{ "modelId": "scannetpp.108ec0b806", "data": { "parts": [ { "pid": 0, "label": "unknown", "group": "others" }, { "pid": 1, "label": "door frame.20.1", "group": "others" }, { "pid": 2, "label": "door.20.1.2_1", "group": "doors/windows" }, { "pid": 3, "label": "handle base.20.1.2_1.3_1", "group": "others" }, { "pid": 4, "label": "handle.20.1.2_1.3_1.4_1", "group": "handles unlabeled" }, { "pid": 5, "label": "lock.20.1.2_1.3_1.4_2", "group": "others" }, { "pid": 6, "label": "light switch base.2.1", "group": "others" }, { "pid": 7, "label": "light switch.2.1.2_1", "group": "switches" }, { "pid": 8, "label": "light switch.2.1.2_2", "group": "switches" }, { "pid": 9, "label": "light switch base.3.1", "group": "others" }, { "pid": 10, "label": "light switch.3.1.2_1", "group": "switches" }, { "pid": 11, "label": "sink.4.1", "group": "others" }, { "pid": 12, "label": "faucet.4.1.2_1", "group": "controls" }, { "pid": 13, "label": "faucet control.4.1.2_1.3_1", "group": "controls" }, { "pid": 14, "label": "faucet control.4.1.2_1.3_2", "group": "controls" }, { "pid": 15, "label": "cabinet.5.1", "group": "others" }, { "pid": 16, "label": "door.5.1.2_1", "group": "doors/windows" }, { "pid": 17, "label": "door.5.1.2_2", "group": "doors/windows" }, { "pid": 18, "label": "door frame.6.1", "group": "others" }, { "pid": 19, "label": "door.6.1.2_1", "group": "doors/windows" }, { "pid": 20, "label": "handle base.6.1.2_1.3_1", "group": "others" }, { "pid": 21, "label": "handle.6.1.2_1.3_1.4_1", "group": "handles unlabeled" }, { "pid": 22, "label": "cabinet.7.1", "group": "others" }, { "pid": 23, "label": "door.7.1.2_1", "group": "doors/windows" }, { "pid": 24, "label": "door.7.1.2_2", "group": "doors/windows" }, { "pid": 25, "label": "cabinet.8.1", "group": "others" }, { "pid": 26, "label": "door.8.1.2_1", "group": "doors/windows" }, { "pid": 27, "label": "door.8.1.2_2", "group": "doors/windows" }, { "pid": 28, "label": "cabinet.9.1", "group": "others" }, { "pid": 29, "label": "door.9.1.2_1", "group": "doors/windows" }, { "pid": 30, "label": "door.9.1.2_2", "group": "doors/windows" }, { "pid": 31, "label": "handle.9.1.2_2.3_1", "group": "handles unlabeled" }, { "pid": 32, "label": "knob.8.1.2_1.3_1", "group": "handles unlabeled" }, { "pid": 33, "label": "handle.7.1.2_1.3_1", "group": "handles unlabeled" }, { "pid": 34, "label": "light switch base.10.1", "group": "others" }, { "pid": 35, "label": "light switch.10.1.2_1", "group": "switches" }, { "pid": 36, "label": "light switch.10.1.2_2", "group": "switches" }, { "pid": 37, "label": "light switch base.11.1", "group": "others" }, { "pid": 38, "label": "light switch.11.1.2_1", "group": "switches" }, { "pid": 39, "label": "box.12.1", "group": "others" }, { "pid": 40, "label": "box lid.12.1.2_1", "group": "others" }, { "pid": 41, "label": "box lid.12.1.2_2", "group": "others" }, { "pid": 42, "label": "box.13.1", "group": "others" }, { "pid": 43, "label": "box lid.13.1.2_1", "group": "others" }, { "pid": 44, "label": "box lid.13.1.2_2", "group": "others" }, { "pid": 45, "label": "box.14.1", "group": "others" }, { "pid": 46, "label": "box lid.14.1.2_1", "group": "others" }, { "pid": 47, "label": "box.15.1", "group": "others" }, { "pid": 48, "label": "box lid.15.1.2_1", "group": "others" }, { "pid": 49, "label": "box lid.15.1.2_2", "group": "others" }, { "pid": 50, "label": "door frame.16.1", "group": "others" }, { "pid": 51, "label": "door.16.1.2_1", "group": "doors/windows" }, { "pid": 52, "label": "box.17.1", "group": "others" }, { "pid": 53, "label": "box lid.17.1.2_1", "group": "others" }, { "pid": 54, "label": "box.18.1", "group": "others" }, { "pid": 55, "label": "box lid.18.1.2_1", "group": "others" }, { "pid": 56, "label": "box lid.18.1.2_2", "group": "others" }, { "pid": 57, "label": "box.19.1", "group": "others" }, { "pid": 58, "label": "box lid.19.1.2_1", "group": "others" } ], "articulations": [ { "pid": 2, "type": "rotation", "origin": [ 5.54539018474297, 6.339721678389296, 1.111904438585043 ], "axis": [ 0, 0, 1 ], "ref": [ -0.9913262051636, 0.131424331673918, 0 ], "base": [ 1 ], "rangeMin": -1.5707963267948966, "rangeMax": 0, "motionStates": { "closed": { "percent": 0, "value": -90 } } }, { "pid": 4, "type": "rotation", "origin": [ 6.446463589776127, 6.193831369600595, 1.1497113474284446 ], "axis": [ -0.02581295298835425, 0.9909984469235915, -0.1313612182230758 ], "ref": [ 0.9993457199253086, 0.022250749178777143, -0.028513790136521007 ], "base": [ 3 ], "rangeMin": -1.117010721276371, "rangeMax": 0, "motionStates": { "closed": { "percent": 0, "value": -64 } } }, { "pid": 7, "type": "rotation", "origin": [ 6.6001068529715745, 6.056148036727025, 1.2672839164733887 ], "axis": [ 0.9962536551707873, -0.08647921460585793, 0 ], "ref": [ 0, 0, 1 ], "base": [ 6 ], "rangeMin": -0.17453292519943295, "rangeMax": 0.19198621771937624, "motionStates": { "closed": { "percent": 0, "value": -10 } } }, { "pid": 8, "type": "rotation", "origin": [ 6.598532371067348, 6.056814717936877, 1.1931984424591064 ], "axis": [ -0.9901923864494433, 0.13971055012974617, 0 ], "ref": [ 0, 0, 1 ], "base": [ 6 ], "rangeMin": -0.19198621771937624, "rangeMax": 0.19198621771937624, "motionStates": { "closed": { "percent": 0, "value": -11 } } }, { "pid": 10, "type": "rotation", "origin": [ 6.600766632924644, 6.0531148044322824, 1.7434105277061462 ], "axis": [ 0.9956427664436978, -0.09324956637078943, 0 ], "ref": [ 0, 0, 1 ], "base": [ 9 ], "rangeMin": -0.17453292519943295, "rangeMax": 0.17453292519943295, "motionStates": { "closed": { "percent": 0, "value": -10 } } }, { "pid": 13, "type": "rotation", "origin": [ 7.219835778846479, 5.911898106665268, 1.1876044869422913 ], "axis": [ 0.03240591662562398, -0.9994747903612442, 0 ], "ref": [ 0, 0, 1 ], "base": [ 12 ], "rangeMin": -3.141592653589793, "rangeMax": 3.141592653589793, "motionStates": {} }, { "pid": 14, "type": "rotation", "origin": [ 7.370997774865965, 5.904852823403582, 1.180690884590149 ], "axis": [ -0.23556061914102341, -0.9718596579290127, 0 ], "ref": [ 0, 0, 1 ], "base": [ 12 ], "rangeMin": -3.141592653589793, "rangeMax": 3.141592653589793, "motionStates": {} }, { "pid": 16, "type": "rotation", "origin": [ 7.031693991098479, 5.390975390934031, 1.0663826987147331 ], "axis": [ 0, 0, 1 ], "ref": [ 0.2231063108213961, 0.9747941188126171, 0 ], "base": [ 15 ], "rangeMin": -1.5533430342749532, "rangeMax": 0, "motionStates": { "closed": { "percent": 0, "value": -89 } } }, { "pid": 17, "type": "rotation", "origin": [ 6.861973633221088, 3.9017784593335465, 1.1071922332048416 ], "axis": [ 0, 0, 1 ], "ref": [ 0.2231063108213961, 0.9747941188126171, 0 ], "base": [ 15 ], "rangeMin": 0, "rangeMax": 1.5707963267948966, "motionStates": { "closed": { "percent": 0, "value": 0 } } }, { "pid": 19, "type": "rotation", "origin": [ 3.76442744023226, 1.8095695131845513, 1.0657802924315676 ], "axis": [ 0.020445969461254467, -0.013492534431612116, 0.9996999118972659 ], "ref": [ 0.2231063108213961, 0.9747941188126171, 0 ], "base": [ 18 ], "rangeMin": 0, "rangeMax": 1.5707963267948966, "motionStates": { "closed": { "percent": 0, "value": 0 } } }, { "pid": 21, "type": "rotation", "origin": [ 4.680209334615069, 1.9155649326031634, 1.1477479338645935 ], "axis": [ -0.22276767149584642, -0.9748715630975799, 0 ], "ref": [ -0.9748715630975799, 0.2227676714958464, 0 ], "base": [ 20 ], "rangeMin": 0, "rangeMax": 1.0995574287564276, "motionStates": { "closed": { "percent": 0, "value": 0 } } }, { "pid": 23, "type": "rotation", "origin": [ 4.652055187448882, 5.627915848456318, 1.3226307965093864 ], "axis": [ -0.01102621881626318, -0.03427375657895093, -0.999351655879242 ], "ref": [ -0.9748715630975799, 0.2227676714958464, 0 ], "base": [ 22 ], "rangeMin": -1.5533430342749532, "rangeMax": 0, "motionStates": { "closed": { "percent": 0, "value": -89 } } }, { "pid": 24, "type": "rotation", "origin": [ 4.51786503849096, 4.686708715217614, 1.369121051480531 ], "axis": [ 0.004659307693334794, -0.006901507540868388, 0.9999653294217167 ], "ref": [ -0.9748715630975799, 0.2227676714958464, 0 ], "base": [ 22 ], "rangeMin": -1.5707963267948966, "rangeMax": 0, "motionStates": { "closed": { "percent": 0, "value": -90 } } }, { "pid": 26, "type": "rotation", "origin": [ 4.522295386945469, 4.67599811973686, 1.5313575863838196 ], "axis": [ 0, 0, 1 ], "ref": [ -0.9748715630975799, 0.2227676714958464, 0 ], "base": [ 25 ], "rangeMin": 0, "rangeMax": 1.5707963267948966, "motionStates": { "closed": { "percent": 0, "value": 0 } } }, { "pid": 27, "type": "rotation", "origin": [ 4.410387080904921, 3.7686657694631975, 1.4235076904296875 ], "axis": [ 0, 0, 1 ], "ref": [ -0.9748715630975799, 0.2227676714958464, 0 ], "base": [ 25 ], "rangeMin": -1.5707963267948966, "rangeMax": 0, "motionStates": { "closed": { "percent": 0, "value": -90 } } }, { "pid": 29, "type": "rotation", "origin": [ 4.30417469123316, 2.807592108047848, 1.1268914267420769 ], "axis": [ 0, 0, 1 ], "ref": [ -0.9748715630975799, 0.2227676714958464, 0 ], "base": [ 28 ], "rangeMin": -1.5707963267948966, "rangeMax": 0, "motionStates": { "closed": { "percent": 0, "value": -90 } } }, { "pid": 30, "type": "rotation", "origin": [ 4.404291740666531, 3.729953289195796, 1.11639404296875 ], "axis": [ 0, 0, 1 ], "ref": [ -0.9748715630975799, 0.2227676714958464, 0 ], "base": [ 28 ], "rangeMin": 0, "rangeMax": 1.5707963267948966, "motionStates": { "closed": { "percent": 0, "value": 0 } } }, { "pid": 31, "type": "rotation", "origin": [ 4.406213653449186, 3.2972904609500033, 1.1176443230353674 ], "axis": [ 0.7959308804117031, -0.559677511445204, -0.23077070175729586 ], "ref": [ 0.0019273775213346216, 0.3835357669847334, -0.923524011956009 ], "base": [ 30 ], "rangeMin": 0, "rangeMax": 1.117010721276371, "motionStates": { "closed": { "percent": 0, "value": 0 } } }, { "pid": 33, "type": "rotation", "origin": [ 4.6159019328877635, 5.1854261906422146, 1.1009276509284973 ], "axis": [ -0.9894981975468677, 0.14454520763933973, 0 ], "ref": [ 0, 0, 1 ], "base": [ 23 ], "rangeMin": 0, "rangeMax": 1.0995574287564276, "motionStates": { "closed": { "percent": 0, "value": 0 } } }, { "pid": 35, "type": "rotation", "origin": [ 2.6971364722466196, 2.927563627278054, 1.3403387069702148 ], "axis": [ -0.995637093983097, 0.09331011244711841, 0 ], "ref": [ 0, 0, 1 ], "base": [ 34 ], "rangeMin": -0.17453292519943295, "rangeMax": 0.19198621771937624, "motionStates": { "closed": { "percent": 0, "value": -10 } } }, { "pid": 36, "type": "rotation", "origin": [ 2.6921328093336117, 2.9276896026400094, 1.2701700925827026 ], "axis": [ -0.9910708521638735, 0.13333628910080664, 0 ], "ref": [ 0, 0, 1 ], "base": [ 34 ], "rangeMin": -0.17453292519943295, "rangeMax": 0.17453292519943295, "motionStates": { "closed": { "percent": 0, "value": -10 } } }, { "pid": 38, "type": "rotation", "origin": [ 2.68180153854816, 2.929635184720616, 1.7002545595169067 ], "axis": [ 0.9844754665996602, -0.17552223694843105, 0 ], "ref": [ 0, 0, 1 ], "base": [ 37 ], "rangeMin": -0.15707963267948966, "rangeMax": 0.15707963267948966, "motionStates": { "closed": { "percent": 0, "value": -9 } } }, { "pid": 40, "type": "rotation", "origin": [ 6.642656223529755, 5.958972396738909, 0.4780795981884003 ], "axis": [ -0.9881212632489388, 0.15367618265470268, 0 ], "ref": [ 0, 0, 1 ], "base": [ 39 ], "rangeMin": -3.141592653589793, "rangeMax": 3.141592653589793, "motionStates": {} }, { "pid": 41, "type": "rotation", "origin": [ 6.622935325248774, 5.650425675044885, 0.49573166570959804 ], "axis": [ 0.9987454453518113, -0.014814115524690766, 0.047833851718559965 ], "ref": [ 0.010165678942700979, 0.9953295207411071, 0.0959989797493286 ], "base": [ 39 ], "rangeMin": -3.141592653589793, "rangeMax": 3.141592653589793, "motionStates": {} }, { "pid": 43, "type": "rotation", "origin": [ 6.27645281948711, 0.7627958329117203, 1.955686299181953 ], "axis": [ 0.9705377864875288, -0.01857001925246462, -0.2402323029587224 ], "ref": [ 0.037070692737029676, 0.9966629834937304, 0.07272318112797899 ], "base": [ 42 ], "rangeMin": -3.141592653589793, "rangeMax": 3.141592653589793, "motionStates": {} }, { "pid": 44, "type": "rotation", "origin": [ 6.174191819123506, 0.6755126884424438, 1.9920968485058144 ], "axis": [ -0.029507393511818657, -0.9919185284466773, -0.12339751477366472 ], "ref": [ 0.09100433493166567, -0.1256044820234256, 0.9878976288661048 ], "base": [ 42 ], "rangeMin": -3.141592653589793, "rangeMax": 3.141592653589793, "motionStates": {} }, { "pid": 46, "type": "rotation", "origin": [ 5.320529785251025, 0.7432761782857629, 1.485336442906732 ], "axis": [ -0.9511916777226636, 0.29803700796328675, 0.08005207127511448 ], "ref": [ 0.28261767752059536, 0.9454693295080498, -0.16191045461137973 ], "base": [ 45 ], "rangeMin": -3.141592653589793, "rangeMax": 3.141592653589793, "motionStates": {} }, { "pid": 48, "type": "rotation", "origin": [ 5.785212679814975, 0.8189307597261274, 0.7981276933466057 ], "axis": [ 0.19339986436900017, 0.9811132436993275, 0.003646299471581333 ], "ref": [ 0.9765358444921566, -0.1921360505347456, -0.09727015218914813 ], "base": [ 47 ], "rangeMin": -3.141592653589793, "rangeMax": 3.141592653589793, "motionStates": {} }, { "pid": 49, "type": "rotation", "origin": [ 5.414233798439046, 0.9064185817217769, 0.803765221118927 ], "axis": [ 0.17893298212281436, 0.9838612645635748, 0 ], "ref": [ 0, 0, 1 ], "base": [ 47 ], "rangeMin": -3.141592653589793, "rangeMax": 3.141592653589793, "motionStates": {} }, { "pid": 51, "type": "rotation", "origin": [ 4.163616108536679, 0.8046628437418661, 1.4902568017877103 ], "axis": [ -0.23926418691424564, 0.06074517722195491, -0.9690524610693366 ], "ref": [ -0.3877556111906307, -0.920978302261204, 0.03800727238635558 ], "base": [ 50 ], "rangeMin": -1.5882496193148399, "rangeMax": 0, "motionStates": { "closed": { "percent": 0, "value": -91 } } }, { "pid": 53, "type": "rotation", "origin": [ 4.751158917044055, 1.4760707431011544, 0.3675796345827297 ], "axis": [ -0.9505685269630949, 0.25111477376753016, -0.1826495166785126 ], "ref": [ -0.26734734504174634, -0.9610491857102211, 0.07007039135648012 ], "base": [ 52 ], "rangeMin": -3.141592653589793, "rangeMax": 3.141592653589793, "motionStates": {} }, { "pid": 55, "type": "rotation", "origin": [ 4.6126237115011826, 4.725388340881289, 2.4304143075237845 ], "axis": [ 0.09406838990791334, 0.9947029750939039, 0.04143825960955874 ], "ref": [ 0.9481588837298234, -0.07682029399408907, -0.3083721349844653 ], "base": [ 54 ], "rangeMin": -3.141592653589793, "rangeMax": 3.141592653589793, "motionStates": {} }, { "pid": 56, "type": "rotation", "origin": [ 4.452067618004711, 4.920158877186684, 2.4405039386749268 ], "axis": [ 0.9937601189025236, -0.11153845112266174, 0 ], "ref": [ 0, 0, 1 ], "base": [ 54 ], "rangeMin": -3.141592653589793, "rangeMax": 3.141592653589793, "motionStates": {} }, { "pid": 58, "type": "rotation", "origin": [ 4.560079862570347, 4.534118457848692, 2.570804520701543 ], "axis": [ 0.40789640016635115, 0.7304602115588369, -0.5477667442084735 ], "ref": [ -0.3076148478837816, 0.6748163223621143, 0.6708174389765885 ], "base": [ 57 ], "rangeMin": -3.141592653589793, "rangeMax": 3.141592653589793, "motionStates": {} } ] } }