{
  "modelId": "scannetpp.07ff1c45bb",
  "data": {
    "parts": [
      {
        "pid": 0,
        "label": "unknown",
        "group": "others"
      },
      {
        "pid": 1,
        "label": "door frame.1.1",
        "group": "others"
      },
      {
        "pid": 2,
        "label": "door.1.1.2_1",
        "group": "doors/windows"
      },
      {
        "pid": 3,
        "label": "hinge.1.1.2_2",
        "group": "others"
      },
      {
        "pid": 4,
        "label": "hinge.1.1.2_3",
        "group": "others"
      },
      {
        "pid": 5,
        "label": "handle base.1.1.2_1.3_1",
        "group": "others"
      },
      {
        "pid": 6,
        "label": "handle.1.1.2_1.3_1.4_1",
        "group": "handles movable"
      },
      {
        "pid": 7,
        "label": "door frame.2.1",
        "group": "others"
      },
      {
        "pid": 8,
        "label": "door.2.1.2_1",
        "group": "doors/windows"
      },
      {
        "pid": 9,
        "label": "handle base.2.1.2_1.3_1",
        "group": "others"
      },
      {
        "pid": 10,
        "label": "handle.2.1.2_1.3_1.4_1",
        "group": "handles movable"
      },
      {
        "pid": 11,
        "label": "cabinet.3.1",
        "group": "others"
      },
      {
        "pid": 12,
        "label": "door.3.1.2_1",
        "group": "doors/windows"
      },
      {
        "pid": 13,
        "label": "handle.3.1.2_1.3_1",
        "group": "others"
      },
      {
        "pid": 14,
        "label": "door.3.1.2_2",
        "group": "doors/windows"
      },
      {
        "pid": 15,
        "label": "door.3.1.2_3",
        "group": "doors/windows"
      },
      {
        "pid": 16,
        "label": "door.3.1.2_4",
        "group": "doors/windows"
      },
      {
        "pid": 17,
        "label": "handle.3.1.2_4.3_1",
        "group": "others"
      },
      {
        "pid": 18,
        "label": "cabinet.4.1",
        "group": "others"
      },
      {
        "pid": 19,
        "label": "drawer.4.1.2_1",
        "group": "cabinets"
      },
      {
        "pid": 20,
        "label": "handle.4.1.2_1.3_1",
        "group": "others"
      },
      {
        "pid": 21,
        "label": "drawer.4.1.2_2",
        "group": "cabinets"
      },
      {
        "pid": 22,
        "label": "handle.4.1.2_2.3_1",
        "group": "others"
      },
      {
        "pid": 23,
        "label": "drawer.4.1.2_3",
        "group": "cabinets"
      },
      {
        "pid": 24,
        "label": "handle.4.1.2_3.3_1",
        "group": "others"
      },
      {
        "pid": 25,
        "label": "drawer.4.1.2_4",
        "group": "cabinets"
      },
      {
        "pid": 26,
        "label": "handle.4.1.2_4.3_1",
        "group": "others"
      },
      {
        "pid": 27,
        "label": "drawer.4.1.2_5",
        "group": "cabinets"
      },
      {
        "pid": 28,
        "label": "handle.4.1.2_5.3_1",
        "group": "others"
      },
      {
        "pid": 29,
        "label": "drawer.4.1.2_6",
        "group": "cabinets"
      },
      {
        "pid": 30,
        "label": "handle.4.1.2_6.3_1",
        "group": "others"
      },
      {
        "pid": 31,
        "label": "drawer.4.1.2_7",
        "group": "cabinets"
      },
      {
        "pid": 32,
        "label": "handle.4.1.2_7.3_1",
        "group": "others"
      },
      {
        "pid": 33,
        "label": "switch base.5.1",
        "group": "others"
      },
      {
        "pid": 34,
        "label": "switch.5.1.2_1",
        "group": "switches"
      },
      {
        "pid": 35,
        "label": "window frame.7.1",
        "group": "others"
      },
      {
        "pid": 36,
        "label": "window.7.1.2_1",
        "group": "doors/windows"
      },
      {
        "pid": 37,
        "label": "handle base.7.1.2_1.3_1",
        "group": "others"
      },
      {
        "pid": 38,
        "label": "handle.7.1.2_1.3_1.4_1",
        "group": "handles movable"
      },
      {
        "pid": 39,
        "label": "window.7.1.2_2",
        "group": "doors/windows"
      },
      {
        "pid": 40,
        "label": "handle base.7.1.2_2.3_1",
        "group": "others"
      },
      {
        "pid": 41,
        "label": "handle.7.1.2_2.3_1.4_1",
        "group": "handles movable"
      },
      {
        "pid": 42,
        "label": "blinds rail.6.1",
        "group": "others"
      },
      {
        "pid": 43,
        "label": "blinds.6.1.2_1",
        "group": "curtains/blinds"
      },
      {
        "pid": 44,
        "label": "blinds control.6.1.2_1.3_1",
        "group": "curtains/blinds"
      }
    ],
    "articulations": [
      {
        "pid": 2,
        "type": "rotation",
        "origin": [
          0.07178205123674332,
          1.0654385651604934,
          1.0755690205842257
        ],
        "axis": [
          0,
          0,
          1
        ],
        "ref": [
          -0.11526368894779063,
          -0.9933349294221698,
          0
        ],
        "base": [
          1
        ],
        "rangeMin": -1.7104226669544427,
        "rangeMax": 0,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": -98
          }
        }
      },
      {
        "pid": 6,
        "type": "rotation",
        "origin": [
          0.23382073812951262,
          1.960517174565256,
          1.0718477964401245
        ],
        "axis": [
          0.989050371931665,
          -0.1475783242276296,
          0
        ],
        "ref": [
          0.1475783242276296,
          0.989050371931665,
          0
        ],
        "base": [
          5
        ],
        "rangeMin": 0,
        "rangeMax": 0.8726646259971648,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": 0
          }
        }
      },
      {
        "pid": 8,
        "type": "rotation",
        "origin": [
          0.9624546868900649,
          0.4349165139373222,
          1.051932085424662
        ],
        "axis": [
          0,
          0,
          1
        ],
        "ref": [
          0.9907386143287319,
          -0.13578290790075334,
          0
        ],
        "base": [
          7
        ],
        "rangeMin": -1.6406094968746698,
        "rangeMax": 0,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": -94
          }
        },
        "needsReview": false
      },
      {
        "pid": 10,
        "type": "rotation",
        "origin": [
          1.7542910170961132,
          0.39358709488636323,
          1.081152319908142
        ],
        "axis": [
          0.19477674325020103,
          0.980847602988785,
          0
        ],
        "ref": [
          -0.980847602988785,
          0.19477674325020103,
          0
        ],
        "base": [
          9
        ],
        "rangeMin": -0.9250245035569946,
        "rangeMax": 0,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": -53
          }
        }
      },
      {
        "pid": 12,
        "type": "rotation",
        "origin": [
          0.7750401074815669,
          3.047248081992358,
          0.49573908373713493
        ],
        "axis": [
          0,
          0,
          1
        ],
        "ref": [
          0.12802341637022105,
          0.991771145406488,
          0
        ],
        "base": [
          11
        ],
        "rangeMin": 0,
        "rangeMax": 1.6580627893946132,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": 0
          }
        }
      },
      {
        "pid": 14,
        "type": "rotation",
        "origin": [
          0.6628566819808677,
          2.2452931532557523,
          0.4922200654543703
        ],
        "axis": [
          -0.008815755405916031,
          -0.013525967373074698,
          0.9998696568369527
        ],
        "ref": [
          -0.13130644182088907,
          -0.9912347978793374,
          -0.014566873701880236
        ],
        "base": [
          11
        ],
        "rangeMin": -1.5707963267948966,
        "rangeMax": 0,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": -90
          }
        }
      },
      {
        "pid": 15,
        "type": "rotation",
        "origin": [
          0.7685703358297898,
          2.9979108013221016,
          0.5535965589150562
        ],
        "axis": [
          -0.018438594517093558,
          -0.17576883140256566,
          -0.984258774987356
        ],
        "ref": [
          0.13919156557620033,
          0.9743886717159438,
          -0.17661377212461382
        ],
        "base": [
          11
        ],
        "rangeMin": -1.7627825445142729,
        "rangeMax": 0,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": -101
          }
        }
      },
      {
        "pid": 16,
        "type": "rotation",
        "origin": [
          0.9037490690934676,
          4.031130446847147,
          0.4991828165948391
        ],
        "axis": [
          0,
          0,
          1
        ],
        "ref": [
          -0.11526368894779063,
          -0.9933349294221698,
          0
        ],
        "base": [
          11
        ],
        "rangeMin": 0,
        "rangeMax": 1.5882496193148399,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": 0
          }
        }
      },
      {
        "pid": 19,
        "type": "translation",
        "origin": [
          3.734735136297258,
          0.7967495495008712,
          0.6799609661102295
        ],
        "axis": [
          0.12502452021423668,
          0.9921536520847969,
          0
        ],
        "base": [
          18
        ],
        "rangeMin": 0,
        "rangeMax": 0.313068577266861,
        "motionStates": {}
      },
      {
        "pid": 21,
        "type": "translation",
        "origin": [
          3.737848035647236,
          0.7986446658040571,
          0.59307861328125
        ],
        "axis": [
          0.13361463978361993,
          0.9910333637347906,
          0
        ],
        "base": [
          18
        ],
        "rangeMin": 0,
        "rangeMax": 0.3086403710636749,
        "motionStates": {}
      },
      {
        "pid": 23,
        "type": "translation",
        "origin": [
          3.7365329091667823,
          0.799102294828582,
          0.4675329476594925
        ],
        "axis": [
          0.10580953518680691,
          0.9943864149632938,
          0
        ],
        "base": [
          18
        ],
        "rangeMin": 0,
        "rangeMax": 0.3228716366552993,
        "motionStates": {}
      },
      {
        "pid": 25,
        "type": "translation",
        "origin": [
          3.736490069970067,
          0.7960400823890279,
          0.32035528868436813
        ],
        "axis": [
          0.12310623954553578,
          0.992393497451972,
          0
        ],
        "base": [
          18
        ],
        "rangeMin": 0,
        "rangeMax": 0.31405358418190776,
        "motionStates": {}
      },
      {
        "pid": 27,
        "type": "translation",
        "origin": [
          3.7357757034797014,
          0.7965123916414847,
          0.15350034832954407
        ],
        "axis": [
          0.1265567301777707,
          0.9919593711673433,
          0
        ],
        "base": [
          18
        ],
        "rangeMin": 0,
        "rangeMax": 0.31228079838732836,
        "motionStates": {}
      },
      {
        "pid": 29,
        "type": "translation",
        "origin": [
          4.248522513254772,
          0.7303182794805827,
          0.1576730433905534
        ],
        "axis": [
          0.131157322049522,
          0.9903964228687845,
          -0.0437342250590292
        ],
        "base": [
          18
        ],
        "rangeMin": 0,
        "rangeMax": 0.3251916006011806,
        "motionStates": {}
      },
      {
        "pid": 31,
        "type": "translation",
        "origin": [
          4.243961884755102,
          0.7364031058173799,
          0.2697271555662155
        ],
        "axis": [
          0.15106349517859755,
          0.9885240616314942,
          0
        ],
        "base": [
          18
        ],
        "rangeMin": 0,
        "rangeMax": 0.29955800330709703,
        "motionStates": {}
      },
      {
        "pid": 34,
        "type": "rotation",
        "origin": [
          0.21588189661204815,
          2.1742586476306407,
          1.1225141286849976
        ],
        "axis": [
          0.09329650152603278,
          0.9956383694911536,
          0
        ],
        "ref": [
          0,
          0,
          1
        ],
        "base": [
          33
        ],
        "rangeMin": -0.17453292519943295,
        "rangeMax": 0.17453292519943295,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": -10
          }
        }
      },
      {
        "pid": 36,
        "type": "rotation",
        "origin": [
          5.11085311373242,
          1.7512549811001894,
          1.7148795425891876
        ],
        "axis": [
          0,
          0,
          1
        ],
        "ref": [
          0.9885240616314942,
          -0.15106349517859755,
          0
        ],
        "base": [
          35
        ],
        "rangeMin": -1.8151424220741026,
        "rangeMax": 0,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": -104
          }
        }
      },
      {
        "pid": 38,
        "type": "rotation",
        "origin": [
          4.894366537661886,
          0.640211860130083,
          1.7081974774287918
        ],
        "axis": [
          0.9971771268947124,
          -0.026404580039272502,
          -0.07028922926705193
        ],
        "ref": [
          0.025099516767396232,
          0.9994969702540321,
          -0.019386095817725147
        ],
        "base": [
          37
        ],
        "rangeMin": 0,
        "rangeMax": 1.6406094968746698,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": 0
          }
        }
      },
      {
        "pid": 39,
        "type": "rotation",
        "origin": [
          4.8779195270064815,
          0.027508793272975895,
          1.7028559446334839
        ],
        "axis": [
          0,
          0,
          1
        ],
        "ref": [
          0.9885240616314942,
          -0.15106349517859755,
          0
        ],
        "base": [
          35
        ],
        "rangeMin": 0,
        "rangeMax": 1.7278759594743864,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": 0
          }
        }
      },
      {
        "pid": 41,
        "type": "rotation",
        "origin": [
          4.882319831028593,
          0.5355435677394625,
          1.7185557128530864
        ],
        "axis": [
          0.9830896836743073,
          -0.11380563190733753,
          -0.14346759912719717
        ],
        "ref": [
          -0.11305171078585248,
          -0.9934984334884202,
          0.013422866476557133
        ],
        "base": [
          40
        ],
        "rangeMin": -1.5882496193148399,
        "rangeMax": 0,
        "motionStates": {
          "closed": {
            "percent": 0,
            "value": -91
          }
        }
      },
      {
        "pid": 43,
        "type": "translation",
        "origin": [
          4.909611430779503,
          2.632339834375739,
          1.8727606534957886
        ],
        "axis": [
          -0.13546272044321953,
          -0.9907824440159011,
          0
        ],
        "base": [
          42
        ],
        "rangeMin": 0,
        "rangeMax": 1.8161583426331982,
        "motionStates": {}
      },
      {
        "pid": 44,
        "type": "rotation",
        "origin": [
          4.608552240439681,
          0.07126086117046793,
          1.095032274723053
        ],
        "axis": [
          0,
          0,
          1
        ],
        "ref": [
          -0.9841165923309176,
          0.17752333001321935,
          0
        ],
        "base": [
          43
        ],
        "rangeMin": -3.141592653589793,
        "rangeMax": 3.141592653589793,
        "motionStates": {}
      }
    ]
  }
}