GAPartNet URDF Textured Preview

本页使用原始 GAPartNet/PartNetMobility URDF 运动树导出：parent link -> joint origin -> joint motion -> child link -> visual origin -> mesh。预览 GLB 内嵌原始 OBJ/MTL 纹理，不修改 joint range。

large_furniture/40147

9/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "large_furniture/40147/40147.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/40147/mobility.urdf",
  "joint": {
    "name": "joint_0",
    "type": "revolute",
    "lower": 0.0,
    "upper": 1.5707963267948966,
    "axis": [
      0.0,
      1.0,
      0.0
    ]
  }
}

large_furniture/40417

9/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "large_furniture/40417/40417.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/40417/mobility.urdf",
  "joint": {
    "name": "joint_0",
    "type": "revolute",
    "lower": -0.0,
    "upper": 1.5707963267948966,
    "axis": [
      0.0,
      -1.0,
      0.0
    ]
  }
}

architectural_fixtures/8867

9/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "architectural_fixtures/8867/8867.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/8867/mobility.urdf",
  "joint": {
    "name": "joint_1",
    "type": "revolute",
    "lower": -0.8168140899333464,
    "upper": 1.5079644737231006,
    "axis": [
      0.0,
      1.0,
      0.0
    ]
  }
}

architectural_fixtures/8897

0/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "architectural_fixtures/8897/8897.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/8897/mobility.urdf",
  "joint": {
    "name": "joint_1",
    "type": "revolute",
    "lower": 0.0,
    "upper": 1.5707963267948966,
    "axis": [
      0.0,
      -1.0,
      0.0
    ]
  }
}

architectural_fixtures/8903

0/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "architectural_fixtures/8903/8903.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/8903/mobility.urdf",
  "joint": {
    "name": "joint_1",
    "type": "revolute",
    "lower": 0.0,
    "upper": 1.5707963267948966,
    "axis": [
      0.0,
      0.0,
      1.0
    ]
  }
}

electronics/100279

9/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "electronics/100279/100279.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/100279/mobility.urdf",
  "joint": {
    "name": "joint_0",
    "type": "prismatic",
    "lower": 0.0,
    "upper": 0.001,
    "axis": [
      0.0,
      -0.9977383147025952,
      -0.06721796913344791
    ]
  }
}

electronics/103811

9/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "electronics/103811/103811.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/103811/mobility.urdf",
  "joint": {
    "name": "joint_0",
    "type": "prismatic",
    "lower": 0.0,
    "upper": 0.002,
    "axis": [
      0.00010148950023771879,
      -0.8660803411362575,
      -0.4999048233385882
    ]
  }
}

electronics/103859

0/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "electronics/103859/103859.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/103859/mobility.urdf",
  "joint": {
    "name": "joint_0",
    "type": "prismatic",
    "lower": 0.0,
    "upper": 0.002,
    "axis": [
      0.0,
      -1.0,
      0.0
    ]
  }
}

household_fixtures/101319

0/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "household_fixtures/101319/101319.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/101319/mobility.urdf",
  "joint": {
    "name": "joint_0",
    "type": "revolute",
    "lower": -0.0,
    "upper": 0.433539786195391,
    "axis": [
      -0.4224114052150631,
      -0.03438350032237276,
      0.9057518311600686
    ]
  }
}

household_fixtures/101320

0/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "household_fixtures/101320/101320.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/101320/mobility.urdf",
  "joint": {
    "name": "joint_0",
    "type": "revolute",
    "lower": -0.0,
    "upper": 1.7453292519943295,
    "axis": [
      -0.9999959392889939,
      0.002349866335758954,
      0.0016123069581063507
    ]
  }
}

household_fixtures/101323

0/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "household_fixtures/101323/101323.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/101323/mobility.urdf",
  "joint": {
    "name": "joint_0",
    "type": "revolute",
    "lower": -0.0,
    "upper": 0.5717698629533422,
    "axis": [
      -0.9171397595052093,
      -0.020445608661300903,
      0.3980410011810286
    ]
  }
}

household_items/100015

9/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "household_items/100015/100015.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/100015/mobility.urdf",
  "joint": {
    "name": "joint_0",
    "type": "prismatic",
    "lower": 0.0,
    "upper": 0.06,
    "axis": [
      0.0,
      1.0,
      0.0
    ]
  }
}

household_items/100017

9/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "household_items/100017/100017.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/100017/mobility.urdf",
  "joint": {
    "name": "joint_0",
    "type": "prismatic",
    "lower": 0.0,
    "upper": 0.03,
    "axis": [
      0.0,
      1.0,
      0.0
    ]
  }
}

household_items/100021

9/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "household_items/100021/100021.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/100021/mobility.urdf",
  "joint": {
    "name": "joint_0",
    "type": "prismatic",
    "lower": 0.0,
    "upper": 0.05,
    "axis": [
      0.0,
      1.0,
      0.0
    ]
  }
}

large_furniture/35059

9/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "large_furniture/35059/35059.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/35059/mobility.urdf",
  "joint": {
    "name": "joint_0",
    "type": "revolute",
    "lower": -0.0,
    "upper": 2.8274333882308134,
    "axis": [
      0.0,
      -1.0,
      0.0
    ]
  }
}

large_furniture/38516

9/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "large_furniture/38516/38516.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/38516/mobility.urdf",
  "joint": {
    "name": "joint_0",
    "type": "revolute",
    "lower": 0.0,
    "upper": 1.7453292519943295,
    "axis": [
      0.0,
      -1.0,
      0.0
    ]
  }
}

large_furniture/40453

9/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "large_furniture/40453/40453.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/40453/mobility.urdf",
  "joint": {
    "name": "joint_0",
    "type": "prismatic",
    "lower": 0.0,
    "upper": 0.5,
    "axis": [
      0.0,
      0.0,
      1.0
    ]
  }
}

major_appliances/100282

0/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "major_appliances/100282/100282.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/100282/mobility.urdf",
  "joint": {
    "name": "joint_0",
    "type": "revolute",
    "lower": -0.0,
    "upper": 1.6713272917097697,
    "axis": [
      0.0,
      -1.0,
      0.0
    ]
  }
}

major_appliances/100283

0/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "major_appliances/100283/100283.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/100283/mobility.urdf",
  "joint": {
    "name": "joint_0",
    "type": "revolute",
    "lower": -0.0,
    "upper": 1.5707963267948966,
    "axis": [
      0.0,
      -1.0,
      0.0
    ]
  }
}

major_appliances/10068

9/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "major_appliances/10068/10068.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/10068/mobility.urdf",
  "joint": {
    "name": "joint_1",
    "type": "revolute",
    "lower": -0.0,
    "upper": 3.141592653589793,
    "axis": [
      0.0,
      1.0,
      0.0
    ]
  }
}

small_appliances/102145

0/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "small_appliances/102145/102145.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/102145/mobility.urdf",
  "joint": {
    "name": "joint_0",
    "type": "revolute",
    "lower": -0.6094689747964199,
    "upper": 0.28274333882308117,
    "axis": [
      0.0,
      0.0,
      -1.0
    ]
  }
}

small_appliances/102901

9/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "small_appliances/102901/102901.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/102901/mobility.urdf",
  "joint": {
    "name": "joint_0",
    "type": "prismatic",
    "lower": 0.0,
    "upper": 0.007,
    "axis": [
      0.0,
      0.0,
      -1.0
    ]
  }
}

small_appliances/103002

9/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "small_appliances/103002/103002.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/103002/mobility.urdf",
  "joint": {
    "name": "joint_0",
    "type": "prismatic",
    "lower": 0.0,
    "upper": 0.025,
    "axis": [
      0.0,
      1.0,
      0.0
    ]
  }
}

small_furniture/19179

0/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "small_furniture/19179/19179.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/19179/mobility.urdf",
  "joint": {
    "name": "joint_0",
    "type": "prismatic",
    "lower": 0.0,
    "upper": 1.0,
    "axis": [
      0.0,
      0.0,
      1.0
    ]
  }
}

small_furniture/19825

9/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "small_furniture/19825/19825.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/19825/mobility.urdf",
  "joint": {
    "name": "joint_0",
    "type": "revolute",
    "lower": 0.0,
    "upper": 1.5707963267948966,
    "axis": [
      0.0,
      1.0,
      0.0
    ]
  }
}

small_furniture/19836

9/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "small_furniture/19836/19836.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/19836/mobility.urdf",
  "joint": {
    "name": "joint_0",
    "type": "prismatic",
    "lower": -0.1359999999999999,
    "upper": 0.5,
    "axis": [
      0.0,
      0.0,
      1.0
    ]
  }
}

storage/100129

9/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "storage/100129/100129.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/100129/mobility.urdf",
  "joint": {
    "name": "joint_0",
    "type": "revolute",
    "lower": -2.2689280275926285,
    "upper": 0.5235987755982988,
    "axis": [
      -0.644123314889653,
      0.0,
      0.0
    ]
  }
}

storage/100141

9/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "storage/100141/100141.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/100141/mobility.urdf",
  "joint": {
    "name": "joint_0",
    "type": "revolute",
    "lower": -1.5707963267948966,
    "upper": 1.3962634015954636,
    "axis": [
      -1.0,
      0.0,
      0.0
    ]
  }
}

storage/100162

0/9 textured frames 
{
  "source": "GAPartNet",
  "sdf": "storage/100162/100162.sdf",
  "urdf": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/100162/mobility.urdf",
  "joint": {
    "name": "joint_0",
    "type": "revolute",
    "lower": -2.356194490192345,
    "upper": 2.356194490192345,
    "axis": [
      -0.7071067811865474,
      0.0,
      0.0
    ]
  }
}