ 56
1203
+ ],
1204
+ "rangeMin": -0.8028514559173915,
1205
+ "rangeMax": 0,
1206
+ "motionStates": {
1207
+ "closed": {
1208
+ "percent": 0,
1209
+ "value": -46
1210
+ }
1211
+ }
1212
+ },
1213
+ {
1214
+ "pid": 61,
1215
+ "type": "rotation",
1216
+ "origin": [
1217
+ 4.073565646156809,
1218
+ 5.016024072902017,
1219
+ 1.1866202835294086
1220
+ ],
1221
+ "axis": [
1222
+ 0.9981657803004954,
1223
+ -0.01116790217471036,
1224
+ -0.059500865524118485
1225
+ ],
1226
+ "ref": [
1227
+ 0.057971827324326736,
1228
+ -0.10689568844285585,
1229
+ 0.992578752053965
1230
+ ],
1231
+ "base": [
1232
+ 60
1233
+ ],
1234
+ "rangeMin": -0.2792526803190927,
1235
+ "rangeMax": 0.2617993877991494,
1236
+ "motionStates": {
1237
+ "closed": {
1238
+ "percent": 0,
1239
+ "value": -16
1240
+ }
1241
+ }
1242
+ },
1243
+ {
1244
+ "pid": 62,
1245
+ "type": "rotation",
1246
+ "origin": [
1247
+ 4.074666057655013,
1248
+ 5.016169685946117,
1249
+ 1.117245078086853
1250
+ ],
1251
+ "axis": [
1252
+ 0.9992688972928885,
1253
+ 0.03823180486263842,
1254
+ 0
1255
+ ],
1256
+ "ref": [
1257
+ 0,
1258
+ 0,
1259
+ 1
1260
+ ],
1261
+ "base": [
1262
+ 60
1263
+ ],
1264
+ "rangeMin": -0.296705972839036,
1265
+ "rangeMax": 0.20943951023931953,
1266
+ "motionStates": {
1267
+ "closed": {
1268
+ "percent": 0,
1269
+ "value": -17
1270
+ }
1271
+ }
1272
+ },
1273
+ {
1274
+ "pid": 63,
1275
+ "type": "rotation",
1276
+ "origin": [
1277
+ 4.069652804720509,
1278
+ 5.019020749633015,
1279
+ 1.0441249012947083
1280
+ ],
1281
+ "axis": [
1282
+ 0.9999922480734735,
1283
+ -0.003937485614025424,
1284
+ 0
1285
+ ],
1286
+ "ref": [
1287
+ 0,
1288
+ 0,
1289
+ 1
1290
+ ],
1291
+ "base": [
1292
+ 60
1293
+ ],
1294
+ "rangeMin": -0.24434609527920614,
1295
+ "rangeMax": 0.296705972839036,
1296
+ "motionStates": {
1297
+ "closed": {
1298
+ "percent": 0,
1299
+ "value": -14
1300
+ }
1301
+ }
1302
+ },
1303
+ {
1304
+ "pid": 64,
1305
+ "type": "rotation",
1306
+ "origin": [
1307
+ 4.075176751146464,
1308
+ 5.010695034024598,
1309
+ 1.2630258708776976
1310
+ ],
1311
+ "axis": [
1312
+ 0.2985760972703418,
1313
+ -0.9475876283564834,
1314
+ -0.11371016104353654
1315
+ ],
1316
+ "ref": [
1317
+ 0.3334384973702068,
1318
+ -0.008164483089890096,
1319
+ 0.9427715461018682
1320
+ ],
1321
+ "base": [
1322
+ 60
1323
+ ],
1324
+ "rangeMin": -3.141592653589793,
1325
+ "rangeMax": 3.141592653589793,
1326
+ "motionStates": {}
1327
+ },
1328
+ {
1329
+ "pid": 66,
1330
+ "type": "rotation",
1331
+ "origin": [
1332
+ 4.065918823762557,
1333
+ 4.995218968175674,
1334
+ 1.502801837854115
1335
+ ],
1336
+ "axis": [
1337
+ 0.2985760972703418,
1338
+ -0.9475876283564834,
1339
+ -0.11371016104353654
1340
+ ],
1341
+ "ref": [
1342
+ 0.10482155901819448,
1343
+ -0.08586460491885879,
1344
+ 0.9907773263388315
1345
+ ],
1346
+ "base": [
1347
+ 65
1348
+ ],
1349
+ "rangeMin": -3.141592653589793,
1350
+ "rangeMax": 3.141592653589793,
1351
+ "motionStates": {}
1352
+ },
1353
+ {
1354
+ "pid": 68,
1355
+ "type": "rotation",
1356
+ "origin": [
1357
+ 0.18056003683868913,
1358
+ 0.9206562297307032,
1359
+ 1.8158739805221558
1360
+ ],
1361
+ "axis": [
1362
+ 0,
1363
+ 0,
1364
+ 1
1365
+ ],
1366
+ "ref": [
1367
+ -0.0013111753975736918,
1368
+ 0.9999991404091688,
1369
+ 0
1370
+ ],
1371
+ "base": [
1372
+ 67
1373
+ ],
1374
+ "rangeMin": -1.6580627893946132,
1375
+ "rangeMax": 0,
1376
+ "motionStates": {
1377
+ "closed": {
1378
+ "percent": 0,
1379
+ "value": -95
1380
+ }
1381
+ }
1382
+ }
1383
+ ]
1384
+ }
1385
+ }
acd69a1746_artic.json ADDED
@@ -0,0 +1,1075 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "modelId": "scannetpp.acd69a1746",
3
+ "data": {
4
+ "parts": [
5
+ {
6
+ "pid": 0,
7
+ "label": "unknown",
8
+ "group": "others"
9
+ },
10
+ {
11
+ "pid": 1,
12
+ "label": "cabinet.1.1",
13
+ "group": "others"
14
+ },
15
+ {
16
+ "pid": 2,
17
+ "label": "door.1.1.2_1",
18
+ "group": "doors/windows"
19
+ },
20
+ {
21
+ "pid": 3,
22
+ "label": "door.1.1.2_2",
23
+ "group": "doors/windows"
24
+ },
25
+ {
26
+ "pid": 4,
27
+ "label": "door.1.1.2_3",
28
+ "group": "doors/windows"
29
+ },
30
+ {
31
+ "pid": 5,
32
+ "label": "door.1.1.2_4",
33
+ "group": "doors/windows"
34
+ },
35
+ {
36
+ "pid": 6,
37
+ "label": "knob.1.1.2_2.3_1",
38
+ "group": "others"
39
+ },
40
+ {
41
+ "pid": 7,
42
+ "label": "knob.1.1.2_4.3_1",
43
+ "group": "others"
44
+ },
45
+ {
46
+ "pid": 8,
47
+ "label": "door frame.2.1",
48
+ "group": "others"
49
+ },
50
+ {
51
+ "pid": 9,
52
+ "label": "door.2.1.2_1",
53
+ "group": "doors/windows"
54
+ },
55
+ {
56
+ "pid": 10,
57
+ "label": "handle base.2.1.2_1.3_1",
58
+ "group": "others"
59
+ },
60
+ {
61
+ "pid": 11,
62
+ "label": "handle.2.1.2_1.3_1.4_1",
63
+ "group": "handles movable"
64
+ },
65
+ {
66
+ "pid": 12,
67
+ "label": "hinge.2.1.2_2",
68
+ "group": "others"
69
+ },
70
+ {
71
+ "pid": 13,
72
+ "label": "hinge.2.1.2_3",
73
+ "group": "others"
74
+ },
75
+ {
76
+ "pid": 14,
77
+ "label": "light switch base.3.1",
78
+ "group": "others"
79
+ },
80
+ {
81
+ "pid": 15,
82
+ "label": "light switch.3.1.2_1",
83
+ "group": "switches"
84
+ },
85
+ {
86
+ "pid": 16,
87
+ "label": "box.4.1",
88
+ "group": "others"
89
+ },
90
+ {
91
+ "pid": 17,
92
+ "label": "box lid.4.1.2_1",
93
+ "group": "others"
94
+ },
95
+ {
96
+ "pid": 18,
97
+ "label": "box lid.4.1.2_2",
98
+ "group": "others"
99
+ },
100
+ {
101
+ "pid": 19,
102
+ "label": "box lid.4.1.2_3",
103
+ "group": "others"
104
+ },
105
+ {
106
+ "pid": 20,
107
+ "label": "box lid.4.1.2_4",
108
+ "group": "others"
109
+ },
110
+ {
111
+ "pid": 21,
112
+ "label": "cabinet.6.1",
113
+ "group": "others"
114
+ },
115
+ {
116
+ "pid": 22,
117
+ "label": "drawer.6.1.2_1",
118
+ "group": "cabinets"
119
+ },
120
+ {
121
+ "pid": 23,
122
+ "label": "drawer.6.1.2_2",
123
+ "group": "cabinets"
124
+ },
125
+ {
126
+ "pid": 24,
127
+ "label": "drawer.6.1.2_3",
128
+ "group": "cabinets"
129
+ },
130
+ {
131
+ "pid": 25,
132
+ "label": "drawer.6.1.2_4",
133
+ "group": "cabinets"
134
+ },
135
+ {
136
+ "pid": 26,
137
+ "label": "handle.6.1.2_4.3_1",
138
+ "group": "others"
139
+ },
140
+ {
141
+ "pid": 27,
142
+ "label": "handle.6.1.2_3.3_1",
143
+ "group": "others"
144
+ },
145
+ {
146
+ "pid": 28,
147
+ "label": "handle.6.1.2_1.3_1",
148
+ "group": "others"
149
+ },
150
+ {
151
+ "pid": 29,
152
+ "label": "handle.6.1.2_2.3_1",
153
+ "group": "others"
154
+ },
155
+ {
156
+ "pid": 30,
157
+ "label": "cabinet.7.1",
158
+ "group": "others"
159
+ },
160
+ {
161
+ "pid": 31,
162
+ "label": "drawer.7.1.2_1",
163
+ "group": "cabinets"
164
+ },
165
+ {
166
+ "pid": 32,
167
+ "label": "drawer.7.1.2_2",
168
+ "group": "cabinets"
169
+ },
170
+ {
171
+ "pid": 33,
172
+ "label": "drawer.7.1.2_3",
173
+ "group": "cabinets"
174
+ },
175
+ {
176
+ "pid": 34,
177
+ "label": "drawer.7.1.2_4",
178
+ "group": "cabinets"
179
+ },
180
+ {
181
+ "pid": 35,
182
+ "label": "handle.7.1.2_1.3_1",
183
+ "group": "others"
184
+ },
185
+ {
186
+ "pid": 36,
187
+ "label": "handle.7.1.2_2.3_1",
188
+ "group": "others"
189
+ },
190
+ {
191
+ "pid": 37,
192
+ "label": "handle.7.1.2_3.3_1",
193
+ "group": "others"
194
+ },
195
+ {
196
+ "pid": 38,
197
+ "label": "heater.8.1",
198
+ "group": "others"
199
+ },
200
+ {
201
+ "pid": 39,
202
+ "label": "heater control.8.1.2_1",
203
+ "group": "controls"
204
+ },
205
+ {
206
+ "pid": 40,
207
+ "label": "switch base.9.1",
208
+ "group": "others"
209
+ },
210
+ {
211
+ "pid": 41,
212
+ "label": "switch.9.1.2_1",
213
+ "group": "switches"
214
+ },
215
+ {
216
+ "pid": 42,
217
+ "label": "light switch base.10.1",
218
+ "group": "others"
219
+ },
220
+ {
221
+ "pid": 43,
222
+ "label": "light switch.10.1.2_1",
223
+ "group": "switches"
224
+ },
225
+ {
226
+ "pid": 44,
227
+ "label": "heater.11.1",
228
+ "group": "others"
229
+ },
230
+ {
231
+ "pid": 45,
232
+ "label": "heater control.11.1.2_1",
233
+ "group": "controls"
234
+ },
235
+ {
236
+ "pid": 46,
237
+ "label": "panel.12.1",
238
+ "group": "others"
239
+ },
240
+ {
241
+ "pid": 47,
242
+ "label": "switch.12.1.2_1",
243
+ "group": "switches"
244
+ },
245
+ {
246
+ "pid": 48,
247
+ "label": "blinds rail.13.1",
248
+ "group": "others"
249
+ },
250
+ {
251
+ "pid": 49,
252
+ "label": "blinds control.13.1.2_1",
253
+ "group": "curtains/blinds"
254
+ },
255
+ {
256
+ "pid": 50,
257
+ "label": "blinds.13.1.2_2",
258
+ "group": "curtains/blinds"
259
+ },
260
+ {
261
+ "pid": 51,
262
+ "label": "window frame.14.1",
263
+ "group": "others"
264
+ },
265
+ {
266
+ "pid": 52,
267
+ "label": "window.14.1.2_2",
268
+ "group": "doors/windows"
269
+ },
270
+ {
271
+ "pid": 53,
272
+ "label": "window.14.1.2_1",
273
+ "group": "doors/windows"
274
+ },
275
+ {
276
+ "pid": 54,
277
+ "label": "handle base.14.1.2_1.3_1",
278
+ "group": "others"
279
+ },
280
+ {
281
+ "pid": 55,
282
+ "label": "handle base.14.1.2_2.3_1",
283
+ "group": "others"
284
+ },
285
+ {
286
+ "pid": 56,
287
+ "label": "handle.14.1.2_1.3_1.4_1",
288
+ "group": "handles movable"
289
+ },
290
+ {
291
+ "pid": 57,
292
+ "label": "handle.14.1.2_2.3_1.4_1",
293
+ "group": "handles movable"
294
+ }
295
+ ],
296
+ "articulations": [
297
+ {
298
+ "pid": 2,
299
+ "type": "rotation",
300
+ "origin": [
301
+ 4.09854853561141,
302
+ 4.549876492344576,
303
+ 1.226083256304264
304
+ ],
305
+ "axis": [
306
+ 0,
307
+ 0,
308
+ 1
309
+ ],
310
+ "ref": [
311
+ 0.19921648740558479,
312
+ -0.9799555046765034,
313
+ 0
314
+ ],
315
+ "base": [
316
+ 1
317
+ ],
318
+ "rangeMin": -1.5882496193148399,
319
+ "rangeMax": 0,
320
+ "motionStates": {
321
+ "closed": {
322
+ "percent": 0,
323
+ "value": -91
324
+ }
325
+ }
326
+ },
327
+ {
328
+ "pid": 3,
329
+ "type": "rotation",
330
+ "origin": [
331
+ 4.24368407195101,
332
+ 3.7548756701359487,
333
+ 1.230627179145813
334
+ ],
335
+ "axis": [
336
+ 0,
337
+ 0,
338
+ 1
339
+ ],
340
+ "ref": [
341
+ 0.19921648740558479,
342
+ -0.9799555046765034,
343
+ 0
344
+ ],
345
+ "base": [
346
+ 1
347
+ ],
348
+ "rangeMin": 0,
349
+ "rangeMax": 1.605702911834783,
350
+ "motionStates": {
351
+ "closed": {
352
+ "percent": 0,
353
+ "value": 0
354
+ }
355
+ }
356
+ },
357
+ {
358
+ "pid": 4,
359
+ "type": "rotation",
360
+ "origin": [
361
+ 4.24299240697699,
362
+ 3.7664524203750394,
363
+ 1.195694923400879
364
+ ],
365
+ "axis": [
366
+ 0,
367
+ 0,
368
+ 1
369
+ ],
370
+ "ref": [
371
+ 0.19921648740558479,
372
+ -0.9799555046765034,
373
+ 0
374
+ ],
375
+ "base": [
376
+ 1
377
+ ],
378
+ "rangeMin": -1.5882496193148399,
379
+ "rangeMax": 0,
380
+ "motionStates": {
381
+ "closed": {
382
+ "percent": 0,
383
+ "value": -91
384
+ }
385
+ }
386
+ },
387
+ {
388
+ "pid": 5,
389
+ "type": "rotation",
390
+ "origin": [
391
+ 4.442169418347522,
392
+ 2.7648955001647337,
393
+ 1.1971821039915085
394
+ ],
395
+ "axis": [
396
+ 0,
397
+ 0,
398
+ 1
399
+ ],
400
+ "ref": [
401
+ 0.19921648740558479,
402
+ -0.9799555046765034,
403
+ 0
404
+ ],
405
+ "base": [
406
+ 1
407
+ ],
408
+ "rangeMin": 0,
409
+ "rangeMax": 1.7278759594743864,
410
+ "motionStates": {
411
+ "closed": {
412
+ "percent": 0,
413
+ "value": 0
414
+ }
415
+ }
416
+ },
417
+ {
418
+ "pid": 9,
419
+ "type": "rotation",
420
+ "origin": [
421
+ 5.399901806262509,
422
+ 1.3530014197536882,
423
+ 1.102568345144391
424
+ ],
425
+ "axis": [
426
+ 0,
427
+ 0,
428
+ 1
429
+ ],
430
+ "ref": [
431
+ -0.1835127665203599,
432
+ 0.9830173266652241,
433
+ 0
434
+ ],
435
+ "base": [
436
+ 8
437
+ ],
438
+ "rangeMin": 0,
439
+ "rangeMax": 1.6580627893946132,
440
+ "motionStates": {
441
+ "closed": {
442
+ "percent": 0,
443
+ "value": 0
444
+ }
445
+ }
446
+ },
447
+ {
448
+ "pid": 11,
449
+ "type": "rotation",
450
+ "origin": [
451
+ 5.192364141101648,
452
+ 2.240653588279391,
453
+ 1.0922279357910156
454
+ ],
455
+ "axis": [
456
+ -0.9840425299811962,
457
+ -0.17793341223111195,
458
+ 0
459
+ ],
460
+ "ref": [
461
+ 0.17793341223111198,
462
+ -0.9840425299811961,
463
+ 0
464
+ ],
465
+ "base": [
466
+ 10
467
+ ],
468
+ "rangeMin": -0.9773843811168246,
469
+ "rangeMax": 0,
470
+ "motionStates": {
471
+ "closed": {
472
+ "percent": 0,
473
+ "value": -56
474
+ }
475
+ }
476
+ },
477
+ {
478
+ "pid": 15,
479
+ "type": "rotation",
480
+ "origin": [
481
+ 5.19062755806828,
482
+ 2.4563967963253877,
483
+ 1.139210820198059
484
+ ],
485
+ "axis": [
486
+ 0.20792319043960494,
487
+ -0.9781451563430736,
488
+ 0
489
+ ],
490
+ "ref": [
491
+ 0,
492
+ 0,
493
+ 1
494
+ ],
495
+ "base": [
496
+ 14
497
+ ],
498
+ "rangeMin": -0.17453292519943295,
499
+ "rangeMax": 0.22689280275926282,
500
+ "motionStates": {
501
+ "closed": {
502
+ "percent": 0,
503
+ "value": -10
504
+ }
505
+ }
506
+ },
507
+ {
508
+ "pid": 17,
509
+ "type": "rotation",
510
+ "origin": [
511
+ 3.5037591070941296,
512
+ 0.8996392556027492,
513
+ 0.89892578125
514
+ ],
515
+ "axis": [
516
+ 0.11244407570485551,
517
+ -0.9936580547848847,
518
+ 0
519
+ ],
520
+ "ref": [
521
+ 0,
522
+ 0,
523
+ 1
524
+ ],
525
+ "base": [
526
+ 16
527
+ ],
528
+ "rangeMin": -3.141592653589793,
529
+ "rangeMax": 3.141592653589793,
530
+ "motionStates": {}
531
+ },
532
+ {
533
+ "pid": 18,
534
+ "type": "rotation",
535
+ "origin": [
536
+ 3.632740609224789,
537
+ 1.0612236887165212,
538
+ 0.8716214662844024
539
+ ],
540
+ "axis": [
541
+ -0.9901482700484631,
542
+ -0.11815996867430585,
543
+ -0.07513072023429039
544
+ ],
545
+ "ref": [
546
+ 0.12520472276438033,
547
+ -0.9873544365187328,
548
+ -0.09723679388107377
549
+ ],
550
+ "base": [
551
+ 16
552
+ ],
553
+ "rangeMin": -3.141592653589793,
554
+ "rangeMax": 3.141592653589793,
555
+ "motionStates": {}
556
+ },
557
+ {
558
+ "pid": 19,
559
+ "type": "rotation",
560
+ "origin": [
561
+ 3.652628831710955,
562
+ 0.7798932439947677,
563
+ 0.8959225994093116
564
+ ],
565
+ "axis": [
566
+ 0.9827348527490822,
567
+ 0.180074188165346,
568
+ -0.042491127883726824
569
+ ],
570
+ "ref": [
571
+ -0.08718478541402541,
572
+ 0.6532679317447814,
573
+ 0.7520903021221627
574
+ ],
575
+ "base": [
576
+ 16
577
+ ],
578
+ "rangeMin": -3.141592653589793,
579
+ "rangeMax": 3.141592653589793,
580
+ "motionStates": {}
581
+ },
582
+ {
583
+ "pid": 20,
584
+ "type": "rotation",
585
+ "origin": [
586
+ 3.7715808291475934,
587
+ 0.9024126936737776,
588
+ 0.9102478521627356
589
+ ],
590
+ "axis": [
591
+ -0.2249907281187219,
592
+ 0.9742624009252859,
593
+ 0.013854472343088897
594
+ ],
595
+ "ref": [
596
+ -0.07436724136542819,
597
+ -0.031348043412347884,
598
+ 0.9967380867539445
599
+ ],
600
+ "base": [
601
+ 16
602
+ ],
603
+ "rangeMin": -3.141592653589793,
604
+ "rangeMax": 3.141592653589793,
605
+ "motionStates": {}
606
+ },
607
+ {
608
+ "pid": 22,
609
+ "type": "translation",
610
+ "origin": [
611
+ 3.5085487772172717,
612
+ 0.9157185418534584,
613
+ 0.470134437084198
614
+ ],
615
+ "axis": [
616
+ -0.9849726617290189,
617
+ -0.1727103229296147,
618
+ 0
619
+ ],
620
+ "base": [
621
+ 21
622
+ ],
623
+ "rangeMin": 0,
624
+ "rangeMax": 0.4023756948802655,
625
+ "motionStates": {}
626
+ },
627
+ {
628
+ "pid": 23,
629
+ "type": "translation",
630
+ "origin": [
631
+ 3.5074030363120112,
632
+ 0.9143654207383827,
633
+ 0.5572304129600525
634
+ ],
635
+ "axis": [
636
+ -0.9827736201656915,
637
+ -0.18481345055601645,
638
+ 0
639
+ ],
640
+ "base": [
641
+ 21
642
+ ],
643
+ "rangeMin": 0,
644
+ "rangeMax": 0.39963476639586304,
645
+ "motionStates": {}
646
+ },
647
+ {
648
+ "pid": 24,
649
+ "type": "translation",
650
+ "origin": [
651
+ 3.5058806318450912,
652
+ 0.9135751654339923,
653
+ 0.34314440190792084
654
+ ],
655
+ "axis": [
656
+ -0.9841314203788804,
657
+ -0.1774411097323493,
658
+ 0
659
+ ],
660
+ "base": [
661
+ 21
662
+ ],
663
+ "rangeMin": 0,
664
+ "rangeMax": 0.4013122910482081,
665
+ "motionStates": {}
666
+ },
667
+ {
668
+ "pid": 25,
669
+ "type": "translation",
670
+ "origin": [
671
+ 3.50946766610806,
672
+ 0.9145628183530183,
673
+ 0.18454313278198242
674
+ ],
675
+ "axis": [
676
+ -0.9834405545585567,
677
+ -0.18123100079610682,
678
+ 0
679
+ ],
680
+ "base": [
681
+ 21
682
+ ],
683
+ "rangeMin": 0,
684
+ "rangeMax": 0.40045302803063265,
685
+ "motionStates": {}
686
+ },
687
+ {
688
+ "pid": 31,
689
+ "type": "translation",
690
+ "origin": [
691
+ 1.0813725854908467,
692
+ 2.4372099252349217,
693
+ 0.5384684205055237
694
+ ],
695
+ "axis": [
696
+ -0.18859041507097202,
697
+ 0.9820558310724287,
698
+ 0
699
+ ],
700
+ "base": [
701
+ 30
702
+ ],
703
+ "rangeMin": 0,
704
+ "rangeMax": 0.40096819265338546,
705
+ "motionStates": {}
706
+ },
707
+ {
708
+ "pid": 32,
709
+ "type": "translation",
710
+ "origin": [
711
+ 1.0838275999797176,
712
+ 2.444621039548838,
713
+ 0.4569776803255081
714
+ ],
715
+ "axis": [
716
+ -0.16662613357775247,
717
+ 0.9860201476688644,
718
+ 0
719
+ ],
720
+ "base": [
721
+ 30
722
+ ],
723
+ "rangeMin": 0,
724
+ "rangeMax": 0.40593923605644866,
725
+ "motionStates": {}
726
+ },
727
+ {
728
+ "pid": 33,
729
+ "type": "translation",
730
+ "origin": [
731
+ 1.080272627711688,
732
+ 2.4382048345394494,
733
+ 0.3248441219329834
734
+ ],
735
+ "axis": [
736
+ -0.19387647644110184,
737
+ 0.9810259486286705,
738
+ 0
739
+ ],
740
+ "base": [
741
+ 30
742
+ ],
743
+ "rangeMin": 0,
744
+ "rangeMax": 0.3997387319127901,
745
+ "motionStates": {}
746
+ },
747
+ {
748
+ "pid": 34,
749
+ "type": "translation",
750
+ "origin": [
751
+ 1.2217801484420903,
752
+ 2.464113401089457,
753
+ 0.2106824815273285
754
+ ],
755
+ "axis": [
756
+ -0.17970969949991644,
757
+ 0.9837196876680113,
758
+ 0
759
+ ],
760
+ "base": [
761
+ 30
762
+ ],
763
+ "rangeMin": 0,
764
+ "rangeMax": 0.4030047380529951,
765
+ "motionStates": {}
766
+ },
767
+ {
768
+ "pid": 39,
769
+ "type": "rotation",
770
+ "origin": [
771
+ 0.3473020688479944,
772
+ 3.0231892974437207,
773
+ 0.5491700768559662
774
+ ],
775
+ "axis": [
776
+ 0.9889930331795447,
777
+ 0.08734841658280612,
778
+ -0.1194279466573917
779
+ ],
780
+ "ref": [
781
+ 0.11960947796240212,
782
+ 0.0031715528349492523,
783
+ 0.9928159517424047
784
+ ],
785
+ "base": [
786
+ 38
787
+ ],
788
+ "rangeMin": -3.141592653589793,
789
+ "rangeMax": 3.141592653589793,
790
+ "motionStates": {}
791
+ },
792
+ {
793
+ "pid": 41,
794
+ "type": "rotation",
795
+ "origin": [
796
+ 0.46297709382285746,
797
+ 2.9285567096289866,
798
+ 0.7936246395111084
799
+ ],
800
+ "axis": [
801
+ -0.1910428726454098,
802
+ 0.9815816933966268,
803
+ 0
804
+ ],
805
+ "ref": [
806
+ 0,
807
+ 0,
808
+ 1
809
+ ],
810
+ "base": [
811
+ 40
812
+ ],
813
+ "rangeMin": -0.22689280275926282,
814
+ "rangeMax": 0.2617993877991494,
815
+ "motionStates": {
816
+ "closed": {
817
+ "percent": 0,
818
+ "value": -13
819
+ }
820
+ }
821
+ },
822
+ {
823
+ "pid": 43,
824
+ "type": "rotation",
825
+ "origin": [
826
+ 0.4279252448919362,
827
+ 3.0962636048553156,
828
+ 0.79454001791746
829
+ ],
830
+ "axis": [
831
+ -0.1957957210444155,
832
+ 0.8994621477537084,
833
+ 0.3906813028274884
834
+ ],
835
+ "ref": [
836
+ 0.05128103183538176,
837
+ 0.40723837861692225,
838
+ -0.9118811099893225
839
+ ],
840
+ "base": [
841
+ 42
842
+ ],
843
+ "rangeMin": -0.2617993877991494,
844
+ "rangeMax": 0.22689280275926282,
845
+ "motionStates": {
846
+ "closed": {
847
+ "percent": 0,
848
+ "value": -15
849
+ }
850
+ }
851
+ },
852
+ {
853
+ "pid": 45,
854
+ "type": "rotation",
855
+ "origin": [
856
+ 0.6094370795468458,
857
+ 1.6880988290074308,
858
+ 0.5362950968134519
859
+ ],
860
+ "axis": [
861
+ -0.9322331520216591,
862
+ -0.35771125473515725,
863
+ -0.05462607900592795
864
+ ],
865
+ "ref": [
866
+ -0.34932713208283006,
867
+ 0.8502536473706965,
868
+ 0.39375028879178253
869
+ ],
870
+ "base": [
871
+ 44
872
+ ],
873
+ "rangeMin": -3.141592653589793,
874
+ "rangeMax": 3.141592653589793,
875
+ "motionStates": {}
876
+ },
877
+ {
878
+ "pid": 47,
879
+ "type": "rotation",
880
+ "origin": [
881
+ 1.0164963681028192,
882
+ 0.30784806874505977,
883
+ 0.7927111089229584
884
+ ],
885
+ "axis": [
886
+ -0.23072159063410597,
887
+ 0.9730198084393081,
888
+ 0
889
+ ],
890
+ "ref": [
891
+ 0,
892
+ 0,
893
+ 1
894
+ ],
895
+ "base": [
896
+ 46
897
+ ],
898
+ "rangeMin": -0.2617993877991494,
899
+ "rangeMax": 0.2617993877991494,
900
+ "motionStates": {
901
+ "closed": {
902
+ "percent": 0,
903
+ "value": -15
904
+ }
905
+ }
906
+ },
907
+ {
908
+ "pid": 49,
909
+ "type": "rotation",
910
+ "origin": [
911
+ 0.9207149573595359,
912
+ 0.11677185318251837,
913
+ 1.9650142192840576
914
+ ],
915
+ "axis": [
916
+ 0,
917
+ 0,
918
+ 1
919
+ ],
920
+ "ref": [
921
+ -0.7661354983463905,
922
+ -0.6426790786804312,
923
+ 0
924
+ ],
925
+ "base": [
926
+ 48
927
+ ],
928
+ "rangeMin": -3.141592653589793,
929
+ "rangeMax": 3.141592653589793,
930
+ "motionStates": {}
931
+ },
932
+ {
933
+ "pid": 50,
934
+ "type": "translation",
935
+ "origin": [
936
+ 0.4590831320640594,
937
+ 2.7820532708861787,
938
+ 1.8876807391643524
939
+ ],
940
+ "axis": [
941
+ 0.3341618750893304,
942
+ -0.9425156981381173,
943
+ 0
944
+ ],
945
+ "base": [
946
+ 48
947
+ ],
948
+ "rangeMin": 0,
949
+ "rangeMax": 1.5592537926489067,
950
+ "motionStates": {}
951
+ },
952
+ {
953
+ "pid": 52,
954
+ "type": "rotation",
955
+ "origin": [
956
+ 0.6201937083884234,
957
+ 0.05430813259320266,
958
+ 1.736731767654419
959
+ ],
960
+ "axis": [
961
+ 0,
962
+ 0,
963
+ 1
964
+ ],
965
+ "ref": [
966
+ -0.9999998743921436,
967
+ 0,
968
+ 0.0005012142228095692
969
+ ],
970
+ "base": [
971
+ 51
972
+ ],
973
+ "rangeMin": -1.6231562043547265,
974
+ "rangeMax": 0,
975
+ "motionStates": {
976
+ "closed": {
977
+ "percent": 0,
978
+ "value": -93
979
+ }
980
+ },
981
+ "needsReview": false
982
+ },
983
+ {
984
+ "pid": 53,
985
+ "type": "rotation",
986
+ "origin": [
987
+ 0.28630702953693377,
988
+ 1.7762359131412186,
989
+ 1.731596201658249
990
+ ],
991
+ "axis": [
992
+ 0,
993
+ 0,
994
+ 1
995
+ ],
996
+ "ref": [
997
+ -0.9999998743921436,
998
+ 0,
999
+ 0.0005012142228095692
1000
+ ],
1001
+ "base": [
1002
+ 51
1003
+ ],
1004
+ "rangeMin": 0,
1005
+ "rangeMax": 1.6929693744344996,
1006
+ "motionStates": {
1007
+ "closed": {
1008
+ "percent": 0,
1009
+ "value": 0
1010
+ }
1011
+ }
1012
+ },
1013
+ {
1014
+ "pid": 56,
1015
+ "type": "rotation",
1016
+ "origin": [
1017
+ 0.5996539042785473,
1018
+ 0.6764641597210708,
1019
+ 1.7316347357792798
1020
+ ],
1021
+ "axis": [
1022
+ -0.9955833997501541,
1023
+ -0.08423526117468152,
1024
+ -0.041450149779684274
1025
+ ],
1026
+ "ref": [
1027
+ 0.08372116336277911,
1028
+ -0.9963910211633599,
1029
+ 0.013989272683732564
1030
+ ],
1031
+ "base": [
1032
+ 54
1033
+ ],
1034
+ "rangeMin": -1.6755160819145563,
1035
+ "rangeMax": 0,
1036
+ "motionStates": {
1037
+ "closed": {
1038
+ "percent": 0,
1039
+ "value": -96
1040
+ }
1041
+ }
1042
+ },
1043
+ {
1044
+ "pid": 57,
1045
+ "type": "rotation",
1046
+ "origin": [
1047
+ 0.594466276439784,
1048
+ 0.5647123620695652,
1049
+ 1.729330949517286
1050
+ ],
1051
+ "axis": [
1052
+ -0.9848477638087069,
1053
+ -0.16949141571026327,
1054
+ -0.036708883414237066
1055
+ ],
1056
+ "ref": [
1057
+ 0.17782682424431562,
1058
+ -0.9840617971342965,
1059
+ 0
1060
+ ],
1061
+ "base": [
1062
+ 55
1063
+ ],
1064
+ "rangeMin": 0,
1065
+ "rangeMax": 1.6580627893946132,
1066
+ "motionStates": {
1067
+ "closed": {
1068
+ "percent": 0,
1069
+ "value": 0
1070
+ }
1071
+ }
1072
+ }
1073
+ ]
1074
+ }
1075
+ }
acd69a1746_parts.json ADDED
The diff for this file is too large to render. See raw diff
 
acd95847c5_artic.json ADDED
@@ -0,0 +1,845 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "modelId": "scannetpp.acd95847c5",
3
+ "data": {
4
+ "parts": [
5
+ {
6
+ "pid": 0,
7
+ "label": "unknown",
8
+ "group": "others"
9
+ },
10
+ {
11
+ "pid": 1,
12
+ "label": "cabinet.1.1",
13
+ "group": "others"
14
+ },
15
+ {
16
+ "pid": 2,
17
+ "label": "door.1.1.2_1",
18
+ "group": "doors/windows"
19
+ },
20
+ {
21
+ "pid": 3,
22
+ "label": "door.1.1.2_2",
23
+ "group": "doors/windows"
24
+ },
25
+ {
26
+ "pid": 4,
27
+ "label": "knob.1.1.2_2.3_1",
28
+ "group": "others"
29
+ },
30
+ {
31
+ "pid": 5,
32
+ "label": "door frame.2.1",
33
+ "group": "others"
34
+ },
35
+ {
36
+ "pid": 6,
37
+ "label": "door.2.1.2_1",
38
+ "group": "doors/windows"
39
+ },
40
+ {
41
+ "pid": 7,
42
+ "label": "hinge.2.1.2_2",
43
+ "group": "others"
44
+ },
45
+ {
46
+ "pid": 8,
47
+ "label": "hinge.2.1.2_3",
48
+ "group": "others"
49
+ },
50
+ {
51
+ "pid": 9,
52
+ "label": "light switch base.3.1",
53
+ "group": "others"
54
+ },
55
+ {
56
+ "pid": 10,
57
+ "label": "light switch.3.1.2_1",
58
+ "group": "switches"
59
+ },
60
+ {
61
+ "pid": 11,
62
+ "label": "light switch.3.1.2_2",
63
+ "group": "switches"
64
+ },
65
+ {
66
+ "pid": 12,
67
+ "label": "box.4.1",
68
+ "group": "others"
69
+ },
70
+ {
71
+ "pid": 13,
72
+ "label": "box lid.4.1.2_1",
73
+ "group": "others"
74
+ },
75
+ {
76
+ "pid": 14,
77
+ "label": "box lid.4.1.2_2",
78
+ "group": "others"
79
+ },
80
+ {
81
+ "pid": 15,
82
+ "label": "box lid.4.1.2_3",
83
+ "group": "others"
84
+ },
85
+ {
86
+ "pid": 16,
87
+ "label": "cabinet.5.1",
88
+ "group": "others"
89
+ },
90
+ {
91
+ "pid": 17,
92
+ "label": "drawer.5.1.2_1",
93
+ "group": "cabinets"
94
+ },
95
+ {
96
+ "pid": 18,
97
+ "label": "drawer.5.1.2_2",
98
+ "group": "cabinets"
99
+ },
100
+ {
101
+ "pid": 19,
102
+ "label": "drawer.5.1.2_3",
103
+ "group": "cabinets"
104
+ },
105
+ {
106
+ "pid": 20,
107
+ "label": "drawer.5.1.2_4",
108
+ "group": "cabinets"
109
+ },
110
+ {
111
+ "pid": 21,
112
+ "label": "handle.5.1.2_2.3_1",
113
+ "group": "others"
114
+ },
115
+ {
116
+ "pid": 22,
117
+ "label": "handle.5.1.2_1.3_1",
118
+ "group": "others"
119
+ },
120
+ {
121
+ "pid": 23,
122
+ "label": "handle.5.1.2_4.3_1",
123
+ "group": "others"
124
+ },
125
+ {
126
+ "pid": 24,
127
+ "label": "handle.5.1.2_3.3_1",
128
+ "group": "others"
129
+ },
130
+ {
131
+ "pid": 25,
132
+ "label": "cabinet.6.1",
133
+ "group": "others"
134
+ },
135
+ {
136
+ "pid": 26,
137
+ "label": "drawer.6.1.2_1",
138
+ "group": "cabinets"
139
+ },
140
+ {
141
+ "pid": 27,
142
+ "label": "drawer.6.1.2_2",
143
+ "group": "cabinets"
144
+ },
145
+ {
146
+ "pid": 28,
147
+ "label": "drawer.6.1.2_3",
148
+ "group": "cabinets"
149
+ },
150
+ {
151
+ "pid": 29,
152
+ "label": "drawer.6.1.2_4",
153
+ "group": "cabinets"
154
+ },
155
+ {
156
+ "pid": 30,
157
+ "label": "handle.6.1.2_3.3_1",
158
+ "group": "others"
159
+ },
160
+ {
161
+ "pid": 31,
162
+ "label": "handle.6.1.2_2.3_1",
163
+ "group": "others"
164
+ },
165
+ {
166
+ "pid": 32,
167
+ "label": "handle.6.1.2_1.3_1",
168
+ "group": "others"
169
+ },
170
+ {
171
+ "pid": 33,
172
+ "label": "handle.6.1.2_4.3_1",
173
+ "group": "others"
174
+ },
175
+ {
176
+ "pid": 34,
177
+ "label": "heater.7.1",
178
+ "group": "others"
179
+ },
180
+ {
181
+ "pid": 35,
182
+ "label": "heater ventil.7.1.2_1",
183
+ "group": "controls"
184
+ },
185
+ {
186
+ "pid": 36,
187
+ "label": "window frame.8.1",
188
+ "group": "others"
189
+ },
190
+ {
191
+ "pid": 37,
192
+ "label": "window.8.1.2_1",
193
+ "group": "doors/windows"
194
+ },
195
+ {
196
+ "pid": 38,
197
+ "label": "handle base.8.1.2_1.3_1",
198
+ "group": "others"
199
+ },
200
+ {
201
+ "pid": 39,
202
+ "label": "handle.8.1.2_1.3_1.4_1",
203
+ "group": "others"
204
+ },
205
+ {
206
+ "pid": 40,
207
+ "label": "heater.9.1",
208
+ "group": "others"
209
+ },
210
+ {
211
+ "pid": 41,
212
+ "label": "heater ventil.9.1.2_1",
213
+ "group": "controls"
214
+ },
215
+ {
216
+ "pid": 42,
217
+ "label": "box.10.1",
218
+ "group": "others"
219
+ },
220
+ {
221
+ "pid": 43,
222
+ "label": "box lid.10.1.2_1",
223
+ "group": "others"
224
+ },
225
+ {
226
+ "pid": 44,
227
+ "label": "box lid.10.1.2_2",
228
+ "group": "others"
229
+ },
230
+ {
231
+ "pid": 45,
232
+ "label": "box lid.10.1.2_3",
233
+ "group": "others"
234
+ },
235
+ {
236
+ "pid": 46,
237
+ "label": "box lid.10.1.2_4",
238
+ "group": "others"
239
+ }
240
+ ],
241
+ "articulations": [
242
+ {
243
+ "pid": 2,
244
+ "type": "rotation",
245
+ "origin": [
246
+ 0.14250136921081746,
247
+ 3.3290321920392776,
248
+ 1.4570432901382446
249
+ ],
250
+ "axis": [
251
+ 0,
252
+ 0,
253
+ 1
254
+ ],
255
+ "ref": [
256
+ -0.9998651299311734,
257
+ -0.016423213684228496,
258
+ 0
259
+ ],
260
+ "base": [
261
+ 1
262
+ ],
263
+ "rangeMin": -1.6231562043547265,
264
+ "rangeMax": 0,
265
+ "motionStates": {
266
+ "closed": {
267
+ "percent": 0,
268
+ "value": -93
269
+ }
270
+ }
271
+ },
272
+ {
273
+ "pid": 3,
274
+ "type": "rotation",
275
+ "origin": [
276
+ 1.3456339926190948,
277
+ 3.3475715743414045,
278
+ 1.4553710892796516
279
+ ],
280
+ "axis": [
281
+ 0,
282
+ 0,
283
+ 1
284
+ ],
285
+ "ref": [
286
+ -0.9998651299311734,
287
+ -0.016423213684228496,
288
+ 0
289
+ ],
290
+ "base": [
291
+ 1
292
+ ],
293
+ "rangeMin": 0,
294
+ "rangeMax": 1.605702911834783,
295
+ "motionStates": {
296
+ "closed": {
297
+ "percent": 0,
298
+ "value": 0
299
+ }
300
+ }
301
+ },
302
+ {
303
+ "pid": 6,
304
+ "type": "rotation",
305
+ "origin": [
306
+ 0.0849387179125687,
307
+ 3.073734628903328,
308
+ 1.1577178239822388
309
+ ],
310
+ "axis": [
311
+ 0,
312
+ 0,
313
+ 1
314
+ ],
315
+ "ref": [
316
+ -0.9998651299311734,
317
+ -0.016423213684228496,
318
+ 0
319
+ ],
320
+ "base": [
321
+ 5
322
+ ],
323
+ "rangeMin": 0,
324
+ "rangeMax": 1.6580627893946132,
325
+ "motionStates": {
326
+ "closed": {
327
+ "percent": 0,
328
+ "value": 0
329
+ }
330
+ }
331
+ },
332
+ {
333
+ "pid": 10,
334
+ "type": "rotation",
335
+ "origin": [
336
+ 0.08943367769609978,
337
+ 1.9249834796886438,
338
+ 1.1770704984664917
339
+ ],
340
+ "axis": [
341
+ -0.013732341700013995,
342
+ 0.9999057069501275,
343
+ 0
344
+ ],
345
+ "ref": [
346
+ -0.9998651299311734,
347
+ -0.016423213684228496,
348
+ 0
349
+ ],
350
+ "base": [
351
+ 9
352
+ ],
353
+ "rangeMin": -0.2792526803190927,
354
+ "rangeMax": 0.22689280275926282,
355
+ "motionStates": {
356
+ "closed": {
357
+ "percent": 0,
358
+ "value": -16
359
+ }
360
+ }
361
+ },
362
+ {
363
+ "pid": 11,
364
+ "type": "rotation",
365
+ "origin": [
366
+ 0.09071352842202396,
367
+ 1.9231313023947618,
368
+ 1.1061803698539734
369
+ ],
370
+ "axis": [
371
+ 0.03860204202727909,
372
+ 0.9992546634123477,
373
+ 0
374
+ ],
375
+ "ref": [
376
+ 0,
377
+ 0,
378
+ 1
379
+ ],
380
+ "base": [
381
+ 9
382
+ ],
383
+ "rangeMin": -0.24434609527920614,
384
+ "rangeMax": 0.2792526803190927,
385
+ "motionStates": {
386
+ "closed": {
387
+ "percent": 0,
388
+ "value": -14
389
+ }
390
+ }
391
+ },
392
+ {
393
+ "pid": 13,
394
+ "type": "rotation",
395
+ "origin": [
396
+ 0.5008293348821546,
397
+ 1.0344136786052254,
398
+ 1.4690558121262438
399
+ ],
400
+ "axis": [
401
+ 0.24887195637640475,
402
+ 0.9679519251185623,
403
+ -0.033642532435149856
404
+ ],
405
+ "ref": [
406
+ 0.3031500989163639,
407
+ -0.04485934587589728,
408
+ 0.9518863674906712
409
+ ],
410
+ "base": [
411
+ 12
412
+ ],
413
+ "rangeMin": -3.141592653589793,
414
+ "rangeMax": 3.141592653589793,
415
+ "motionStates": {
416
+ "closed": {
417
+ "percent": 0,
418
+ "value": -180
419
+ }
420
+ },
421
+ "needsReview": false
422
+ },
423
+ {
424
+ "pid": 14,
425
+ "type": "rotation",
426
+ "origin": [
427
+ 0.3592587286560593,
428
+ 1.2093159418588868,
429
+ 1.4673510789871216
430
+ ],
431
+ "axis": [
432
+ 0.9651774245031004,
433
+ -0.26159613764266837,
434
+ 0
435
+ ],
436
+ "ref": [
437
+ 0,
438
+ 0,
439
+ 1
440
+ ],
441
+ "base": [
442
+ 12
443
+ ],
444
+ "rangeMin": -3.141592653589793,
445
+ "rangeMax": 3.141592653589793,
446
+ "motionStates": {}
447
+ },
448
+ {
449
+ "pid": 15,
450
+ "type": "rotation",
451
+ "origin": [
452
+ 0.33446808904980585,
453
+ 0.9409740438956188,
454
+ 1.5173993653948128
455
+ ],
456
+ "axis": [
457
+ 0.959325941835004,
458
+ -0.1995227087718098,
459
+ -0.19971085600623217
460
+ ],
461
+ "ref": [
462
+ 0.25795259209162796,
463
+ 0.906962101689092,
464
+ 0.3329867960338898
465
+ ],
466
+ "base": [
467
+ 12
468
+ ],
469
+ "rangeMin": -3.141592653589793,
470
+ "rangeMax": 3.141592653589793,
471
+ "motionStates": {}
472
+ },
473
+ {
474
+ "pid": 17,
475
+ "type": "translation",
476
+ "origin": [
477
+ 2.0858943697034227,
478
+ 1.7796324269815473,
479
+ 0.3852119892835617
480
+ ],
481
+ "axis": [
482
+ -0.9953508137344163,
483
+ -0.09631592598441592,
484
+ 0
485
+ ],
486
+ "base": [
487
+ 16
488
+ ],
489
+ "rangeMin": 0,
490
+ "rangeMax": 0.39491047736856677,
491
+ "motionStates": {}
492
+ },
493
+ {
494
+ "pid": 18,
495
+ "type": "translation",
496
+ "origin": [
497
+ 2.085652953565876,
498
+ 1.7812001241238058,
499
+ 0.23485779762268066
500
+ ],
501
+ "axis": [
502
+ -0.995826569963011,
503
+ -0.09126577976275944,
504
+ 0
505
+ ],
506
+ "base": [
507
+ 16
508
+ ],
509
+ "rangeMin": 0,
510
+ "rangeMax": 0.3959689891447975,
511
+ "motionStates": {}
512
+ },
513
+ {
514
+ "pid": 19,
515
+ "type": "translation",
516
+ "origin": [
517
+ 2.0840002559134314,
518
+ 1.77859767258041,
519
+ 0.6541080965921552
520
+ ],
521
+ "axis": [
522
+ -0.993544220340171,
523
+ -0.0992396231249381,
524
+ -0.054967075878768853
525
+ ],
526
+ "base": [
527
+ 16
528
+ ],
529
+ "rangeMin": 0,
530
+ "rangeMax": 0.3765840344105569,
531
+ "motionStates": {}
532
+ },
533
+ {
534
+ "pid": 20,
535
+ "type": "translation",
536
+ "origin": [
537
+ 2.0837069294726187,
538
+ 1.7797589511491287,
539
+ 0.5570400804281235
540
+ ],
541
+ "axis": [
542
+ -0.993516126025521,
543
+ -0.1136912807881125,
544
+ 0
545
+ ],
546
+ "base": [
547
+ 16
548
+ ],
549
+ "rangeMin": 0,
550
+ "rangeMax": 0.3911868470603923,
551
+ "motionStates": {}
552
+ },
553
+ {
554
+ "pid": 26,
555
+ "type": "translation",
556
+ "origin": [
557
+ 3.222848261809601,
558
+ 1.1443348366765853,
559
+ 0.5491819747480643
560
+ ],
561
+ "axis": [
562
+ -0.011068059074517788,
563
+ -0.9996513803926743,
564
+ -0.02397114405580021
565
+ ],
566
+ "base": [
567
+ 25
568
+ ],
569
+ "rangeMin": 0,
570
+ "rangeMax": 0.17811476433826967,
571
+ "motionStates": {}
572
+ },
573
+ {
574
+ "pid": 27,
575
+ "type": "translation",
576
+ "origin": [
577
+ 3.2368072541229442,
578
+ 1.1453459182467376,
579
+ 0.38984694952696297
580
+ ],
581
+ "axis": [
582
+ -0.005002745215092661,
583
+ -0.999899613332086,
584
+ -0.013256537958988759
585
+ ],
586
+ "base": [
587
+ 25
588
+ ],
589
+ "rangeMin": 0,
590
+ "rangeMax": 0.18219628898785878,
591
+ "motionStates": {}
592
+ },
593
+ {
594
+ "pid": 28,
595
+ "type": "translation",
596
+ "origin": [
597
+ 3.3176217472199685,
598
+ 1.1444699038380701,
599
+ 0.22033949196338654
600
+ ],
601
+ "axis": [
602
+ -0.00010908694164394236,
603
+ -0.9999999940500196,
604
+ 0
605
+ ],
606
+ "base": [
607
+ 25
608
+ ],
609
+ "rangeMin": 0,
610
+ "rangeMax": 0.1867619739960743,
611
+ "motionStates": {}
612
+ },
613
+ {
614
+ "pid": 29,
615
+ "type": "translation",
616
+ "origin": [
617
+ 3.225523428956212,
618
+ 1.1413490452882162,
619
+ 0.6598994731903076
620
+ ],
621
+ "axis": [
622
+ -0.005308914616266102,
623
+ -0.9999859076135009,
624
+ 0
625
+ ],
626
+ "base": [
627
+ 25
628
+ ],
629
+ "rangeMin": 0,
630
+ "rangeMax": 0.18587193792559842,
631
+ "motionStates": {}
632
+ },
633
+ {
634
+ "pid": 35,
635
+ "type": "rotation",
636
+ "origin": [
637
+ 4.834227418820102,
638
+ 0.3365932709808077,
639
+ 0.5514205569420592
640
+ ],
641
+ "axis": [
642
+ 0.9457150582670831,
643
+ 0.06844156765340201,
644
+ 0.3177086407135198
645
+ ],
646
+ "ref": [
647
+ 0.02897118218661487,
648
+ 0.9559286380083073,
649
+ -0.2921662363078468
650
+ ],
651
+ "base": [
652
+ 34
653
+ ],
654
+ "rangeMin": -3.141592653589793,
655
+ "rangeMax": 3.141592653589793,
656
+ "motionStates": {}
657
+ },
658
+ {
659
+ "pid": 37,
660
+ "type": "rotation",
661
+ "origin": [
662
+ 5.115605344220519,
663
+ 2.0688225006836447,
664
+ 0.9530849889656334
665
+ ],
666
+ "axis": [
667
+ -0.005441311508565695,
668
+ -0.9974622800672734,
669
+ 0.07098867495638106
670
+ ],
671
+ "ref": [
672
+ -0.10624407583845735,
673
+ 0.07116457496286951,
674
+ 0.9917901993968211
675
+ ],
676
+ "base": [
677
+ 36
678
+ ],
679
+ "rangeMin": -0.24434609527920614,
680
+ "rangeMax": 0.2792526803190927,
681
+ "motionStates": {
682
+ "closed": {
683
+ "percent": 0,
684
+ "value": -14
685
+ }
686
+ }
687
+ },
688
+ {
689
+ "pid": 39,
690
+ "type": "rotation",
691
+ "origin": [
692
+ 4.965409859380874,
693
+ 1.6009085052478396,
694
+ 1.6832159370760298
695
+ ],
696
+ "axis": [
697
+ -0.9847855072745697,
698
+ 0.017210693950964598,
699
+ -0.17291991405183701
700
+ ],
701
+ "ref": [
702
+ -0.012965637330799747,
703
+ -0.999586926683249,
704
+ -0.025648942522903385
705
+ ],
706
+ "base": [
707
+ 38
708
+ ],
709
+ "rangeMin": 0,
710
+ "rangeMax": 3.141592653589793,
711
+ "motionStates": {
712
+ "closed": {
713
+ "percent": 0,
714
+ "value": 0
715
+ }
716
+ }
717
+ },
718
+ {
719
+ "pid": 41,
720
+ "type": "rotation",
721
+ "origin": [
722
+ 4.769692370982606,
723
+ 3.487525669521049,
724
+ 0.5442759235372461
725
+ ],
726
+ "axis": [
727
+ 0.8653877104434567,
728
+ -0.3125173802591413,
729
+ 0.3917103491732062
730
+ ],
731
+ "ref": [
732
+ 0.07728259768306601,
733
+ 0.8555803351900678,
734
+ 0.5118688212143895
735
+ ],
736
+ "base": [
737
+ 40
738
+ ],
739
+ "rangeMin": -3.141592653589793,
740
+ "rangeMax": 3.141592653589793,
741
+ "motionStates": {}
742
+ },
743
+ {
744
+ "pid": 43,
745
+ "type": "rotation",
746
+ "origin": [
747
+ 4.364830130691638,
748
+ 3.4782306677503647,
749
+ 0.31470764101074883
750
+ ],
751
+ "axis": [
752
+ 0.04723334879769431,
753
+ 0.9988702402295229,
754
+ 0.005220531119582686
755
+ ],
756
+ "ref": [
757
+ -0.4605514387493844,
758
+ 0.026415092889890808,
759
+ -0.8872398859009274
760
+ ],
761
+ "base": [
762
+ 42
763
+ ],
764
+ "rangeMin": -3.141592653589793,
765
+ "rangeMax": 3.141592653589793,
766
+ "motionStates": {}
767
+ },
768
+ {
769
+ "pid": 44,
770
+ "type": "rotation",
771
+ "origin": [
772
+ 4.61142796680712,
773
+ 3.252374017089879,
774
+ 0.3043183834163741
775
+ ],
776
+ "axis": [
777
+ 0.990252184951875,
778
+ -0.1350955817085983,
779
+ 0.03390861248787594
780
+ ],
781
+ "ref": [
782
+ 0.13899991234159326,
783
+ 0.9428895444631945,
784
+ -0.30271823749324883
785
+ ],
786
+ "base": [
787
+ 42
788
+ ],
789
+ "rangeMin": -3.141592653589793,
790
+ "rangeMax": 3.141592653589793,
791
+ "motionStates": {}
792
+ },
793
+ {
794
+ "pid": 45,
795
+ "type": "rotation",
796
+ "origin": [
797
+ 4.809799612506141,
798
+ 3.5415350114730835,
799
+ 0.2378270671575956
800
+ ],
801
+ "axis": [
802
+ -0.10477640793812577,
803
+ -0.9603588718587702,
804
+ 0.25832681158124804
805
+ ],
806
+ "ref": [
807
+ -0.2621667248286052,
808
+ 0.27724106013365746,
809
+ 0.9243408478308247
810
+ ],
811
+ "base": [
812
+ 42
813
+ ],
814
+ "rangeMin": -3.141592653589793,
815
+ "rangeMax": 3.141592653589793,
816
+ "motionStates": {}
817
+ },
818
+ {
819
+ "pid": 46,
820
+ "type": "rotation",
821
+ "origin": [
822
+ 4.811792906619418,
823
+ 3.700724083734271,
824
+ 0.24354879256548528
825
+ ],
826
+ "axis": [
827
+ -0.9593177329395229,
828
+ 0.029124419618523533,
829
+ -0.2808224625090705
830
+ ],
831
+ "ref": [
832
+ -0.10477640793812577,
833
+ -0.9603588718587702,
834
+ 0.25832681158124804
835
+ ],
836
+ "base": [
837
+ 42
838
+ ],
839
+ "rangeMin": -3.141592653589793,
840
+ "rangeMax": 3.141592653589793,
841
+ "motionStates": {}
842
+ }
843
+ ]
844
+ }
845
+ }
acd95847c5_parts.json ADDED
The diff for this file is too large to render. See raw diff
 
b0a08200c9_artic.json ADDED
@@ -0,0 +1,414 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "modelId": "scannetpp.b0a08200c9",
3
+ "data": {
4
+ "parts": [
5
+ {
6
+ "pid": 0,
7
+ "label": "unknown",
8
+ "group": "others"
9
+ },
10
+ {
11
+ "pid": 1,
12
+ "label": "door frame.1.1",
13
+ "group": "others"
14
+ },
15
+ {
16
+ "pid": 2,
17
+ "label": "door.1.1.2_1",
18
+ "group": "doors/windows"
19
+ },
20
+ {
21
+ "pid": 3,
22
+ "label": "handle base.1.1.2_1.3_1",
23
+ "group": "others"
24
+ },
25
+ {
26
+ "pid": 4,
27
+ "label": "handle.1.1.2_1.3_1.4_1",
28
+ "group": "handles movable"
29
+ },
30
+ {
31
+ "pid": 5,
32
+ "label": "hinge.1.1.2_2",
33
+ "group": "others"
34
+ },
35
+ {
36
+ "pid": 6,
37
+ "label": "hinge.1.1.2_3",
38
+ "group": "others"
39
+ },
40
+ {
41
+ "pid": 7,
42
+ "label": "light switch base.2.1",
43
+ "group": "others"
44
+ },
45
+ {
46
+ "pid": 8,
47
+ "label": "light switch.2.1.2_1",
48
+ "group": "switches"
49
+ },
50
+ {
51
+ "pid": 9,
52
+ "label": "light switch base.3.1",
53
+ "group": "others"
54
+ },
55
+ {
56
+ "pid": 10,
57
+ "label": "light switch.3.1.2_1",
58
+ "group": "switches"
59
+ },
60
+ {
61
+ "pid": 11,
62
+ "label": "box.4.1",
63
+ "group": "others"
64
+ },
65
+ {
66
+ "pid": 12,
67
+ "label": "box lid.4.1.2_1",
68
+ "group": "others"
69
+ },
70
+ {
71
+ "pid": 13,
72
+ "label": "box lid.4.1.2_2",
73
+ "group": "others"
74
+ },
75
+ {
76
+ "pid": 14,
77
+ "label": "window frame.5.1",
78
+ "group": "others"
79
+ },
80
+ {
81
+ "pid": 15,
82
+ "label": "window.5.1.2_1",
83
+ "group": "doors/windows"
84
+ },
85
+ {
86
+ "pid": 16,
87
+ "label": "handle base.5.1.2_1.3_1",
88
+ "group": "others"
89
+ },
90
+ {
91
+ "pid": 17,
92
+ "label": "handle.5.1.2_1.3_1.4_1",
93
+ "group": "handles unlabeled"
94
+ },
95
+ {
96
+ "pid": 18,
97
+ "label": "cabinet.6.1",
98
+ "group": "others"
99
+ },
100
+ {
101
+ "pid": 19,
102
+ "label": "drawer.6.1.2_1",
103
+ "group": "cabinets"
104
+ },
105
+ {
106
+ "pid": 20,
107
+ "label": "handle.6.1.2_1.3_1",
108
+ "group": "handles unlabeled"
109
+ },
110
+ {
111
+ "pid": 21,
112
+ "label": "light switch base.7.1",
113
+ "group": "others"
114
+ },
115
+ {
116
+ "pid": 22,
117
+ "label": "light switch.7.1.2_1",
118
+ "group": "switches"
119
+ }
120
+ ],
121
+ "articulations": [
122
+ {
123
+ "pid": 2,
124
+ "type": "rotation",
125
+ "origin": [
126
+ 0.12959090218865021,
127
+ 0.5959507920679888,
128
+ 1.073124397546053
129
+ ],
130
+ "axis": [
131
+ 0,
132
+ 0,
133
+ 1
134
+ ],
135
+ "ref": [
136
+ 0.007453928052329774,
137
+ 0.9999722190924059,
138
+ 0
139
+ ],
140
+ "base": [
141
+ 1
142
+ ],
143
+ "rangeMin": -1.5882496193148399,
144
+ "rangeMax": 0,
145
+ "motionStates": {
146
+ "closed": {
147
+ "percent": 0,
148
+ "value": -91
149
+ }
150
+ }
151
+ },
152
+ {
153
+ "pid": 4,
154
+ "type": "rotation",
155
+ "origin": [
156
+ 0.14932683843317782,
157
+ 1.458353828174862,
158
+ 1.0495129823684692
159
+ ],
160
+ "axis": [
161
+ 0.9820620836961299,
162
+ 0.18855785257160615,
163
+ 0
164
+ ],
165
+ "ref": [
166
+ -0.18855785257160615,
167
+ 0.9820620836961299,
168
+ 0
169
+ ],
170
+ "base": [
171
+ 3
172
+ ],
173
+ "rangeMin": 0,
174
+ "rangeMax": 0.6457718232379019,
175
+ "motionStates": {
176
+ "closed": {
177
+ "percent": 0,
178
+ "value": 0
179
+ }
180
+ }
181
+ },
182
+ {
183
+ "pid": 8,
184
+ "type": "rotation",
185
+ "origin": [
186
+ 0.12240150398340743,
187
+ 1.7159495041379946,
188
+ 1.4219475388526917
189
+ ],
190
+ "axis": [
191
+ 0.008790202695613463,
192
+ -0.9999613654219697,
193
+ 0
194
+ ],
195
+ "ref": [
196
+ 0,
197
+ 0,
198
+ 1
199
+ ],
200
+ "base": [
201
+ 7
202
+ ],
203
+ "rangeMin": -0.2617993877991494,
204
+ "rangeMax": 0.296705972839036,
205
+ "motionStates": {
206
+ "closed": {
207
+ "percent": 0,
208
+ "value": -15
209
+ }
210
+ }
211
+ },
212
+ {
213
+ "pid": 10,
214
+ "type": "rotation",
215
+ "origin": [
216
+ 0.1058145137108828,
217
+ 1.7148549270304314,
218
+ 1.1220597624778748
219
+ ],
220
+ "axis": [
221
+ -0.10115097948114166,
222
+ -0.9948710867996948,
223
+ 0
224
+ ],
225
+ "ref": [
226
+ 0,
227
+ 0,
228
+ 1
229
+ ],
230
+ "base": [
231
+ 9
232
+ ],
233
+ "rangeMin": -0.20943951023931953,
234
+ "rangeMax": 0.24434609527920614,
235
+ "motionStates": {
236
+ "closed": {
237
+ "percent": 0,
238
+ "value": -12
239
+ }
240
+ }
241
+ },
242
+ {
243
+ "pid": 12,
244
+ "type": "rotation",
245
+ "origin": [
246
+ 4.062278008570408,
247
+ 1.1867311231551487,
248
+ 0.5126196356652335
249
+ ],
250
+ "axis": [
251
+ -0.07538255901367699,
252
+ 0.9962104971589699,
253
+ 0.04338335103271218
254
+ ],
255
+ "ref": [
256
+ -0.9970443915703993,
257
+ -0.0759499348411883,
258
+ 0.011579664746078062
259
+ ],
260
+ "base": [
261
+ 11
262
+ ],
263
+ "rangeMin": -3.141592653589793,
264
+ "rangeMax": 0,
265
+ "motionStates": {
266
+ "closed": {
267
+ "percent": 0,
268
+ "value": -180
269
+ }
270
+ }
271
+ },
272
+ {
273
+ "pid": 13,
274
+ "type": "rotation",
275
+ "origin": [
276
+ 4.041438806191595,
277
+ 1.398387685500801,
278
+ 0.484052490234375
279
+ ],
280
+ "axis": [
281
+ 0.1430199037771906,
282
+ -0.9897198124335812,
283
+ 0
284
+ ],
285
+ "ref": [
286
+ 0,
287
+ 0,
288
+ 1
289
+ ],
290
+ "base": [
291
+ 11
292
+ ],
293
+ "rangeMin": 0,
294
+ "rangeMax": 3.141592653589793,
295
+ "motionStates": {
296
+ "closed": {
297
+ "percent": 0,
298
+ "value": 0
299
+ }
300
+ }
301
+ },
302
+ {
303
+ "pid": 15,
304
+ "type": "rotation",
305
+ "origin": [
306
+ 5.036816950951751,
307
+ 1.881026487378754,
308
+ 1.7044087052345276
309
+ ],
310
+ "axis": [
311
+ 0,
312
+ 0,
313
+ 1
314
+ ],
315
+ "ref": [
316
+ 0.008573139837581584,
317
+ 0.9999632179557173,
318
+ -0.00025299994434797613
319
+ ],
320
+ "base": [
321
+ 14
322
+ ],
323
+ "rangeMin": -1.5707963267948966,
324
+ "rangeMax": 0,
325
+ "motionStates": {
326
+ "closed": {
327
+ "percent": 0,
328
+ "value": -90
329
+ }
330
+ }
331
+ },
332
+ {
333
+ "pid": 17,
334
+ "type": "rotation",
335
+ "origin": [
336
+ 4.936238253316389,
337
+ 1.3872727464499173,
338
+ 1.6982348899841309
339
+ ],
340
+ "axis": [
341
+ -0.9835323906299596,
342
+ 0.18073194676569107,
343
+ 0
344
+ ],
345
+ "ref": [
346
+ 0,
347
+ 0,
348
+ 1
349
+ ],
350
+ "base": [
351
+ 16
352
+ ],
353
+ "rangeMin": -1.5707963267948966,
354
+ "rangeMax": 0,
355
+ "motionStates": {
356
+ "closed": {
357
+ "percent": 0,
358
+ "value": -90
359
+ }
360
+ }
361
+ },
362
+ {
363
+ "pid": 19,
364
+ "type": "translation",
365
+ "origin": [
366
+ 4.6080081191535225,
367
+ 1.6131449633266652,
368
+ 0.7700684509695077
369
+ ],
370
+ "axis": [
371
+ -0.9998740333476334,
372
+ 0.008575754324959928,
373
+ 0.013355668268329486
374
+ ],
375
+ "base": [
376
+ 18
377
+ ],
378
+ "rangeMin": 0,
379
+ "rangeMax": 0.031676437523172396,
380
+ "motionStates": {}
381
+ },
382
+ {
383
+ "pid": 22,
384
+ "type": "rotation",
385
+ "origin": [
386
+ 0.11545946367324733,
387
+ 1.666372389950038,
388
+ 1.1011019945144653
389
+ ],
390
+ "axis": [
391
+ -0.003852636552221522,
392
+ -0.9999925785682595,
393
+ 0
394
+ ],
395
+ "ref": [
396
+ 0,
397
+ 0,
398
+ 1
399
+ ],
400
+ "base": [
401
+ 21
402
+ ],
403
+ "rangeMin": -0.22689280275926282,
404
+ "rangeMax": 0.2617993877991494,
405
+ "motionStates": {
406
+ "closed": {
407
+ "percent": 0,
408
+ "value": -13
409
+ }
410
+ }
411
+ }
412
+ ]
413
+ }
414
+ }
b0a08200c9_parts.json ADDED
The diff for this file is too large to render. See raw diff
 
b1d75ecd55_artic.json ADDED
@@ -0,0 +1,602 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "modelId": "scannetpp.b1d75ecd55",
3
+ "data": {
4
+ "parts": [
5
+ {
6
+ "pid": 0,
7
+ "label": "unknown",
8
+ "group": "others"
9
+ },
10
+ {
11
+ "pid": 1,
12
+ "label": "door frame.1.1",
13
+ "group": "others"
14
+ },
15
+ {
16
+ "pid": 2,
17
+ "label": "door.1.1.2_1",
18
+ "group": "doors/windows"
19
+ },
20
+ {
21
+ "pid": 3,
22
+ "label": "handle base.1.1.2_1.3_1",
23
+ "group": "others"
24
+ },
25
+ {
26
+ "pid": 4,
27
+ "label": "handle.1.1.2_1.3_1.4_1",
28
+ "group": "handles unlabeled"
29
+ },
30
+ {
31
+ "pid": 5,
32
+ "label": "toilet.2.1",
33
+ "group": "others"
34
+ },
35
+ {
36
+ "pid": 6,
37
+ "label": "toilet seat.2.1.2_1",
38
+ "group": "lids"
39
+ },
40
+ {
41
+ "pid": 7,
42
+ "label": "lid.2.1.2_2",
43
+ "group": "others"
44
+ },
45
+ {
46
+ "pid": 8,
47
+ "label": "flush base.2.1.2_3",
48
+ "group": "others"
49
+ },
50
+ {
51
+ "pid": 9,
52
+ "label": "flush.2.1.2_3.3_1",
53
+ "group": "controls"
54
+ },
55
+ {
56
+ "pid": 10,
57
+ "label": "trash can.3.1",
58
+ "group": "others"
59
+ },
60
+ {
61
+ "pid": 11,
62
+ "label": "lid.3.1.2_1",
63
+ "group": "others"
64
+ },
65
+ {
66
+ "pid": 12,
67
+ "label": "sink.4.1",
68
+ "group": "others"
69
+ },
70
+ {
71
+ "pid": 13,
72
+ "label": "faucet.4.1.2_1",
73
+ "group": "controls"
74
+ },
75
+ {
76
+ "pid": 14,
77
+ "label": "control.4.1.2_1.3_1",
78
+ "group": "controls"
79
+ },
80
+ {
81
+ "pid": 15,
82
+ "label": "soap dispenser.5.1",
83
+ "group": "others"
84
+ },
85
+ {
86
+ "pid": 16,
87
+ "label": "pump.5.1.2_1",
88
+ "group": "others"
89
+ },
90
+ {
91
+ "pid": 17,
92
+ "label": "switch base.6.1",
93
+ "group": "others"
94
+ },
95
+ {
96
+ "pid": 18,
97
+ "label": "switch.6.1.2_1",
98
+ "group": "switches"
99
+ },
100
+ {
101
+ "pid": 19,
102
+ "label": "switch base.8.1",
103
+ "group": "others"
104
+ },
105
+ {
106
+ "pid": 20,
107
+ "label": "switch.8.1.2_1",
108
+ "group": "switches"
109
+ },
110
+ {
111
+ "pid": 21,
112
+ "label": "switch.8.1.2_2",
113
+ "group": "switches"
114
+ },
115
+ {
116
+ "pid": 22,
117
+ "label": "switch base.9.1",
118
+ "group": "others"
119
+ },
120
+ {
121
+ "pid": 23,
122
+ "label": "switch.9.1.2_1",
123
+ "group": "switches"
124
+ },
125
+ {
126
+ "pid": 24,
127
+ "label": "switch base.10.1",
128
+ "group": "others"
129
+ },
130
+ {
131
+ "pid": 25,
132
+ "label": "switch.10.1.2_1",
133
+ "group": "switches"
134
+ },
135
+ {
136
+ "pid": 26,
137
+ "label": "switch base.11.1",
138
+ "group": "others"
139
+ },
140
+ {
141
+ "pid": 27,
142
+ "label": "switch.11.1.2_1",
143
+ "group": "switches"
144
+ },
145
+ {
146
+ "pid": 28,
147
+ "label": "lock.1.1.2_1.3_1.4_2",
148
+ "group": "others"
149
+ },
150
+ {
151
+ "pid": 29,
152
+ "label": "pipe.4.1.2_2",
153
+ "group": "others"
154
+ }
155
+ ],
156
+ "articulations": [
157
+ {
158
+ "pid": 2,
159
+ "type": "rotation",
160
+ "origin": [
161
+ 3.7214602413171467,
162
+ 0.3788679275378674,
163
+ 1.0782439485192299
164
+ ],
165
+ "axis": [
166
+ 0,
167
+ 0,
168
+ 1
169
+ ],
170
+ "ref": [
171
+ -0.060677343183361654,
172
+ 0.9981574324845798,
173
+ 0
174
+ ],
175
+ "base": [
176
+ 1
177
+ ],
178
+ "rangeMin": -1.6580627893946132,
179
+ "rangeMax": 0,
180
+ "motionStates": {
181
+ "closed": {
182
+ "percent": 0,
183
+ "value": -95
184
+ }
185
+ }
186
+ },
187
+ {
188
+ "pid": 4,
189
+ "type": "rotation",
190
+ "origin": [
191
+ 3.64716665903247,
192
+ 1.2923555877044017,
193
+ 1.1141867020779357
194
+ ],
195
+ "axis": [
196
+ -0.9680878353902765,
197
+ 0.13190411866188695,
198
+ 0.21308976148421505
199
+ ],
200
+ "ref": [
201
+ -0.1307826719265432,
202
+ -0.9912209508381729,
203
+ 0.019414410710151746
204
+ ],
205
+ "base": [
206
+ 3
207
+ ],
208
+ "rangeMin": -0.8203047484373349,
209
+ "rangeMax": 0,
210
+ "motionStates": {
211
+ "closed": {
212
+ "percent": 0,
213
+ "value": -47
214
+ }
215
+ }
216
+ },
217
+ {
218
+ "pid": 6,
219
+ "type": "rotation",
220
+ "origin": [
221
+ 1.908999105966532,
222
+ 0.7368061961176311,
223
+ 0.577766258257015
224
+ ],
225
+ "axis": [
226
+ 0.9999076672079412,
227
+ 0.012216885227046503,
228
+ -0.005950191099683533
229
+ ],
230
+ "ref": [
231
+ 0.005981053007908448,
232
+ -0.0024911876648789437,
233
+ 0.9999790102741832
234
+ ],
235
+ "base": [
236
+ 5
237
+ ],
238
+ "rangeMin": 0,
239
+ "rangeMax": 1.6580627893946132,
240
+ "motionStates": {
241
+ "closed": {
242
+ "percent": 0,
243
+ "value": 0
244
+ }
245
+ },
246
+ "needsReview": false
247
+ },
248
+ {
249
+ "pid": 7,
250
+ "type": "rotation",
251
+ "origin": [
252
+ 1.853864947677327,
253
+ 0.6958317922092421,
254
+ 0.5236117047134673
255
+ ],
256
+ "axis": [
257
+ 0.9808404477269843,
258
+ 0.1498472982642109,
259
+ -0.12449017353046721
260
+ ],
261
+ "ref": [
262
+ 0.05201250851170902,
263
+ -0.8172563423413632,
264
+ -0.5739222681349241
265
+ ],
266
+ "base": [
267
+ 5
268
+ ],
269
+ "rangeMin": -2.478367537831948,
270
+ "rangeMax": 0,
271
+ "motionStates": {
272
+ "closed": {
273
+ "percent": 0,
274
+ "value": -142
275
+ }
276
+ }
277
+ },
278
+ {
279
+ "pid": 9,
280
+ "type": "rotation",
281
+ "origin": [
282
+ 1.8881591472331438,
283
+ 0.4513882362546825,
284
+ 1.1608295045232941
285
+ ],
286
+ "axis": [
287
+ 0.9999076672079412,
288
+ 0.012216885227046503,
289
+ -0.005950191099683533
290
+ ],
291
+ "ref": [
292
+ 0.005981053007908448,
293
+ -0.0024911876648789437,
294
+ 0.9999790102741832
295
+ ],
296
+ "base": [
297
+ 8
298
+ ],
299
+ "rangeMin": -0.3141592653589793,
300
+ "rangeMax": 0.2617993877991494,
301
+ "motionStates": {
302
+ "closed": {
303
+ "percent": 0,
304
+ "value": -18
305
+ }
306
+ },
307
+ "needsReview": false
308
+ },
309
+ {
310
+ "pid": 11,
311
+ "type": "rotation",
312
+ "origin": [
313
+ 1.48046557082225,
314
+ 0.49342563438638454,
315
+ 0.3244043826264375
316
+ ],
317
+ "axis": [
318
+ 0.9632677162470394,
319
+ -0.2651258126609526,
320
+ 0.042703750386621595
321
+ ],
322
+ "ref": [
323
+ 0.2626456600143649,
324
+ 0.9632687646729643,
325
+ 0.05595126701907828
326
+ ],
327
+ "base": [
328
+ 10
329
+ ],
330
+ "rangeMin": -3.141592653589793,
331
+ "rangeMax": 3.141592653589793,
332
+ "motionStates": {}
333
+ },
334
+ {
335
+ "pid": 14,
336
+ "type": "rotation",
337
+ "origin": [
338
+ 0.30029708589327786,
339
+ 1.6616532142250882,
340
+ 0.9642775654792786
341
+ ],
342
+ "axis": [
343
+ 0,
344
+ 0,
345
+ 1
346
+ ],
347
+ "ref": [
348
+ 0.13022780836356695,
349
+ -0.9914840986767373,
350
+ 0
351
+ ],
352
+ "base": [
353
+ 13
354
+ ],
355
+ "rangeMin": -3.141592653589793,
356
+ "rangeMax": 3.141592653589793,
357
+ "motionStates": {}
358
+ },
359
+ {
360
+ "pid": 16,
361
+ "type": "rotation",
362
+ "origin": [
363
+ 0.2527124565031591,
364
+ 1.4345998952289392,
365
+ 0.9758232533931732
366
+ ],
367
+ "axis": [
368
+ -0.009382550572716978,
369
+ 0.9999559829036229,
370
+ 0
371
+ ],
372
+ "ref": [
373
+ 0,
374
+ 0,
375
+ 1
376
+ ],
377
+ "base": [
378
+ 15
379
+ ],
380
+ "rangeMin": -0.41887902047863906,
381
+ "rangeMax": 0,
382
+ "motionStates": {
383
+ "closed": {
384
+ "percent": 0,
385
+ "value": -24
386
+ }
387
+ }
388
+ },
389
+ {
390
+ "pid": 18,
391
+ "type": "rotation",
392
+ "origin": [
393
+ 3.5038231635318384,
394
+ 1.4509069980984106,
395
+ 1.163028359413147
396
+ ],
397
+ "axis": [
398
+ 0.0591976258179127,
399
+ -0.9982462827867291,
400
+ 0
401
+ ],
402
+ "ref": [
403
+ 0,
404
+ 0,
405
+ 1
406
+ ],
407
+ "base": [
408
+ 17
409
+ ],
410
+ "rangeMin": -0.2617993877991494,
411
+ "rangeMax": 0.2792526803190927,
412
+ "motionStates": {
413
+ "closed": {
414
+ "percent": 0,
415
+ "value": -15
416
+ }
417
+ },
418
+ "needsReview": false
419
+ },
420
+ {
421
+ "pid": 20,
422
+ "type": "rotation",
423
+ "origin": [
424
+ 3.5046164542808835,
425
+ 1.4606164954901826,
426
+ 0.8756103515625
427
+ ],
428
+ "axis": [
429
+ -0.0763195988927858,
430
+ 0.997083406152587,
431
+ 0
432
+ ],
433
+ "ref": [
434
+ 0,
435
+ 0,
436
+ 1
437
+ ],
438
+ "base": [
439
+ 19
440
+ ],
441
+ "rangeMin": -0.2617993877991494,
442
+ "rangeMax": 0.296705972839036,
443
+ "motionStates": {
444
+ "closed": {
445
+ "percent": 0,
446
+ "value": -15
447
+ }
448
+ },
449
+ "needsReview": false
450
+ },
451
+ {
452
+ "pid": 21,
453
+ "type": "rotation",
454
+ "origin": [
455
+ 3.502879649341277,
456
+ 1.465967991448448,
457
+ 0.8016357421875
458
+ ],
459
+ "axis": [
460
+ 0.024718741530704007,
461
+ -0.9996944452267095,
462
+ 0
463
+ ],
464
+ "ref": [
465
+ 0,
466
+ 0,
467
+ 1
468
+ ],
469
+ "base": [
470
+ 19
471
+ ],
472
+ "rangeMin": -0.33161255787892263,
473
+ "rangeMax": 0.296705972839036,
474
+ "motionStates": {
475
+ "closed": {
476
+ "percent": 0,
477
+ "value": -19
478
+ }
479
+ },
480
+ "needsReview": false
481
+ },
482
+ {
483
+ "pid": 23,
484
+ "type": "rotation",
485
+ "origin": [
486
+ 2.648472169292858,
487
+ 0.2834766010990446,
488
+ 0.8578433678564313
489
+ ],
490
+ "axis": [
491
+ 0.9850073152809695,
492
+ 0.1583638507893361,
493
+ 0.06842133882166866
494
+ ],
495
+ "ref": [
496
+ -0.15490937977679384,
497
+ 0.9864964262348587,
498
+ -0.0531778627158096
499
+ ],
500
+ "base": [
501
+ 22
502
+ ],
503
+ "rangeMin": -0.296705972839036,
504
+ "rangeMax": 0.296705972839036,
505
+ "motionStates": {
506
+ "closed": {
507
+ "percent": 0,
508
+ "value": -17
509
+ }
510
+ },
511
+ "needsReview": false
512
+ },
513
+ {
514
+ "pid": 25,
515
+ "type": "rotation",
516
+ "origin": [
517
+ 0.244370567029208,
518
+ 0.9304602231786432,
519
+ 0.8561210334300995
520
+ ],
521
+ "axis": [
522
+ -0.08870356045098804,
523
+ 0.9960580697747085,
524
+ 0
525
+ ],
526
+ "ref": [
527
+ 0,
528
+ 0,
529
+ 1
530
+ ],
531
+ "base": [
532
+ 24
533
+ ],
534
+ "rangeMin": -0.2617993877991494,
535
+ "rangeMax": 0.2792526803190927,
536
+ "motionStates": {
537
+ "closed": {
538
+ "percent": 0,
539
+ "value": -15
540
+ }
541
+ },
542
+ "needsReview": false
543
+ },
544
+ {
545
+ "pid": 27,
546
+ "type": "rotation",
547
+ "origin": [
548
+ 0.4439280994974246,
549
+ 2.374566467902029,
550
+ 1.16778564453125
551
+ ],
552
+ "axis": [
553
+ 0.9925776867436455,
554
+ 0.12161223531632619,
555
+ 0
556
+ ],
557
+ "ref": [
558
+ 0,
559
+ 0,
560
+ 1
561
+ ],
562
+ "base": [
563
+ 26
564
+ ],
565
+ "rangeMin": -0.2617993877991494,
566
+ "rangeMax": 0.2792526803190927,
567
+ "motionStates": {
568
+ "closed": {
569
+ "percent": 0,
570
+ "value": -15
571
+ }
572
+ },
573
+ "needsReview": false
574
+ },
575
+ {
576
+ "pid": 28,
577
+ "type": "rotation",
578
+ "origin": [
579
+ 3.654326367530383,
580
+ 1.2763623993831426,
581
+ 1.036895751953125
582
+ ],
583
+ "axis": [
584
+ 0.9999076672079412,
585
+ 0.012216885227046503,
586
+ -0.005950191099683533
587
+ ],
588
+ "ref": [
589
+ 0,
590
+ 0,
591
+ 1
592
+ ],
593
+ "base": [
594
+ 3
595
+ ],
596
+ "rangeMin": -3.141592653589793,
597
+ "rangeMax": 3.141592653589793,
598
+ "motionStates": {}
599
+ }
600
+ ]
601
+ }
602
+ }
e898c76c1f_parts.json ADDED
The diff for this file is too large to render. See raw diff
 
e8e81396b6_artic.json ADDED
@@ -0,0 +1,1152 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "modelId": "scannetpp.e8e81396b6",
3
+ "data": {
4
+ "parts": [
5
+ {
6
+ "pid": 0,
7
+ "label": "unknown",
8
+ "group": "others"
9
+ },
10
+ {
11
+ "pid": 1,
12
+ "label": "door frame.1.1",
13
+ "group": "others"
14
+ },
15
+ {
16
+ "pid": 2,
17
+ "label": "hinge.1.1.2_2",
18
+ "group": "others"
19
+ },
20
+ {
21
+ "pid": 3,
22
+ "label": "hinge.1.1.2_3",
23
+ "group": "others"
24
+ },
25
+ {
26
+ "pid": 4,
27
+ "label": "door.1.1.2_1",
28
+ "group": "doors/windows"
29
+ },
30
+ {
31
+ "pid": 5,
32
+ "label": "handle base.1.1.2_1.3_1",
33
+ "group": "others"
34
+ },
35
+ {
36
+ "pid": 6,
37
+ "label": "handle.1.1.2_1.3_1.4_1",
38
+ "group": "handles movable"
39
+ },
40
+ {
41
+ "pid": 7,
42
+ "label": "window frame.2.1",
43
+ "group": "others"
44
+ },
45
+ {
46
+ "pid": 8,
47
+ "label": "window.2.1.2_2",
48
+ "group": "doors/windows"
49
+ },
50
+ {
51
+ "pid": 9,
52
+ "label": "window.2.1.2_1",
53
+ "group": "doors/windows"
54
+ },
55
+ {
56
+ "pid": 10,
57
+ "label": "hinge.2.1.2_3",
58
+ "group": "others"
59
+ },
60
+ {
61
+ "pid": 11,
62
+ "label": "hinge.2.1.2_4",
63
+ "group": "others"
64
+ },
65
+ {
66
+ "pid": 12,
67
+ "label": "hinge.2.1.2_5",
68
+ "group": "others"
69
+ },
70
+ {
71
+ "pid": 13,
72
+ "label": "hinge.2.1.2_6",
73
+ "group": "others"
74
+ },
75
+ {
76
+ "pid": 14,
77
+ "label": "hinge.2.1.2_7",
78
+ "group": "others"
79
+ },
80
+ {
81
+ "pid": 15,
82
+ "label": "handle base.2.1.2_1.3_1",
83
+ "group": "others"
84
+ },
85
+ {
86
+ "pid": 16,
87
+ "label": "handle.2.1.2_1.3_1.4_1",
88
+ "group": "handles movable"
89
+ },
90
+ {
91
+ "pid": 17,
92
+ "label": "window frame.3.1",
93
+ "group": "others"
94
+ },
95
+ {
96
+ "pid": 18,
97
+ "label": "window.3.1.2_2",
98
+ "group": "doors/windows"
99
+ },
100
+ {
101
+ "pid": 19,
102
+ "label": "window.3.1.2_1",
103
+ "group": "doors/windows"
104
+ },
105
+ {
106
+ "pid": 20,
107
+ "label": "hinge.3.1.2_3",
108
+ "group": "others"
109
+ },
110
+ {
111
+ "pid": 21,
112
+ "label": "hinge.3.1.2_4",
113
+ "group": "others"
114
+ },
115
+ {
116
+ "pid": 22,
117
+ "label": "hinge.3.1.2_5",
118
+ "group": "others"
119
+ },
120
+ {
121
+ "pid": 23,
122
+ "label": "hinge.3.1.2_6",
123
+ "group": "others"
124
+ },
125
+ {
126
+ "pid": 24,
127
+ "label": "hinge.3.1.2_7",
128
+ "group": "others"
129
+ },
130
+ {
131
+ "pid": 25,
132
+ "label": "handle base.3.1.2_1.3_1",
133
+ "group": "others"
134
+ },
135
+ {
136
+ "pid": 26,
137
+ "label": "handle.3.1.2_1.3_1.4_1",
138
+ "group": "handles movable"
139
+ },
140
+ {
141
+ "pid": 27,
142
+ "label": "cabinet.23.1",
143
+ "group": "others"
144
+ },
145
+ {
146
+ "pid": 28,
147
+ "label": "cabinet door.23.1.2_1",
148
+ "group": "cabinets"
149
+ },
150
+ {
151
+ "pid": 29,
152
+ "label": "cabinet door.23.1.2_2",
153
+ "group": "cabinets"
154
+ },
155
+ {
156
+ "pid": 30,
157
+ "label": "cabinet door.23.1.2_3",
158
+ "group": "cabinets"
159
+ },
160
+ {
161
+ "pid": 31,
162
+ "label": "cabinet door.23.1.2_4",
163
+ "group": "cabinets"
164
+ },
165
+ {
166
+ "pid": 32,
167
+ "label": "knob.23.1.2_1.3_1",
168
+ "group": "handles unlabeled"
169
+ },
170
+ {
171
+ "pid": 33,
172
+ "label": "knob.23.1.2_3.3_1",
173
+ "group": "handles unlabeled"
174
+ },
175
+ {
176
+ "pid": 34,
177
+ "label": "knob.23.1.2_2.3_1",
178
+ "group": "handles unlabeled"
179
+ },
180
+ {
181
+ "pid": 35,
182
+ "label": "knob.23.1.2_4.3_1",
183
+ "group": "handles unlabeled"
184
+ },
185
+ {
186
+ "pid": 36,
187
+ "label": "cabinet.24.1",
188
+ "group": "others"
189
+ },
190
+ {
191
+ "pid": 37,
192
+ "label": "cabinet door.24.1.2_1",
193
+ "group": "cabinets"
194
+ },
195
+ {
196
+ "pid": 38,
197
+ "label": "cabinet door.24.1.2_2",
198
+ "group": "cabinets"
199
+ },
200
+ {
201
+ "pid": 39,
202
+ "label": "knob.24.1.2_1.3_1",
203
+ "group": "handles unlabeled"
204
+ },
205
+ {
206
+ "pid": 40,
207
+ "label": "knob.24.1.2_2.3_1",
208
+ "group": "handles unlabeled"
209
+ },
210
+ {
211
+ "pid": 41,
212
+ "label": "heater.12.1",
213
+ "group": "others"
214
+ },
215
+ {
216
+ "pid": 42,
217
+ "label": "heater ventil.12.1.2_1",
218
+ "group": "controls"
219
+ },
220
+ {
221
+ "pid": 43,
222
+ "label": "heater.13.1",
223
+ "group": "others"
224
+ },
225
+ {
226
+ "pid": 44,
227
+ "label": "heater ventil.13.1.2_1",
228
+ "group": "controls"
229
+ },
230
+ {
231
+ "pid": 45,
232
+ "label": "box.16.1",
233
+ "group": "others"
234
+ },
235
+ {
236
+ "pid": 46,
237
+ "label": "box.15.1",
238
+ "group": "others"
239
+ },
240
+ {
241
+ "pid": 47,
242
+ "label": "box lid.16.1.2_1",
243
+ "group": "others"
244
+ },
245
+ {
246
+ "pid": 48,
247
+ "label": "box lid.15.1.2_1",
248
+ "group": "others"
249
+ },
250
+ {
251
+ "pid": 49,
252
+ "label": "switch base.17.1",
253
+ "group": "others"
254
+ },
255
+ {
256
+ "pid": 50,
257
+ "label": "switch.17.1.2_1",
258
+ "group": "switches"
259
+ },
260
+ {
261
+ "pid": 51,
262
+ "label": "switch.17.1.2_2",
263
+ "group": "switches"
264
+ },
265
+ {
266
+ "pid": 52,
267
+ "label": "switch base.20.1",
268
+ "group": "others"
269
+ },
270
+ {
271
+ "pid": 53,
272
+ "label": "switch.20.1.2_1",
273
+ "group": "switches"
274
+ },
275
+ {
276
+ "pid": 54,
277
+ "label": "switch.20.1.2_2",
278
+ "group": "switches"
279
+ },
280
+ {
281
+ "pid": 55,
282
+ "label": "switch base.19.1",
283
+ "group": "others"
284
+ },
285
+ {
286
+ "pid": 56,
287
+ "label": "switch.19.1.2_1",
288
+ "group": "switches"
289
+ },
290
+ {
291
+ "pid": 57,
292
+ "label": "cabinet.21.1",
293
+ "group": "others"
294
+ },
295
+ {
296
+ "pid": 58,
297
+ "label": "drawer.21.1.2_1",
298
+ "group": "cabinets"
299
+ },
300
+ {
301
+ "pid": 59,
302
+ "label": "drawer.21.1.2_2",
303
+ "group": "cabinets"
304
+ },
305
+ {
306
+ "pid": 60,
307
+ "label": "drawer.21.1.2_3",
308
+ "group": "cabinets"
309
+ },
310
+ {
311
+ "pid": 61,
312
+ "label": "cabinet.22.1",
313
+ "group": "others"
314
+ },
315
+ {
316
+ "pid": 62,
317
+ "label": "drawer.22.1.2_1",
318
+ "group": "cabinets"
319
+ },
320
+ {
321
+ "pid": 63,
322
+ "label": "drawer.22.1.2_2",
323
+ "group": "cabinets"
324
+ },
325
+ {
326
+ "pid": 64,
327
+ "label": "drawer.22.1.2_3",
328
+ "group": "cabinets"
329
+ },
330
+ {
331
+ "pid": 65,
332
+ "label": "cabinet",
333
+ "group": "others"
334
+ }
335
+ ],
336
+ "articulations": [
337
+ {
338
+ "pid": 4,
339
+ "type": "rotation",
340
+ "origin": [
341
+ 1.0044887927090491,
342
+ 0.3172477532111151,
343
+ 1.1505355834960938
344
+ ],
345
+ "axis": [
346
+ 0,
347
+ 0,
348
+ 1
349
+ ],
350
+ "ref": [
351
+ -0.1991722251156528,
352
+ 0.9799645017767122,
353
+ 0
354
+ ],
355
+ "base": [
356
+ 1
357
+ ],
358
+ "rangeMin": -1.605702911834783,
359
+ "rangeMax": 0,
360
+ "motionStates": {
361
+ "closed": {
362
+ "percent": 0,
363
+ "value": -92
364
+ }
365
+ },
366
+ "needsReview": false
367
+ },
368
+ {
369
+ "pid": 6,
370
+ "type": "rotation",
371
+ "origin": [
372
+ 0.9000678974999285,
373
+ 1.1152649690510086,
374
+ 1.1360596328741759
375
+ ],
376
+ "axis": [
377
+ 0.7574474577854294,
378
+ 0.386275552826068,
379
+ 0.5263692107098455
380
+ ],
381
+ "ref": [
382
+ -0.4307322360995597,
383
+ 0.901513574743415,
384
+ -0.041749435182079
385
+ ],
386
+ "base": [
387
+ 5
388
+ ],
389
+ "rangeMin": 0,
390
+ "rangeMax": 1.2042771838760875,
391
+ "motionStates": {
392
+ "closed": {
393
+ "percent": 0,
394
+ "value": 0
395
+ }
396
+ },
397
+ "needsReview": false
398
+ },
399
+ {
400
+ "pid": 8,
401
+ "type": "rotation",
402
+ "origin": [
403
+ 6.53721458394301,
404
+ 4.814837807024302,
405
+ 1.8384150862693787
406
+ ],
407
+ "axis": [
408
+ 0,
409
+ 0,
410
+ 1
411
+ ],
412
+ "ref": [
413
+ -0.20625952181966326,
414
+ 0.9784973222542429,
415
+ 0
416
+ ],
417
+ "base": [
418
+ 7
419
+ ],
420
+ "rangeMin": -1.7278759594743864,
421
+ "rangeMax": 0,
422
+ "motionStates": {
423
+ "closed": {
424
+ "percent": 0,
425
+ "value": -99
426
+ }
427
+ },
428
+ "needsReview": false
429
+ },
430
+ {
431
+ "pid": 9,
432
+ "type": "rotation",
433
+ "origin": [
434
+ 6.792392547634621,
435
+ 3.510804251066972,
436
+ 1.8420106172561646
437
+ ],
438
+ "axis": [
439
+ 0,
440
+ 0,
441
+ 1
442
+ ],
443
+ "ref": [
444
+ -0.1991722251156528,
445
+ 0.9799645017767122,
446
+ 0
447
+ ],
448
+ "base": [
449
+ 7
450
+ ],
451
+ "rangeMin": 0,
452
+ "rangeMax": 1.6580627893946132,
453
+ "motionStates": {
454
+ "closed": {
455
+ "percent": 0,
456
+ "value": 0
457
+ }
458
+ },
459
+ "needsReview": false
460
+ },
461
+ {
462
+ "pid": 16,
463
+ "type": "rotation",
464
+ "origin": [
465
+ 6.615995683407138,
466
+ 4.1360085155725805,
467
+ 1.5683302812576294
468
+ ],
469
+ "axis": [
470
+ 0.9639064064850072,
471
+ 0.2662413182380974,
472
+ 0
473
+ ],
474
+ "ref": [
475
+ 0,
476
+ 0,
477
+ 1
478
+ ],
479
+ "base": [
480
+ 15
481
+ ],
482
+ "rangeMin": -1.605702911834783,
483
+ "rangeMax": 0,
484
+ "motionStates": {
485
+ "closed": {
486
+ "percent": 0,
487
+ "value": -92
488
+ }
489
+ }
490
+ },
491
+ {
492
+ "pid": 18,
493
+ "type": "rotation",
494
+ "origin": [
495
+ 6.9456385606476765,
496
+ 2.8566472276661554,
497
+ 1.8395669758319855
498
+ ],
499
+ "axis": [
500
+ 0,
501
+ 0,
502
+ 1
503
+ ],
504
+ "ref": [
505
+ -0.20625952181966326,
506
+ 0.9784973222542429,
507
+ 0
508
+ ],
509
+ "base": [
510
+ 17
511
+ ],
512
+ "rangeMin": -1.53588974175501,
513
+ "rangeMax": 0,
514
+ "motionStates": {
515
+ "closed": {
516
+ "percent": 0,
517
+ "value": -88
518
+ }
519
+ },
520
+ "needsReview": false
521
+ },
522
+ {
523
+ "pid": 19,
524
+ "type": "rotation",
525
+ "origin": [
526
+ 7.2083078428633796,
527
+ 1.5503422659358561,
528
+ 1.8401558697223663
529
+ ],
530
+ "axis": [
531
+ 0,
532
+ 0,
533
+ 1
534
+ ],
535
+ "ref": [
536
+ -0.20625952181966326,
537
+ 0.9784973222542429,
538
+ 0
539
+ ],
540
+ "base": [
541
+ 17
542
+ ],
543
+ "rangeMin": 0,
544
+ "rangeMax": 1.4660765716752369,
545
+ "motionStates": {
546
+ "closed": {
547
+ "percent": 0,
548
+ "value": 0
549
+ }
550
+ },
551
+ "needsReview": false
552
+ },
553
+ {
554
+ "pid": 26,
555
+ "type": "rotation",
556
+ "origin": [
557
+ 6.984727416645261,
558
+ 2.16482829221106,
559
+ 1.5586105375289916
560
+ ],
561
+ "axis": [
562
+ -0.988505580130857,
563
+ -0.1511843842801169,
564
+ 0
565
+ ],
566
+ "ref": [
567
+ 0,
568
+ 0,
569
+ 1
570
+ ],
571
+ "base": [
572
+ 25
573
+ ],
574
+ "rangeMin": 0,
575
+ "rangeMax": 1.605702911834783,
576
+ "motionStates": {
577
+ "closed": {
578
+ "percent": 0,
579
+ "value": 0
580
+ }
581
+ }
582
+ },
583
+ {
584
+ "pid": 28,
585
+ "type": "rotation",
586
+ "origin": [
587
+ 1.1622381214754096,
588
+ 1.5959184564664335,
589
+ 0.6765792111712617
590
+ ],
591
+ "axis": [
592
+ 0.007195967443357167,
593
+ 0.0023915074337138432,
594
+ -0.9999712489590631
595
+ ],
596
+ "ref": [
597
+ -0.19331854522448524,
598
+ 0.9811360456492711,
599
+ 0
600
+ ],
601
+ "base": [
602
+ 27
603
+ ],
604
+ "rangeMin": 0,
605
+ "rangeMax": 1.5882496193148399,
606
+ "motionStates": {
607
+ "closed": {
608
+ "percent": 0,
609
+ "value": 0
610
+ }
611
+ }
612
+ },
613
+ {
614
+ "pid": 29,
615
+ "type": "rotation",
616
+ "origin": [
617
+ 1.0078640227908322,
618
+ 2.384215552340072,
619
+ 0.6584291385961675
620
+ ],
621
+ "axis": [
622
+ 0.003503674762993652,
623
+ 0.01824829723622762,
624
+ -0.9998273470510464
625
+ ],
626
+ "ref": [
627
+ 0.20341139473758954,
628
+ -0.9789430697686785,
629
+ -0.01715431848791084
630
+ ],
631
+ "base": [
632
+ 27
633
+ ],
634
+ "rangeMin": 0,
635
+ "rangeMax": 1.6755160819145563,
636
+ "motionStates": {
637
+ "closed": {
638
+ "percent": 0,
639
+ "value": 0
640
+ }
641
+ }
642
+ },
643
+ {
644
+ "pid": 30,
645
+ "type": "rotation",
646
+ "origin": [
647
+ 1.0087708831429483,
648
+ 2.4051503519793904,
649
+ 0.7087669039964674
650
+ ],
651
+ "axis": [
652
+ 0,
653
+ 0,
654
+ 1
655
+ ],
656
+ "ref": [
657
+ -0.19331854522448524,
658
+ 0.9811360456492711,
659
+ 0
660
+ ],
661
+ "base": [
662
+ 27
663
+ ],
664
+ "rangeMin": 0,
665
+ "rangeMax": 1.7104226669544427,
666
+ "motionStates": {
667
+ "closed": {
668
+ "percent": 0,
669
+ "value": 0
670
+ }
671
+ }
672
+ },
673
+ {
674
+ "pid": 31,
675
+ "type": "rotation",
676
+ "origin": [
677
+ 0.8483120386591845,
678
+ 3.176604118599767,
679
+ 0.6940883552634541
680
+ ],
681
+ "axis": [
682
+ 0.009650328202144487,
683
+ 0.010881084053071892,
684
+ -0.9998942309941692
685
+ ],
686
+ "ref": [
687
+ 0.20341139473758954,
688
+ -0.9789430697686785,
689
+ -0.01715431848791084
690
+ ],
691
+ "base": [
692
+ 27
693
+ ],
694
+ "rangeMin": -1.6580627893946132,
695
+ "rangeMax": 0,
696
+ "motionStates": {
697
+ "closed": {
698
+ "percent": 0,
699
+ "value": -95
700
+ }
701
+ }
702
+ },
703
+ {
704
+ "pid": 37,
705
+ "type": "rotation",
706
+ "origin": [
707
+ 4.72253663888666,
708
+ 5.080530644041965,
709
+ 0.7485528103778508
710
+ ],
711
+ "axis": [
712
+ -0.06774753940741587,
713
+ -0.019372799522124073,
714
+ -0.9975143936519995
715
+ ],
716
+ "ref": [
717
+ -0.19331854522448524,
718
+ 0.9811360456492711,
719
+ 0
720
+ ],
721
+ "base": [
722
+ 36
723
+ ],
724
+ "rangeMin": 0,
725
+ "rangeMax": 1.6231562043547265,
726
+ "motionStates": {
727
+ "closed": {
728
+ "percent": 0,
729
+ "value": 0
730
+ }
731
+ }
732
+ },
733
+ {
734
+ "pid": 38,
735
+ "type": "rotation",
736
+ "origin": [
737
+ 5.55103780099165,
738
+ 5.132295035040311,
739
+ 0.7118928730487823
740
+ ],
741
+ "axis": [
742
+ 0,
743
+ 0,
744
+ 1
745
+ ],
746
+ "ref": [
747
+ -0.19331854522448524,
748
+ 0.9811360456492711,
749
+ 0
750
+ ],
751
+ "base": [
752
+ 36
753
+ ],
754
+ "rangeMin": 0,
755
+ "rangeMax": 1.6580627893946132,
756
+ "motionStates": {
757
+ "closed": {
758
+ "percent": 0,
759
+ "value": 0
760
+ }
761
+ }
762
+ },
763
+ {
764
+ "pid": 42,
765
+ "type": "rotation",
766
+ "origin": [
767
+ 5.82185661865709,
768
+ 4.6870107921253545,
769
+ 0.7053730487823486
770
+ ],
771
+ "axis": [
772
+ -0.9197813043805015,
773
+ -0.3924313342638465,
774
+ 0
775
+ ],
776
+ "ref": [
777
+ 0.3924313342638466,
778
+ -0.9197813043805018,
779
+ 0
780
+ ],
781
+ "base": [
782
+ 41
783
+ ],
784
+ "rangeMin": -3.141592653589793,
785
+ "rangeMax": 3.141592653589793,
786
+ "motionStates": {},
787
+ "needsReview": false
788
+ },
789
+ {
790
+ "pid": 44,
791
+ "type": "rotation",
792
+ "origin": [
793
+ 6.475083389934344,
794
+ 1.40789721516342,
795
+ 0.7121257781982422
796
+ ],
797
+ "axis": [
798
+ -0.9344770614999026,
799
+ 0.3560233440808442,
800
+ 0
801
+ ],
802
+ "ref": [
803
+ -0.3560233440808442,
804
+ -0.9344770614999026,
805
+ 0
806
+ ],
807
+ "base": [
808
+ 43
809
+ ],
810
+ "rangeMin": -3.141592653589793,
811
+ "rangeMax": 3.141592653589793,
812
+ "motionStates": {},
813
+ "needsReview": false
814
+ },
815
+ {
816
+ "pid": 47,
817
+ "type": "rotation",
818
+ "origin": [
819
+ 0.7078973055640323,
820
+ 3.1492443362049234,
821
+ 0.9347118458747864
822
+ ],
823
+ "axis": [
824
+ 0.9844048913885264,
825
+ 0.17591762222797264,
826
+ 0
827
+ ],
828
+ "ref": [
829
+ 0,
830
+ 0,
831
+ 1
832
+ ],
833
+ "base": [
834
+ 45
835
+ ],
836
+ "rangeMin": -3.141592653589793,
837
+ "rangeMax": 3.141592653589793,
838
+ "motionStates": {},
839
+ "needsReview": false
840
+ },
841
+ {
842
+ "pid": 48,
843
+ "type": "rotation",
844
+ "origin": [
845
+ 0.5986123705167102,
846
+ 3.6148647772897613,
847
+ 0.915321142810291
848
+ ],
849
+ "axis": [
850
+ -0.9985851940148591,
851
+ -0.053173926976903825,
852
+ -0.00037918881994511346
853
+ ],
854
+ "ref": [
855
+ 0.053149408979894223,
856
+ -0.998296409496345,
857
+ 0.02407112610148438
858
+ ],
859
+ "base": [
860
+ 46
861
+ ],
862
+ "rangeMin": -3.141592653589793,
863
+ "rangeMax": 3.141592653589793,
864
+ "motionStates": {},
865
+ "needsReview": false
866
+ },
867
+ {
868
+ "pid": 50,
869
+ "type": "rotation",
870
+ "origin": [
871
+ 0.7651551673873755,
872
+ 1.3422798666148998,
873
+ 1.5325587486016798
874
+ ],
875
+ "axis": [
876
+ 0.260816221204718,
877
+ -0.9628324770627064,
878
+ 0.07020341779275606
879
+ ],
880
+ "ref": [
881
+ -0.963747627900345,
882
+ -0.25544547010864893,
883
+ 0.07705920786920506
884
+ ],
885
+ "base": [
886
+ 49
887
+ ],
888
+ "rangeMin": -0.22689280275926282,
889
+ "rangeMax": 0.20943951023931953,
890
+ "motionStates": {
891
+ "closed": {
892
+ "percent": 0,
893
+ "value": -13
894
+ }
895
+ }
896
+ },
897
+ {
898
+ "pid": 51,
899
+ "type": "rotation",
900
+ "origin": [
901
+ 0.7627075404403216,
902
+ 1.3477538009624879,
903
+ 1.4604029059410095
904
+ ],
905
+ "axis": [
906
+ 0.27028925565526196,
907
+ -0.9627791638155265,
908
+ 0
909
+ ],
910
+ "ref": [
911
+ 0,
912
+ 0,
913
+ 1
914
+ ],
915
+ "base": [
916
+ 49
917
+ ],
918
+ "rangeMin": -0.22689280275926282,
919
+ "rangeMax": 0.2617993877991494,
920
+ "motionStates": {
921
+ "closed": {
922
+ "percent": 0,
923
+ "value": -13
924
+ }
925
+ }
926
+ },
927
+ {
928
+ "pid": 53,
929
+ "type": "rotation",
930
+ "origin": [
931
+ 5.639577334252738,
932
+ 5.013887359923871,
933
+ 0.5496280491352081
934
+ ],
935
+ "axis": [
936
+ 0.14487198683189914,
937
+ -0.9894504067568916,
938
+ 0
939
+ ],
940
+ "ref": [
941
+ 0,
942
+ 0,
943
+ 1
944
+ ],
945
+ "base": [
946
+ 52
947
+ ],
948
+ "rangeMin": -0.24434609527920614,
949
+ "rangeMax": 0.17453292519943295,
950
+ "motionStates": {
951
+ "closed": {
952
+ "percent": 0,
953
+ "value": -14
954
+ }
955
+ }
956
+ },
957
+ {
958
+ "pid": 54,
959
+ "type": "rotation",
960
+ "origin": [
961
+ 5.642536260779721,
962
+ 4.992655204191744,
963
+ 0.5455955515795665
964
+ ],
965
+ "axis": [
966
+ -0.0700290711037318,
967
+ 0.9974979824680593,
968
+ 0.009680091554311912
969
+ ],
970
+ "ref": [
971
+ 0,
972
+ 0,
973
+ 1
974
+ ],
975
+ "base": [
976
+ 52
977
+ ],
978
+ "rangeMin": -0.2792526803190927,
979
+ "rangeMax": 0.22689280275926282,
980
+ "motionStates": {
981
+ "closed": {
982
+ "percent": 0,
983
+ "value": -16
984
+ }
985
+ }
986
+ },
987
+ {
988
+ "pid": 56,
989
+ "type": "rotation",
990
+ "origin": [
991
+ 5.664902426572977,
992
+ 4.869172506007287,
993
+ 0.5589621067047119
994
+ ],
995
+ "axis": [
996
+ 0.16394046075417176,
997
+ -0.9864702353987728,
998
+ 0
999
+ ],
1000
+ "ref": [
1001
+ 0,
1002
+ 0,
1003
+ 1
1004
+ ],
1005
+ "base": [
1006
+ 55
1007
+ ],
1008
+ "rangeMin": -0.20943951023931953,
1009
+ "rangeMax": 0.20943951023931953,
1010
+ "motionStates": {
1011
+ "closed": {
1012
+ "percent": 0,
1013
+ "value": -12
1014
+ }
1015
+ }
1016
+ },
1017
+ {
1018
+ "pid": 58,
1019
+ "type": "translation",
1020
+ "origin": [
1021
+ 4.350804466812293,
1022
+ 3.610824913703249,
1023
+ 0.5474914759397507
1024
+ ],
1025
+ "axis": [
1026
+ -0.22911383946251693,
1027
+ 0.9733996345626724,
1028
+ 0
1029
+ ],
1030
+ "base": [
1031
+ 57
1032
+ ],
1033
+ "rangeMin": 3.3410086121e-05,
1034
+ "rangeMax": 0.026033410086121,
1035
+ "motionStates": {
1036
+ "closed": {
1037
+ "percent": 0,
1038
+ "value": 3.3410086121e-05
1039
+ }
1040
+ }
1041
+ },
1042
+ {
1043
+ "pid": 59,
1044
+ "type": "translation",
1045
+ "origin": [
1046
+ 4.355977683194929,
1047
+ 3.6119333075622926,
1048
+ 0.4067496657371521
1049
+ ],
1050
+ "axis": [
1051
+ -0.23907257262688614,
1052
+ 0.9710017018613111,
1053
+ 0
1054
+ ],
1055
+ "base": [
1056
+ 57
1057
+ ],
1058
+ "rangeMin": 0.00040158804584035,
1059
+ "rangeMax": 0.0304015880458404,
1060
+ "motionStates": {
1061
+ "closed": {
1062
+ "percent": 0,
1063
+ "value": 0.00040158804584035
1064
+ }
1065
+ }
1066
+ },
1067
+ {
1068
+ "pid": 60,
1069
+ "type": "translation",
1070
+ "origin": [
1071
+ 4.330991220513377,
1072
+ 3.5988405439593345,
1073
+ 0.2284758144824674
1074
+ ],
1075
+ "axis": [
1076
+ 0.2483500620069311,
1077
+ -0.9678796791092406,
1078
+ 0.03913021171099212
1079
+ ],
1080
+ "base": [
1081
+ 57
1082
+ ],
1083
+ "rangeMin": 0,
1084
+ "rangeMax": 5.9215933546852284e-05,
1085
+ "motionStates": {},
1086
+ "needsReview": false
1087
+ },
1088
+ {
1089
+ "pid": 62,
1090
+ "type": "translation",
1091
+ "origin": [
1092
+ 2.893407218120127,
1093
+ 2.7656678339501513,
1094
+ 0.5468748360872269
1095
+ ],
1096
+ "axis": [
1097
+ -0.9041799247671498,
1098
+ -0.4271518039855052,
1099
+ 0
1100
+ ],
1101
+ "base": [
1102
+ 61
1103
+ ],
1104
+ "rangeMin": 0,
1105
+ "rangeMax": 0.4050766017982008,
1106
+ "motionStates": {},
1107
+ "needsReview": false
1108
+ },
1109
+ {
1110
+ "pid": 63,
1111
+ "type": "translation",
1112
+ "origin": [
1113
+ 2.902306413738301,
1114
+ 2.7490498043343834,
1115
+ 0.3893510401248932
1116
+ ],
1117
+ "axis": [
1118
+ -0.9015215798815448,
1119
+ -0.43273414587698467,
1120
+ 0
1121
+ ],
1122
+ "base": [
1123
+ 61
1124
+ ],
1125
+ "rangeMin": 0,
1126
+ "rangeMax": 0.40549986330791876,
1127
+ "motionStates": {},
1128
+ "needsReview": false
1129
+ },
1130
+ {
1131
+ "pid": 64,
1132
+ "type": "translation",
1133
+ "origin": [
1134
+ 2.898983282598698,
1135
+ 2.7578236968147296,
1136
+ 0.23961112648248672
1137
+ ],
1138
+ "axis": [
1139
+ -0.9010571732905022,
1140
+ -0.4337003233359759,
1141
+ 0
1142
+ ],
1143
+ "base": [
1144
+ 61
1145
+ ],
1146
+ "rangeMin": 0,
1147
+ "rangeMax": 0.4055716710632731,
1148
+ "motionStates": {}
1149
+ }
1150
+ ]
1151
+ }
1152
+ }
faec2f0468_artic.json ADDED
@@ -0,0 +1,1877 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "modelId": "scannetpp.faec2f0468",
3
+ "data": {
4
+ "parts": [
5
+ {
6
+ "pid": 0,
7
+ "label": "unknown",
8
+ "group": "others"
9
+ },
10
+ {
11
+ "pid": 1,
12
+ "label": "cabinet.1.1",
13
+ "group": "others"
14
+ },
15
+ {
16
+ "pid": 2,
17
+ "label": "door.1.1.2_1",
18
+ "group": "doors/windows"
19
+ },
20
+ {
21
+ "pid": 3,
22
+ "label": "door.1.1.2_2",
23
+ "group": "doors/windows"
24
+ },
25
+ {
26
+ "pid": 4,
27
+ "label": "door.1.1.2_3",
28
+ "group": "doors/windows"
29
+ },
30
+ {
31
+ "pid": 5,
32
+ "label": "door.1.1.2_4",
33
+ "group": "doors/windows"
34
+ },
35
+ {
36
+ "pid": 6,
37
+ "label": "door.1.1.2_5",
38
+ "group": "doors/windows"
39
+ },
40
+ {
41
+ "pid": 7,
42
+ "label": "door.1.1.2_6",
43
+ "group": "doors/windows"
44
+ },
45
+ {
46
+ "pid": 8,
47
+ "label": "door.1.1.2_7",
48
+ "group": "doors/windows"
49
+ },
50
+ {
51
+ "pid": 9,
52
+ "label": "knob.1.1.2_1.3_1",
53
+ "group": "others"
54
+ },
55
+ {
56
+ "pid": 10,
57
+ "label": "knob.1.1.2_2.3_1",
58
+ "group": "others"
59
+ },
60
+ {
61
+ "pid": 11,
62
+ "label": "knob.1.1.2_5.3_1",
63
+ "group": "others"
64
+ },
65
+ {
66
+ "pid": 12,
67
+ "label": "knob.1.1.2_7.3_1",
68
+ "group": "others"
69
+ },
70
+ {
71
+ "pid": 13,
72
+ "label": "knob.1.1.2_6.3_1",
73
+ "group": "others"
74
+ },
75
+ {
76
+ "pid": 14,
77
+ "label": "cabinet.2.1",
78
+ "group": "others"
79
+ },
80
+ {
81
+ "pid": 15,
82
+ "label": "door.2.1.2_1",
83
+ "group": "doors/windows"
84
+ },
85
+ {
86
+ "pid": 16,
87
+ "label": "door.2.1.2_2",
88
+ "group": "doors/windows"
89
+ },
90
+ {
91
+ "pid": 17,
92
+ "label": "drawer.2.1.2_3",
93
+ "group": "cabinets"
94
+ },
95
+ {
96
+ "pid": 18,
97
+ "label": "hinge.2.1.2_2.3_1",
98
+ "group": "others"
99
+ },
100
+ {
101
+ "pid": 19,
102
+ "label": "hinge.2.1.2_2.3_2",
103
+ "group": "others"
104
+ },
105
+ {
106
+ "pid": 20,
107
+ "label": "door.2.1.2_4",
108
+ "group": "doors/windows"
109
+ },
110
+ {
111
+ "pid": 21,
112
+ "label": "hinge.2.1.2_4.3_1",
113
+ "group": "others"
114
+ },
115
+ {
116
+ "pid": 22,
117
+ "label": "hinge.2.1.2_4.3_2",
118
+ "group": "others"
119
+ },
120
+ {
121
+ "pid": 23,
122
+ "label": "drawer.2.1.2_5",
123
+ "group": "cabinets"
124
+ },
125
+ {
126
+ "pid": 24,
127
+ "label": "drawer.2.1.2_6",
128
+ "group": "cabinets"
129
+ },
130
+ {
131
+ "pid": 25,
132
+ "label": "door.2.1.2_7",
133
+ "group": "doors/windows"
134
+ },
135
+ {
136
+ "pid": 26,
137
+ "label": "hinge.2.1.2_7.3_1",
138
+ "group": "others"
139
+ },
140
+ {
141
+ "pid": 27,
142
+ "label": "hinge.2.1.2_7.3_2",
143
+ "group": "others"
144
+ },
145
+ {
146
+ "pid": 28,
147
+ "label": "door.2.1.2_8",
148
+ "group": "doors/windows"
149
+ },
150
+ {
151
+ "pid": 29,
152
+ "label": "hinge.2.1.2_8.3_1",
153
+ "group": "others"
154
+ },
155
+ {
156
+ "pid": 30,
157
+ "label": "hinge.2.1.2_8.3_2",
158
+ "group": "others"
159
+ },
160
+ {
161
+ "pid": 31,
162
+ "label": "door.2.1.2_9",
163
+ "group": "doors/windows"
164
+ },
165
+ {
166
+ "pid": 32,
167
+ "label": "hinge.2.1.2_9.3_1",
168
+ "group": "others"
169
+ },
170
+ {
171
+ "pid": 33,
172
+ "label": "drawer.2.1.2_10",
173
+ "group": "cabinets"
174
+ },
175
+ {
176
+ "pid": 34,
177
+ "label": "knob.2.1.2_8.3_3",
178
+ "group": "others"
179
+ },
180
+ {
181
+ "pid": 35,
182
+ "label": "knob.2.1.2_9.3_2",
183
+ "group": "others"
184
+ },
185
+ {
186
+ "pid": 36,
187
+ "label": "knob.2.1.2_6.3_1",
188
+ "group": "others"
189
+ },
190
+ {
191
+ "pid": 37,
192
+ "label": "knob.2.1.2_7.3_3",
193
+ "group": "others"
194
+ },
195
+ {
196
+ "pid": 38,
197
+ "label": "knob.2.1.2_4.3_3",
198
+ "group": "others"
199
+ },
200
+ {
201
+ "pid": 39,
202
+ "label": "knob.2.1.2_5.3_1",
203
+ "group": "others"
204
+ },
205
+ {
206
+ "pid": 40,
207
+ "label": "knob.2.1.2_2.3_3",
208
+ "group": "others"
209
+ },
210
+ {
211
+ "pid": 41,
212
+ "label": "knob.2.1.2_1.3_1",
213
+ "group": "others"
214
+ },
215
+ {
216
+ "pid": 42,
217
+ "label": "toilet.3.1",
218
+ "group": "others"
219
+ },
220
+ {
221
+ "pid": 43,
222
+ "label": "toilet seat.3.1.2_1",
223
+ "group": "lids"
224
+ },
225
+ {
226
+ "pid": 44,
227
+ "label": "toilet lid.3.1.2_2",
228
+ "group": "others"
229
+ },
230
+ {
231
+ "pid": 45,
232
+ "label": "flush.3.1.2_3",
233
+ "group": "controls"
234
+ },
235
+ {
236
+ "pid": 46,
237
+ "label": "blinds rail.4.1",
238
+ "group": "others"
239
+ },
240
+ {
241
+ "pid": 47,
242
+ "label": "blinds.4.1.2_1",
243
+ "group": "curtains/blinds"
244
+ },
245
+ {
246
+ "pid": 48,
247
+ "label": "blinds control.4.1.2_2",
248
+ "group": "curtains/blinds"
249
+ },
250
+ {
251
+ "pid": 49,
252
+ "label": "desk.6.1",
253
+ "group": "others"
254
+ },
255
+ {
256
+ "pid": 50,
257
+ "label": "drawer.6.1.2_1",
258
+ "group": "cabinets"
259
+ },
260
+ {
261
+ "pid": 51,
262
+ "label": "drawer.6.1.2_2",
263
+ "group": "cabinets"
264
+ },
265
+ {
266
+ "pid": 52,
267
+ "label": "drawer.6.1.2_3",
268
+ "group": "cabinets"
269
+ },
270
+ {
271
+ "pid": 53,
272
+ "label": "handle.6.1.2_2.3_1",
273
+ "group": "others"
274
+ },
275
+ {
276
+ "pid": 54,
277
+ "label": "handle.6.1.2_3.3_1",
278
+ "group": "others"
279
+ },
280
+ {
281
+ "pid": 55,
282
+ "label": "handle.6.1.2_1.3_1",
283
+ "group": "others"
284
+ },
285
+ {
286
+ "pid": 56,
287
+ "label": "door.6.1.2_4",
288
+ "group": "doors/windows"
289
+ },
290
+ {
291
+ "pid": 57,
292
+ "label": "knob.6.1.2_4.3_1",
293
+ "group": "others"
294
+ },
295
+ {
296
+ "pid": 58,
297
+ "label": "blinds rail.7.1",
298
+ "group": "others"
299
+ },
300
+ {
301
+ "pid": 59,
302
+ "label": "blinds.7.1.2_1",
303
+ "group": "curtains/blinds"
304
+ },
305
+ {
306
+ "pid": 60,
307
+ "label": "blinds control.7.1.2_2",
308
+ "group": "curtains/blinds"
309
+ },
310
+ {
311
+ "pid": 61,
312
+ "label": "closet.8.1",
313
+ "group": "others"
314
+ },
315
+ {
316
+ "pid": 62,
317
+ "label": "door.8.1.2_1",
318
+ "group": "doors/windows"
319
+ },
320
+ {
321
+ "pid": 63,
322
+ "label": "door.8.1.2_2",
323
+ "group": "doors/windows"
324
+ },
325
+ {
326
+ "pid": 64,
327
+ "label": "door.8.1.2_3",
328
+ "group": "doors/windows"
329
+ },
330
+ {
331
+ "pid": 65,
332
+ "label": "knob.8.1.2_2.3_1",
333
+ "group": "others"
334
+ },
335
+ {
336
+ "pid": 66,
337
+ "label": "knob.8.1.2_3.3_1",
338
+ "group": "others"
339
+ },
340
+ {
341
+ "pid": 67,
342
+ "label": "light switch base.9.1",
343
+ "group": "others"
344
+ },
345
+ {
346
+ "pid": 68,
347
+ "label": "light switch.9.1.2_1",
348
+ "group": "switches"
349
+ },
350
+ {
351
+ "pid": 69,
352
+ "label": "light switch.9.1.2_2",
353
+ "group": "switches"
354
+ },
355
+ {
356
+ "pid": 70,
357
+ "label": "door frame.10.1",
358
+ "group": "others"
359
+ },
360
+ {
361
+ "pid": 71,
362
+ "label": "door.10.1.2_1",
363
+ "group": "doors/windows"
364
+ },
365
+ {
366
+ "pid": 72,
367
+ "label": "knob.10.1.2_1.3_1",
368
+ "group": "handles unlabeled"
369
+ },
370
+ {
371
+ "pid": 73,
372
+ "label": "light switch base.11.1",
373
+ "group": "others"
374
+ },
375
+ {
376
+ "pid": 74,
377
+ "label": "light switch.11.1.2_1",
378
+ "group": "switches"
379
+ },
380
+ {
381
+ "pid": 75,
382
+ "label": "door frame.12.1",
383
+ "group": "others"
384
+ },
385
+ {
386
+ "pid": 76,
387
+ "label": "door.12.1.2_1",
388
+ "group": "doors/windows"
389
+ },
390
+ {
391
+ "pid": 77,
392
+ "label": "hinge.12.1.2_2",
393
+ "group": "others"
394
+ },
395
+ {
396
+ "pid": 78,
397
+ "label": "hinge.12.1.2_3",
398
+ "group": "others"
399
+ },
400
+ {
401
+ "pid": 79,
402
+ "label": "hinge.12.1.2_4",
403
+ "group": "others"
404
+ },
405
+ {
406
+ "pid": 80,
407
+ "label": "knob.12.1.2_1.3_1.4_1",
408
+ "group": "others"
409
+ },
410
+ {
411
+ "pid": 81,
412
+ "label": "knob base.12.1.2_1.3_1",
413
+ "group": "others"
414
+ },
415
+ {
416
+ "pid": 82,
417
+ "label": "light switch base.14.1",
418
+ "group": "others"
419
+ },
420
+ {
421
+ "pid": 83,
422
+ "label": "light switch.14.1.2_1",
423
+ "group": "switches"
424
+ },
425
+ {
426
+ "pid": 84,
427
+ "label": "light switch.14.1.2_2",
428
+ "group": "switches"
429
+ },
430
+ {
431
+ "pid": 85,
432
+ "label": "light switch.14.1.2_3",
433
+ "group": "switches"
434
+ },
435
+ {
436
+ "pid": 86,
437
+ "label": "light switch base.20.1",
438
+ "group": "others"
439
+ },
440
+ {
441
+ "pid": 87,
442
+ "label": "light switch.20.1.2_1",
443
+ "group": "switches"
444
+ },
445
+ {
446
+ "pid": 88,
447
+ "label": "light switch.20.1.2_2",
448
+ "group": "switches"
449
+ },
450
+ {
451
+ "pid": 89,
452
+ "label": "closet.15.1",
453
+ "group": "others"
454
+ },
455
+ {
456
+ "pid": 90,
457
+ "label": "door.15.1.2_1",
458
+ "group": "doors/windows"
459
+ },
460
+ {
461
+ "pid": 91,
462
+ "label": "hinge.15.1.2_2",
463
+ "group": "others"
464
+ },
465
+ {
466
+ "pid": 92,
467
+ "label": "hinge.15.1.2_3",
468
+ "group": "others"
469
+ },
470
+ {
471
+ "pid": 93,
472
+ "label": "knob base.15.1.2_1.3_1",
473
+ "group": "others"
474
+ },
475
+ {
476
+ "pid": 94,
477
+ "label": "knob.15.1.2_1.3_1.4_1",
478
+ "group": "others"
479
+ },
480
+ {
481
+ "pid": 95,
482
+ "label": "door frame.17.1",
483
+ "group": "others"
484
+ },
485
+ {
486
+ "pid": 96,
487
+ "label": "door.17.1.2_1",
488
+ "group": "doors/windows"
489
+ },
490
+ {
491
+ "pid": 97,
492
+ "label": "knob.17.1.2_1.3_1.4_1",
493
+ "group": "handles movable"
494
+ },
495
+ {
496
+ "pid": 98,
497
+ "label": "knob base.17.1.2_1.3_1",
498
+ "group": "others"
499
+ },
500
+ {
501
+ "pid": 99,
502
+ "label": "light switch base.19.1",
503
+ "group": "others"
504
+ },
505
+ {
506
+ "pid": 100,
507
+ "label": "light switch.19.1.2_1",
508
+ "group": "switches"
509
+ }
510
+ ],
511
+ "articulations": [
512
+ {
513
+ "pid": 2,
514
+ "type": "rotation",
515
+ "origin": [
516
+ 0.44161279879003285,
517
+ 4.331475030831836,
518
+ 1.830664575099945
519
+ ],
520
+ "axis": [
521
+ 0,
522
+ 0,
523
+ 1
524
+ ],
525
+ "ref": [
526
+ 0.9820552206426963,
527
+ 0.1885935937629511,
528
+ 0
529
+ ],
530
+ "base": [
531
+ 1
532
+ ],
533
+ "rangeMin": -1.6406094968746698,
534
+ "rangeMax": 0,
535
+ "motionStates": {
536
+ "closed": {
537
+ "percent": 0,
538
+ "value": -94
539
+ }
540
+ }
541
+ },
542
+ {
543
+ "pid": 3,
544
+ "type": "rotation",
545
+ "origin": [
546
+ 1.4348642456434808,
547
+ 4.524264725221814,
548
+ 1.828208565711975
549
+ ],
550
+ "axis": [
551
+ 0,
552
+ 0,
553
+ 1
554
+ ],
555
+ "ref": [
556
+ 0.9820552206426963,
557
+ 0.1885935937629511,
558
+ 0
559
+ ],
560
+ "base": [
561
+ 1
562
+ ],
563
+ "rangeMin": 0,
564
+ "rangeMax": 1.5882496193148399,
565
+ "motionStates": {
566
+ "closed": {
567
+ "percent": 0,
568
+ "value": 0
569
+ }
570
+ }
571
+ },
572
+ {
573
+ "pid": 4,
574
+ "type": "rotation",
575
+ "origin": [
576
+ 0.0011208130362548585,
577
+ 4.249919514787048,
578
+ 1.0921363234519958
579
+ ],
580
+ "axis": [
581
+ 0,
582
+ 0,
583
+ 1
584
+ ],
585
+ "ref": [
586
+ 0.9814403862110662,
587
+ 0.1917674850277627,
588
+ 0
589
+ ],
590
+ "base": [
591
+ 1
592
+ ],
593
+ "rangeMin": -1.5533430342749532,
594
+ "rangeMax": 0,
595
+ "motionStates": {
596
+ "closed": {
597
+ "percent": 0,
598
+ "value": -89
599
+ }
600
+ },
601
+ "needsReview": false
602
+ },
603
+ {
604
+ "pid": 5,
605
+ "type": "rotation",
606
+ "origin": [
607
+ 0.000892544844333959,
608
+ 4.2522872283185675,
609
+ 2.1527541279792786
610
+ ],
611
+ "axis": [
612
+ 0,
613
+ 0,
614
+ 1
615
+ ],
616
+ "ref": [
617
+ 0.9814403862110662,
618
+ 0.1917674850277627,
619
+ 0
620
+ ],
621
+ "base": [
622
+ 1
623
+ ],
624
+ "rangeMin": -1.6231562043547265,
625
+ "rangeMax": 0,
626
+ "motionStates": {
627
+ "closed": {
628
+ "percent": 0,
629
+ "value": -93
630
+ }
631
+ }
632
+ },
633
+ {
634
+ "pid": 6,
635
+ "type": "rotation",
636
+ "origin": [
637
+ 0.9088604659658178,
638
+ 4.420042871252093,
639
+ 0.888579487800598
640
+ ],
641
+ "axis": [
642
+ 0.9828980377803553,
643
+ 0.18415061044570874,
644
+ 0
645
+ ],
646
+ "ref": [
647
+ 0,
648
+ 0,
649
+ 1
650
+ ],
651
+ "base": [
652
+ 1
653
+ ],
654
+ "rangeMin": 0,
655
+ "rangeMax": 1.4660765716752369,
656
+ "motionStates": {
657
+ "closed": {
658
+ "percent": 0,
659
+ "value": 0
660
+ }
661
+ }
662
+ },
663
+ {
664
+ "pid": 7,
665
+ "type": "rotation",
666
+ "origin": [
667
+ 0.412635219977877,
668
+ 4.334072519059602,
669
+ 0.5601035356521606
670
+ ],
671
+ "axis": [
672
+ 0,
673
+ 0,
674
+ 1
675
+ ],
676
+ "ref": [
677
+ 0.9814403862110662,
678
+ 0.1917674850277627,
679
+ 0
680
+ ],
681
+ "base": [
682
+ 1
683
+ ],
684
+ "rangeMin": -1.5707963267948966,
685
+ "rangeMax": 0,
686
+ "motionStates": {
687
+ "closed": {
688
+ "percent": 0,
689
+ "value": -90
690
+ }
691
+ }
692
+ },
693
+ {
694
+ "pid": 8,
695
+ "type": "rotation",
696
+ "origin": [
697
+ 1.4314746197216102,
698
+ 4.522859678228194,
699
+ 0.6440116167068481
700
+ ],
701
+ "axis": [
702
+ 0,
703
+ 0,
704
+ 1
705
+ ],
706
+ "ref": [
707
+ 0.9814403862110662,
708
+ 0.1917674850277627,
709
+ 0
710
+ ],
711
+ "base": [
712
+ 1
713
+ ],
714
+ "rangeMin": 0,
715
+ "rangeMax": 1.6231562043547265,
716
+ "motionStates": {
717
+ "closed": {
718
+ "percent": 0,
719
+ "value": 0
720
+ }
721
+ }
722
+ },
723
+ {
724
+ "pid": 15,
725
+ "type": "rotation",
726
+ "origin": [
727
+ 0.7459916633289893,
728
+ 3.314072533365174,
729
+ 0.5057899951934814
730
+ ],
731
+ "axis": [
732
+ 0,
733
+ 0,
734
+ 1
735
+ ],
736
+ "ref": [
737
+ 0.11531022904956115,
738
+ -0.993329527939514,
739
+ 0
740
+ ],
741
+ "base": [
742
+ 14
743
+ ],
744
+ "rangeMin": 0,
745
+ "rangeMax": 1.5882496193148399,
746
+ "motionStates": {
747
+ "closed": {
748
+ "percent": 0,
749
+ "value": 0
750
+ }
751
+ }
752
+ },
753
+ {
754
+ "pid": 16,
755
+ "type": "rotation",
756
+ "origin": [
757
+ 0.863829144490052,
758
+ 2.616827314975628,
759
+ 0.5042780637741089
760
+ ],
761
+ "axis": [
762
+ 0,
763
+ 0,
764
+ 1
765
+ ],
766
+ "ref": [
767
+ 0.11531022904956115,
768
+ -0.993329527939514,
769
+ 0
770
+ ],
771
+ "base": [
772
+ 14
773
+ ],
774
+ "rangeMin": -1.605702911834783,
775
+ "rangeMax": 0,
776
+ "motionStates": {
777
+ "closed": {
778
+ "percent": 0,
779
+ "value": -92
780
+ }
781
+ }
782
+ },
783
+ {
784
+ "pid": 17,
785
+ "type": "translation",
786
+ "origin": [
787
+ 0.8026687958129122,
788
+ 2.953476370685141,
789
+ 0.8211789131164551
790
+ ],
791
+ "axis": [
792
+ 0.9837716746047933,
793
+ 0.1794248930479846,
794
+ 0
795
+ ],
796
+ "base": [
797
+ 14
798
+ ],
799
+ "rangeMin": 0,
800
+ "rangeMax": 0.0281995915729778,
801
+ "motionStates": {}
802
+ },
803
+ {
804
+ "pid": 20,
805
+ "type": "rotation",
806
+ "origin": [
807
+ 0.8737433732486111,
808
+ 2.5702493208923847,
809
+ 0.501708984375
810
+ ],
811
+ "axis": [
812
+ 0,
813
+ 0,
814
+ 1
815
+ ],
816
+ "ref": [
817
+ 0.11531022904956115,
818
+ -0.993329527939514,
819
+ 0
820
+ ],
821
+ "base": [
822
+ 14
823
+ ],
824
+ "rangeMin": 0,
825
+ "rangeMax": 1.6231562043547265,
826
+ "motionStates": {
827
+ "closed": {
828
+ "percent": 0,
829
+ "value": 0
830
+ }
831
+ }
832
+ },
833
+ {
834
+ "pid": 23,
835
+ "type": "translation",
836
+ "origin": [
837
+ 0.9014770988774234,
838
+ 2.401249610750133,
839
+ 0.8162841796875
840
+ ],
841
+ "axis": [
842
+ 0.9857657718663924,
843
+ 0.1681244866658504,
844
+ 0
845
+ ],
846
+ "base": [
847
+ 14
848
+ ],
849
+ "rangeMin": 0.000116582425474106,
850
+ "rangeMax": 0.0441165824254741,
851
+ "motionStates": {
852
+ "closed": {
853
+ "percent": 0,
854
+ "value": 0.000116582425474106
855
+ }
856
+ }
857
+ },
858
+ {
859
+ "pid": 24,
860
+ "type": "translation",
861
+ "origin": [
862
+ 0.9729224011910369,
863
+ 1.9908442460937756,
864
+ 0.8085329532623291
865
+ ],
866
+ "axis": [
867
+ 0.9836484463901473,
868
+ 0.1800992335193289,
869
+ 0
870
+ ],
871
+ "base": [
872
+ 14
873
+ ],
874
+ "rangeMin": 2.897522688631e-05,
875
+ "rangeMax": 0.0860289752268863,
876
+ "motionStates": {
877
+ "closed": {
878
+ "percent": 0,
879
+ "value": 2.897522688631e-05
880
+ }
881
+ }
882
+ },
883
+ {
884
+ "pid": 25,
885
+ "type": "rotation",
886
+ "origin": [
887
+ 1.0091276354494405,
888
+ 1.7886990578385717,
889
+ 0.49298095703125
890
+ ],
891
+ "axis": [
892
+ 0,
893
+ 0,
894
+ 1
895
+ ],
896
+ "ref": [
897
+ 0.11531022904956115,
898
+ -0.993329527939514,
899
+ 0
900
+ ],
901
+ "base": [
902
+ 14
903
+ ],
904
+ "rangeMin": -1.5533430342749532,
905
+ "rangeMax": 0,
906
+ "motionStates": {
907
+ "closed": {
908
+ "percent": 0,
909
+ "value": -89
910
+ }
911
+ }
912
+ },
913
+ {
914
+ "pid": 28,
915
+ "type": "rotation",
916
+ "origin": [
917
+ 1.020022037466947,
918
+ 1.7834484372065484,
919
+ 0.5033630728721619
920
+ ],
921
+ "axis": [
922
+ 0,
923
+ 0,
924
+ 1
925
+ ],
926
+ "ref": [
927
+ 0.11531022904956115,
928
+ -0.993329527939514,
929
+ 0
930
+ ],
931
+ "base": [
932
+ 14
933
+ ],
934
+ "rangeMin": 0,
935
+ "rangeMax": 1.6231562043547265,
936
+ "motionStates": {
937
+ "closed": {
938
+ "percent": 0,
939
+ "value": 0
940
+ }
941
+ },
942
+ "needsReview": false
943
+ },
944
+ {
945
+ "pid": 31,
946
+ "type": "rotation",
947
+ "origin": [
948
+ 1.1294144053561013,
949
+ 1.0815742947956446,
950
+ 0.5024158954620361
951
+ ],
952
+ "axis": [
953
+ 0,
954
+ 0,
955
+ 1
956
+ ],
957
+ "ref": [
958
+ 0.11531022904956115,
959
+ -0.993329527939514,
960
+ 0
961
+ ],
962
+ "base": [
963
+ 14
964
+ ],
965
+ "rangeMin": -1.6580627893946132,
966
+ "rangeMax": 0,
967
+ "motionStates": {
968
+ "closed": {
969
+ "percent": 0,
970
+ "value": -95
971
+ }
972
+ }
973
+ },
974
+ {
975
+ "pid": 33,
976
+ "type": "translation",
977
+ "origin": [
978
+ 1.075302045424133,
979
+ 1.4297938122001805,
980
+ 0.8170579075813293
981
+ ],
982
+ "axis": [
983
+ 0.9840749700147736,
984
+ 0.17775391244758132,
985
+ 0
986
+ ],
987
+ "base": [
988
+ 14
989
+ ],
990
+ "rangeMin": 0.0002784310740196,
991
+ "rangeMax": 0.0592784310740196,
992
+ "motionStates": {
993
+ "closed": {
994
+ "percent": 0,
995
+ "value": 0.0002784310740196
996
+ }
997
+ }
998
+ },
999
+ {
1000
+ "pid": 43,
1001
+ "type": "rotation",
1002
+ "origin": [
1003
+ 1.0408468328878495,
1004
+ 0.4433023415027762,
1005
+ 0.513500129699707
1006
+ ],
1007
+ "axis": [
1008
+ -0.1204281473059332,
1009
+ 0.9927220463636639,
1010
+ 0
1011
+ ],
1012
+ "ref": [
1013
+ 0,
1014
+ 0,
1015
+ 1
1016
+ ],
1017
+ "base": [
1018
+ 42
1019
+ ],
1020
+ "rangeMin": -2.1642082724729685,
1021
+ "rangeMax": 0,
1022
+ "motionStates": {
1023
+ "closed": {
1024
+ "percent": 0,
1025
+ "value": -124
1026
+ }
1027
+ }
1028
+ },
1029
+ {
1030
+ "pid": 44,
1031
+ "type": "rotation",
1032
+ "origin": [
1033
+ 0.9916035394962948,
1034
+ 0.49840676336002154,
1035
+ 0.5249235191545766
1036
+ ],
1037
+ "axis": [
1038
+ 0.17239552096387797,
1039
+ -0.9834141400443226,
1040
+ 0.05635967984720036
1041
+ ],
1042
+ "ref": [
1043
+ 0.038958301834403734,
1044
+ 0.06397871842063141,
1045
+ 0.9971905406227202
1046
+ ],
1047
+ "base": [
1048
+ 42
1049
+ ],
1050
+ "rangeMin": -3.141592653589793,
1051
+ "rangeMax": 1.5184364492350666,
1052
+ "motionStates": {
1053
+ "closed": {
1054
+ "percent": 0,
1055
+ "value": -180
1056
+ }
1057
+ }
1058
+ },
1059
+ {
1060
+ "pid": 45,
1061
+ "type": "rotation",
1062
+ "origin": [
1063
+ 0.9703729164910764,
1064
+ 0.23206781008231944,
1065
+ 0.8166735406995154
1066
+ ],
1067
+ "axis": [
1068
+ 0.5749008172316417,
1069
+ 0.10146834168075808,
1070
+ -0.8119071535483277
1071
+ ],
1072
+ "ref": [
1073
+ 0.7392557070267955,
1074
+ -0.48971561754243387,
1075
+ 0.46225492270320406
1076
+ ],
1077
+ "base": [
1078
+ 42
1079
+ ],
1080
+ "rangeMin": 0,
1081
+ "rangeMax": 0.41887902047863906,
1082
+ "motionStates": {
1083
+ "closed": {
1084
+ "percent": 0,
1085
+ "value": 0
1086
+ }
1087
+ }
1088
+ },
1089
+ {
1090
+ "pid": 47,
1091
+ "type": "translation",
1092
+ "origin": [
1093
+ 1.7187955194254205,
1094
+ 0.14074709615307945,
1095
+ 1.7458437085151672
1096
+ ],
1097
+ "axis": [
1098
+ 0,
1099
+ 0,
1100
+ 1
1101
+ ],
1102
+ "base": [
1103
+ 46
1104
+ ],
1105
+ "rangeMin": 0.00037556076049805,
1106
+ "rangeMax": 0.128375560760498,
1107
+ "motionStates": {
1108
+ "closed": {
1109
+ "percent": 0,
1110
+ "value": 0.00037556076049805
1111
+ }
1112
+ }
1113
+ },
1114
+ {
1115
+ "pid": 48,
1116
+ "type": "rotation",
1117
+ "origin": [
1118
+ 2.102362070990049,
1119
+ 0.2712617870343017,
1120
+ 1.872401487501331
1121
+ ],
1122
+ "axis": [
1123
+ 0.009637206692779022,
1124
+ 0.005789337079708359,
1125
+ -0.99993680191467
1126
+ ],
1127
+ "ref": [
1128
+ 0.5048330028782028,
1129
+ 0.8631606813265865,
1130
+ 0.00986293145060728
1131
+ ],
1132
+ "base": [
1133
+ 46
1134
+ ],
1135
+ "rangeMin": -3.141592653589793,
1136
+ "rangeMax": 3.141592653589793,
1137
+ "motionStates": {}
1138
+ },
1139
+ {
1140
+ "pid": 50,
1141
+ "type": "translation",
1142
+ "origin": [
1143
+ 6.162058327691178,
1144
+ 2.761265026408297,
1145
+ 0.4321088343858719
1146
+ ],
1147
+ "axis": [
1148
+ -0.9867233187855795,
1149
+ -0.16241025880396828,
1150
+ 0
1151
+ ],
1152
+ "base": [
1153
+ 49
1154
+ ],
1155
+ "rangeMin": -0.0001904995204976,
1156
+ "rangeMax": 0.182809500479502,
1157
+ "motionStates": {
1158
+ "closed": {
1159
+ "percent": 0,
1160
+ "value": -0.0001904995204976
1161
+ }
1162
+ }
1163
+ },
1164
+ {
1165
+ "pid": 51,
1166
+ "type": "translation",
1167
+ "origin": [
1168
+ 6.163747623382068,
1169
+ 2.761865053790056,
1170
+ 0.6618246734142303
1171
+ ],
1172
+ "axis": [
1173
+ -0.9845309698996869,
1174
+ -0.1752106426801229,
1175
+ 0
1176
+ ],
1177
+ "base": [
1178
+ 49
1179
+ ],
1180
+ "rangeMin": -0.000124447946191,
1181
+ "rangeMax": 0.185875552053809,
1182
+ "motionStates": {
1183
+ "closed": {
1184
+ "percent": 0,
1185
+ "value": -0.000124447946191
1186
+ }
1187
+ }
1188
+ },
1189
+ {
1190
+ "pid": 52,
1191
+ "type": "translation",
1192
+ "origin": [
1193
+ 6.163456150290447,
1194
+ 2.762421490317741,
1195
+ 0.7953766584396362
1196
+ ],
1197
+ "axis": [
1198
+ -0.9858719250596747,
1199
+ -0.16750088769654678,
1200
+ 0
1201
+ ],
1202
+ "base": [
1203
+ 49
1204
+ ],
1205
+ "rangeMin": 0.000272111262011,
1206
+ "rangeMax": 0.254272111262011,
1207
+ "motionStates": {
1208
+ "closed": {
1209
+ "percent": 0,
1210
+ "value": 0.000272111262011
1211
+ }
1212
+ }
1213
+ },
1214
+ {
1215
+ "pid": 56,
1216
+ "type": "rotation",
1217
+ "origin": [
1218
+ 4.880089417780874,
1219
+ 3.4991412971198583,
1220
+ 0.5747170299291611
1221
+ ],
1222
+ "axis": [
1223
+ 0,
1224
+ 0,
1225
+ 1
1226
+ ],
1227
+ "ref": [
1228
+ -0.17601674413655374,
1229
+ 0.9843871727036914,
1230
+ 0
1231
+ ],
1232
+ "base": [
1233
+ 49
1234
+ ],
1235
+ "rangeMin": -2.91469985083053,
1236
+ "rangeMax": 0,
1237
+ "motionStates": {
1238
+ "closed": {
1239
+ "percent": 0,
1240
+ "value": -167
1241
+ }
1242
+ }
1243
+ },
1244
+ {
1245
+ "pid": 59,
1246
+ "type": "translation",
1247
+ "origin": [
1248
+ 6.754842549237994,
1249
+ 3.175817333891635,
1250
+ 1.626448631286621
1251
+ ],
1252
+ "axis": [
1253
+ 0,
1254
+ 0,
1255
+ 1
1256
+ ],
1257
+ "base": [
1258
+ 58
1259
+ ],
1260
+ "rangeMin": 0.00046382236480713,
1261
+ "rangeMax": 0.121463822364807,
1262
+ "motionStates": {
1263
+ "closed": {
1264
+ "percent": 0,
1265
+ "value": 0.00046382236480713
1266
+ }
1267
+ }
1268
+ },
1269
+ {
1270
+ "pid": 60,
1271
+ "type": "rotation",
1272
+ "origin": [
1273
+ 6.549919482028649,
1274
+ 4.04116777805375,
1275
+ 1.8249308466911316
1276
+ ],
1277
+ "axis": [
1278
+ 0,
1279
+ 0,
1280
+ 1
1281
+ ],
1282
+ "ref": [
1283
+ 0.16241025880396825,
1284
+ -0.9867233187855793,
1285
+ 0
1286
+ ],
1287
+ "base": [
1288
+ 58
1289
+ ],
1290
+ "rangeMin": -3.141592653589793,
1291
+ "rangeMax": 3.141592653589793,
1292
+ "motionStates": {}
1293
+ },
1294
+ {
1295
+ "pid": 62,
1296
+ "type": "rotation",
1297
+ "origin": [
1298
+ 3.2388144956052263,
1299
+ 1.9217193724738466,
1300
+ 1.158973121134205
1301
+ ],
1302
+ "axis": [
1303
+ -0.001696882145242585,
1304
+ 0.01783443822504138,
1305
+ 0.9998395138241848
1306
+ ],
1307
+ "ref": [
1308
+ -0.43976893106017756,
1309
+ 0.8979544945837498,
1310
+ -0.01676344031012959
1311
+ ],
1312
+ "base": [
1313
+ 61
1314
+ ],
1315
+ "rangeMin": -0.6981317007977318,
1316
+ "rangeMax": 1.5009831567151235,
1317
+ "motionStates": {
1318
+ "closed": {
1319
+ "percent": 0,
1320
+ "value": -40
1321
+ }
1322
+ }
1323
+ },
1324
+ {
1325
+ "pid": 63,
1326
+ "type": "rotation",
1327
+ "origin": [
1328
+ 3.3353622977255246,
1329
+ 1.2634187407021573,
1330
+ 1.1667336948460238
1331
+ ],
1332
+ "axis": [
1333
+ -0.01950700815647175,
1334
+ -0.04618712080458126,
1335
+ -0.9987423223757799
1336
+ ],
1337
+ "ref": [
1338
+ -0.08519728037825385,
1339
+ -0.9952222077910596,
1340
+ 0.04768836897649277
1341
+ ],
1342
+ "base": [
1343
+ 61
1344
+ ],
1345
+ "rangeMin": -0.593411945678072,
1346
+ "rangeMax": 1.6231562043547265,
1347
+ "motionStates": {
1348
+ "closed": {
1349
+ "percent": 0,
1350
+ "value": -34
1351
+ }
1352
+ }
1353
+ },
1354
+ {
1355
+ "pid": 64,
1356
+ "type": "rotation",
1357
+ "origin": [
1358
+ 3.4612898346285306,
1359
+ 0.7080306124721325,
1360
+ 1.1640359527690853
1361
+ ],
1362
+ "axis": [
1363
+ 0.002636438779896857,
1364
+ 0.030848063247445674,
1365
+ 0.999520608183964
1366
+ ],
1367
+ "ref": [
1368
+ -0.1699731291587036,
1369
+ 0.9849934266513899,
1370
+ -0.02995137421808507
1371
+ ],
1372
+ "base": [
1373
+ 61
1374
+ ],
1375
+ "rangeMin": -1.7278759594743864,
1376
+ "rangeMax": 0,
1377
+ "motionStates": {
1378
+ "closed": {
1379
+ "percent": 0,
1380
+ "value": -99
1381
+ }
1382
+ }
1383
+ },
1384
+ {
1385
+ "pid": 68,
1386
+ "type": "rotation",
1387
+ "origin": [
1388
+ 3.2313260950542277,
1389
+ 2.2230508538238976,
1390
+ 1.2552289601584248
1391
+ ],
1392
+ "axis": [
1393
+ -0.14826972604777544,
1394
+ 0.9870913132767521,
1395
+ -0.06055433585875252
1396
+ ],
1397
+ "ref": [
1398
+ 0.05592348333937181,
1399
+ 0.06950184774952027,
1400
+ 0.996013080823035
1401
+ ],
1402
+ "base": [
1403
+ 67
1404
+ ],
1405
+ "rangeMin": -0.2792526803190927,
1406
+ "rangeMax": 0.2792526803190927,
1407
+ "motionStates": {
1408
+ "closed": {
1409
+ "percent": 0,
1410
+ "value": -16
1411
+ }
1412
+ }
1413
+ },
1414
+ {
1415
+ "pid": 69,
1416
+ "type": "rotation",
1417
+ "origin": [
1418
+ 3.241048389289461,
1419
+ 2.1807238196087693,
1420
+ 1.257476270198822
1421
+ ],
1422
+ "axis": [
1423
+ -0.1335582549286378,
1424
+ 0.9910409641081528,
1425
+ 0
1426
+ ],
1427
+ "ref": [
1428
+ 0,
1429
+ 0,
1430
+ 1
1431
+ ],
1432
+ "base": [
1433
+ 67
1434
+ ],
1435
+ "rangeMin": -0.20943951023931953,
1436
+ "rangeMax": 0.2792526803190927,
1437
+ "motionStates": {
1438
+ "closed": {
1439
+ "percent": 0,
1440
+ "value": -12
1441
+ }
1442
+ }
1443
+ },
1444
+ {
1445
+ "pid": 71,
1446
+ "type": "rotation",
1447
+ "origin": [
1448
+ 3.0973662830356803,
1449
+ 3.7523221625750987,
1450
+ 1.17578125
1451
+ ],
1452
+ "axis": [
1453
+ 0,
1454
+ 0,
1455
+ 1
1456
+ ],
1457
+ "ref": [
1458
+ -0.17826217997216107,
1459
+ 0.9839830258655751,
1460
+ 0
1461
+ ],
1462
+ "base": [
1463
+ 70
1464
+ ],
1465
+ "rangeMin": -0.13962634015954636,
1466
+ "rangeMax": 1.7104226669544427,
1467
+ "motionStates": {
1468
+ "closed": {
1469
+ "percent": 0,
1470
+ "value": -8
1471
+ }
1472
+ }
1473
+ },
1474
+ {
1475
+ "pid": 72,
1476
+ "type": "rotation",
1477
+ "origin": [
1478
+ 3.270832429101236,
1479
+ 3.0782493121041976,
1480
+ 1.066355586051941
1481
+ ],
1482
+ "axis": [
1483
+ 0.9752587992779562,
1484
+ 0.22106622182260036,
1485
+ 0
1486
+ ],
1487
+ "ref": [
1488
+ 0,
1489
+ 0,
1490
+ 1
1491
+ ],
1492
+ "base": [
1493
+ 71
1494
+ ],
1495
+ "rangeMin": -3.141592653589793,
1496
+ "rangeMax": 3.141592653589793,
1497
+ "motionStates": {}
1498
+ },
1499
+ {
1500
+ "pid": 74,
1501
+ "type": "rotation",
1502
+ "origin": [
1503
+ 4.088217796876954,
1504
+ 3.925723536961506,
1505
+ 1.2557353973388672
1506
+ ],
1507
+ "axis": [
1508
+ 0.9906229745201646,
1509
+ 0.13662401821356826,
1510
+ 0
1511
+ ],
1512
+ "ref": [
1513
+ 0,
1514
+ 0,
1515
+ 1
1516
+ ],
1517
+ "base": [
1518
+ 73
1519
+ ],
1520
+ "rangeMin": -0.22689280275926282,
1521
+ "rangeMax": 0.2617993877991494,
1522
+ "motionStates": {
1523
+ "closed": {
1524
+ "percent": 0,
1525
+ "value": -13
1526
+ }
1527
+ }
1528
+ },
1529
+ {
1530
+ "pid": 76,
1531
+ "type": "rotation",
1532
+ "origin": [
1533
+ 1.803640171571653,
1534
+ 3.556442295900707,
1535
+ 0.8229780281782146
1536
+ ],
1537
+ "axis": [
1538
+ 0,
1539
+ 0,
1540
+ 1
1541
+ ],
1542
+ "ref": [
1543
+ 0.6280618078819257,
1544
+ 0.7781634567878956,
1545
+ 0
1546
+ ],
1547
+ "base": [
1548
+ 75
1549
+ ],
1550
+ "rangeMin": -1.5707963267948966,
1551
+ "rangeMax": 0,
1552
+ "motionStates": {
1553
+ "closed": {
1554
+ "percent": 0,
1555
+ "value": -90
1556
+ }
1557
+ }
1558
+ },
1559
+ {
1560
+ "pid": 80,
1561
+ "type": "rotation",
1562
+ "origin": [
1563
+ 1.894555404345503,
1564
+ 2.7638530136964157,
1565
+ 1.064023733139038
1566
+ ],
1567
+ "axis": [
1568
+ 0.9998063243193448,
1569
+ -0.01968029092877243,
1570
+ 0
1571
+ ],
1572
+ "ref": [
1573
+ 0,
1574
+ 0,
1575
+ 1
1576
+ ],
1577
+ "base": [
1578
+ 81
1579
+ ],
1580
+ "rangeMin": -3.141592653589793,
1581
+ "rangeMax": 3.141592653589793,
1582
+ "motionStates": {}
1583
+ },
1584
+ {
1585
+ "pid": 83,
1586
+ "type": "rotation",
1587
+ "origin": [
1588
+ 0.8613324736723307,
1589
+ 3.354272859197798,
1590
+ 1.2005951191429456
1591
+ ],
1592
+ "axis": [
1593
+ -0.9571563201497201,
1594
+ -0.2755430231408086,
1595
+ -0.08903831307852994
1596
+ ],
1597
+ "ref": [
1598
+ -0.07016024288474604,
1599
+ -0.07764703388849224,
1600
+ 0.9945091645865677
1601
+ ],
1602
+ "base": [
1603
+ 82
1604
+ ],
1605
+ "rangeMin": -0.3665191429188092,
1606
+ "rangeMax": 0.3141592653589793,
1607
+ "motionStates": {
1608
+ "closed": {
1609
+ "percent": 0,
1610
+ "value": -21
1611
+ }
1612
+ }
1613
+ },
1614
+ {
1615
+ "pid": 84,
1616
+ "type": "rotation",
1617
+ "origin": [
1618
+ 0.9010592278544856,
1619
+ 3.361385964480791,
1620
+ 1.2016175162974327
1621
+ ],
1622
+ "axis": [
1623
+ 0.9587016746215883,
1624
+ 0.28379376900090203,
1625
+ -0.018766879176484542
1626
+ ],
1627
+ "ref": [
1628
+ -0.09455495883462996,
1629
+ 0.2558001473274529,
1630
+ -0.9620944051323834
1631
+ ],
1632
+ "base": [
1633
+ 82
1634
+ ],
1635
+ "rangeMin": -0.2792526803190927,
1636
+ "rangeMax": 0.2617993877991494,
1637
+ "motionStates": {
1638
+ "closed": {
1639
+ "percent": 0,
1640
+ "value": -16
1641
+ }
1642
+ }
1643
+ },
1644
+ {
1645
+ "pid": 85,
1646
+ "type": "rotation",
1647
+ "origin": [
1648
+ 0.8139125778930429,
1649
+ 3.3472977948213924,
1650
+ 1.196180624183455
1651
+ ],
1652
+ "axis": [
1653
+ -0.9471748995058606,
1654
+ -0.23488950722505916,
1655
+ -0.21837268405556512
1656
+ ],
1657
+ "ref": [
1658
+ -0.2291384193852068,
1659
+ 0.9720214593643258,
1660
+ -0.051670758625118
1661
+ ],
1662
+ "base": [
1663
+ 82
1664
+ ],
1665
+ "rangeMin": -0.2617993877991494,
1666
+ "rangeMax": 0.17453292519943295,
1667
+ "motionStates": {
1668
+ "closed": {
1669
+ "percent": 0,
1670
+ "value": -15
1671
+ }
1672
+ }
1673
+ },
1674
+ {
1675
+ "pid": 87,
1676
+ "type": "rotation",
1677
+ "origin": [
1678
+ 0.8285210614870788,
1679
+ 3.47774048966158,
1680
+ 1.259443722228221
1681
+ ],
1682
+ "axis": [
1683
+ -0.9116922985931136,
1684
+ -0.3374184433927169,
1685
+ -0.23444817496504608
1686
+ ],
1687
+ "ref": [
1688
+ -0.2161413549256769,
1689
+ 0.8791322054445387,
1690
+ -0.42474637142783683
1691
+ ],
1692
+ "base": [
1693
+ 86
1694
+ ],
1695
+ "rangeMin": -0.3141592653589793,
1696
+ "rangeMax": 0.3141592653589793,
1697
+ "motionStates": {
1698
+ "closed": {
1699
+ "percent": 0,
1700
+ "value": -18
1701
+ }
1702
+ },
1703
+ "needsReview": false
1704
+ },
1705
+ {
1706
+ "pid": 88,
1707
+ "type": "rotation",
1708
+ "origin": [
1709
+ 0.8749217252040631,
1710
+ 3.4867783415603517,
1711
+ 1.2648387966467987
1712
+ ],
1713
+ "axis": [
1714
+ -0.8574588416203547,
1715
+ -0.48451459463726115,
1716
+ 0.17323377993500513
1717
+ ],
1718
+ "ref": [
1719
+ -0.3687407285978289,
1720
+ 0.8134173493566624,
1721
+ 0.4498694153181825
1722
+ ],
1723
+ "base": [
1724
+ 86
1725
+ ],
1726
+ "rangeMin": -0.33161255787892263,
1727
+ "rangeMax": 0.33161255787892263,
1728
+ "motionStates": {
1729
+ "closed": {
1730
+ "percent": 0,
1731
+ "value": -19
1732
+ }
1733
+ }
1734
+ },
1735
+ {
1736
+ "pid": 90,
1737
+ "type": "rotation",
1738
+ "origin": [
1739
+ 2.6111809208895167,
1740
+ 5.61328747252403,
1741
+ 1.3858653008937836
1742
+ ],
1743
+ "axis": [
1744
+ 0,
1745
+ 0,
1746
+ 1
1747
+ ],
1748
+ "ref": [
1749
+ 0.17482191866766178,
1750
+ -0.984600069446147,
1751
+ 0
1752
+ ],
1753
+ "base": [
1754
+ 89
1755
+ ],
1756
+ "rangeMin": 0,
1757
+ "rangeMax": 1.7627825445142729,
1758
+ "motionStates": {
1759
+ "closed": {
1760
+ "percent": 0,
1761
+ "value": 0
1762
+ }
1763
+ }
1764
+ },
1765
+ {
1766
+ "pid": 94,
1767
+ "type": "rotation",
1768
+ "origin": [
1769
+ 2.7447457762390957,
1770
+ 5.064305019177981,
1771
+ 1.3852247595787048
1772
+ ],
1773
+ "axis": [
1774
+ 0.9922175373059826,
1775
+ 0.12451649955909849,
1776
+ 0
1777
+ ],
1778
+ "ref": [
1779
+ 0,
1780
+ 0,
1781
+ 1
1782
+ ],
1783
+ "base": [
1784
+ 93
1785
+ ],
1786
+ "rangeMin": -3.141592653589793,
1787
+ "rangeMax": 3.141592653589793,
1788
+ "motionStates": {}
1789
+ },
1790
+ {
1791
+ "pid": 96,
1792
+ "type": "rotation",
1793
+ "origin": [
1794
+ 2.492227036774839,
1795
+ 6.842063385573633,
1796
+ 1.1772149801254272
1797
+ ],
1798
+ "axis": [
1799
+ 0,
1800
+ 0,
1801
+ 1
1802
+ ],
1803
+ "ref": [
1804
+ 0.9814403862110662,
1805
+ 0.1917674850277627,
1806
+ 0
1807
+ ],
1808
+ "base": [
1809
+ 95
1810
+ ],
1811
+ "rangeMin": 0,
1812
+ "rangeMax": 2.2165681500327987,
1813
+ "motionStates": {
1814
+ "closed": {
1815
+ "percent": 0,
1816
+ "value": 0
1817
+ }
1818
+ }
1819
+ },
1820
+ {
1821
+ "pid": 97,
1822
+ "type": "rotation",
1823
+ "origin": [
1824
+ 3.1771790929020236,
1825
+ 6.921190898807536,
1826
+ 1.0685670971870422
1827
+ ],
1828
+ "axis": [
1829
+ 0.7320493622561507,
1830
+ -0.681251591719508,
1831
+ 0
1832
+ ],
1833
+ "ref": [
1834
+ 0,
1835
+ 0,
1836
+ 1
1837
+ ],
1838
+ "base": [
1839
+ 98
1840
+ ],
1841
+ "rangeMin": -3.141592653589793,
1842
+ "rangeMax": 3.141592653589793,
1843
+ "motionStates": {}
1844
+ },
1845
+ {
1846
+ "pid": 100,
1847
+ "type": "rotation",
1848
+ "origin": [
1849
+ 1.1713781282115314,
1850
+ 0.9294538241651145,
1851
+ 1.1911643147468567
1852
+ ],
1853
+ "axis": [
1854
+ 0.9225837380336211,
1855
+ 0.3857968977530935,
1856
+ 0
1857
+ ],
1858
+ "ref": [
1859
+ 0,
1860
+ 0,
1861
+ 1
1862
+ ],
1863
+ "base": [
1864
+ 99
1865
+ ],
1866
+ "rangeMin": -0.2792526803190927,
1867
+ "rangeMax": 0.3141592653589793,
1868
+ "motionStates": {
1869
+ "closed": {
1870
+ "percent": 0,
1871
+ "value": -16
1872
+ }
1873
+ }
1874
+ }
1875
+ ]
1876
+ }
1877
+ }
faec2f0468_parts.json ADDED
The diff for this file is too large to render. See raw diff