diff --git a/.gitattributes b/.gitattributes index ffaf7cc14b641c021ec42f30f28af22f3092a133..e64a8e4a1ee3b9a29a3182944750441d6d10f7e6 100644 --- a/.gitattributes +++ b/.gitattributes @@ -11743,3 +11743,23 @@ data/UPB_00001627/plys/3.ply filter=lfs diff=lfs merge=lfs -text data/UPB_00001627/plys/4.ply filter=lfs diff=lfs merge=lfs -text data/UPB_00001627/plys/5.ply filter=lfs diff=lfs merge=lfs -text data/UPB_00001627/plys/model.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001628/plys/1.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001628/plys/2.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001628/plys/3.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001628/plys/4.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001628/plys/5.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001628/plys/model.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001629/plys/1.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001629/plys/2.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001629/plys/3.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001629/plys/4.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001629/plys/5.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001629/plys/model.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001630/plys/1.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001630/plys/2.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001630/plys/3.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001630/plys/4.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001630/plys/5.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001630/plys/6.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001630/plys/model.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001631/plys/1.ply filter=lfs diff=lfs merge=lfs -text diff --git a/data/UPB_00001628/annotations/part_5.json b/data/UPB_00001628/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..5a2a39acb02a9602b2b5e3ff033db5b30fa07c5a --- /dev/null +++ b/data/UPB_00001628/annotations/part_5.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001628", + "label": "5" + }, + "part_level": { + "part_name": "Desk Frame & Top", + "affordance": 1, + "graspable": false, + "basic_description": "Structural carcass including tabletop, side panels, drawer bays, and four tapered legs; hardwood construction; overall 150*60*75 cm.", + "functional_description": "Provides the main work surface and structural support for the drawers and loads placed on the desk.", + "movement_description": "Rigid, non-moving reference frame for the drawers; supports translational motion of all four drawers via runners.", + "grasp_description": "Users rest arms and equipment on the top; occasionally pushed from the sides when repositioning but not intended for grasping." + }, + "basic_info": { + "material": "wood/Hardwood_Oak", + "density": 0.75, + "young": 11.0, + "hardness": 30, + "poisson": 0.35, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001628/full_model/material.mtl b/data/UPB_00001628/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00001628/full_model/material.mtl @@ -0,0 +1,8 @@ +# https://github.com/mikedh/trimesh + +newmtl material_0 +Ka 0.40000000 0.40000000 0.40000000 +Kd 0.40000000 0.40000000 0.40000000 +Ks 0.40000000 0.40000000 0.40000000 +Ns 1.00000000 +map_Kd material_0.png \ No newline at end of file diff --git a/data/UPB_00001628/full_model/material_0.png b/data/UPB_00001628/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..ea610da49bd6d1eb23e9c59531497408bce4edb3 --- /dev/null +++ b/data/UPB_00001628/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14bbec60f2fe90b79f5b1b1b26845c01d4e2a0a829de56d6d79fb30d8965a514 +size 114 diff --git a/data/UPB_00001628/full_model/model.obj b/data/UPB_00001628/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..5fcca925aba83085d74ea4ed3f930b7f72d744c1 --- /dev/null +++ b/data/UPB_00001628/full_model/model.obj @@ -0,0 +1,114024 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v -0.37166601 -0.26259401 0.23671700 +v -0.37156701 -0.26249501 0.23661700 +v -0.37126699 -0.26249501 0.23681700 +v -0.37136701 -0.26259401 0.23691700 +v -0.37106800 -0.26249501 0.23721600 +v -0.37116700 -0.26259401 0.23731600 +v -0.37156701 -0.26249501 0.23661700 +v -0.37146699 -0.26229501 0.23654000 +v -0.37116700 -0.26229501 0.23673099 +v -0.37126699 -0.26249501 0.23681700 +v -0.37096801 -0.26229501 0.23711599 +v -0.37106800 -0.26249501 0.23721600 +v -0.37126699 -0.26249501 0.23681700 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5, + "format": "obj" + }, + "annotation": { + "version": "v1.0" + } +} \ No newline at end of file diff --git a/data/UPB_00001628/model.urdf b/data/UPB_00001628/model.urdf new file mode 100644 index 0000000000000000000000000000000000000000..b7d3773985ae7e9484df09392eb9e7ac576f17bd --- /dev/null +++ b/data/UPB_00001628/model.urdf @@ -0,0 +1,121 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/data/UPB_00001628/parts/1.mtl b/data/UPB_00001628/parts/1.mtl new file mode 100644 index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc --- /dev/null +++ b/data/UPB_00001628/parts/1.mtl @@ -0,0 +1,8 @@ +# https://github.com/mikedh/trimesh + +newmtl material_0 +Ka 0.40000000 0.40000000 0.40000000 +Kd 0.40000000 0.40000000 0.40000000 +Ks 0.40000000 0.40000000 0.40000000 +Ns 1.00000000 +map_Kd 1.png diff --git a/data/UPB_00001628/parts/1.png b/data/UPB_00001628/parts/1.png new file mode 100644 index 0000000000000000000000000000000000000000..eaec2692671590c7a72f83758782e874cd7f2fee --- /dev/null +++ b/data/UPB_00001628/parts/1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d4908229096357c4a4b974c1c114c0f26cbf858ee625b73b4ad1379168845e7 +size 96 diff --git a/data/UPB_00001628/parts/2.mtl b/data/UPB_00001628/parts/2.mtl new file mode 100644 index 0000000000000000000000000000000000000000..57a1c04a7f3f0f8866abca464506627fead239e6 --- /dev/null +++ b/data/UPB_00001628/parts/2.mtl @@ -0,0 +1,8 @@ +# https://github.com/mikedh/trimesh + +newmtl material_0 +Ka 0.40000000 0.40000000 0.40000000 +Kd 0.40000000 0.40000000 0.40000000 +Ks 0.40000000 0.40000000 0.40000000 +Ns 1.00000000 +map_Kd 2.png diff --git a/data/UPB_00001628/parts/2.png b/data/UPB_00001628/parts/2.png new file mode 100644 index 0000000000000000000000000000000000000000..eaec2692671590c7a72f83758782e874cd7f2fee --- /dev/null +++ b/data/UPB_00001628/parts/2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d4908229096357c4a4b974c1c114c0f26cbf858ee625b73b4ad1379168845e7 +size 96 diff --git a/data/UPB_00001628/parts/3.mtl b/data/UPB_00001628/parts/3.mtl new file mode 100644 index 0000000000000000000000000000000000000000..f1811c7dbfb695f993b629aa8fa52a2d2fc419b1 --- /dev/null +++ b/data/UPB_00001628/parts/3.mtl @@ -0,0 +1,8 @@ +# https://github.com/mikedh/trimesh + +newmtl material_0 +Ka 0.40000000 0.40000000 0.40000000 +Kd 0.40000000 0.40000000 0.40000000 +Ks 0.40000000 0.40000000 0.40000000 +Ns 1.00000000 +map_Kd 3.png diff --git a/data/UPB_00001628/parts/3.png b/data/UPB_00001628/parts/3.png new file mode 100644 index 0000000000000000000000000000000000000000..eaec2692671590c7a72f83758782e874cd7f2fee --- /dev/null +++ b/data/UPB_00001628/parts/3.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d4908229096357c4a4b974c1c114c0f26cbf858ee625b73b4ad1379168845e7 +size 96 diff --git a/data/UPB_00001628/parts/4.mtl b/data/UPB_00001628/parts/4.mtl new file mode 100644 index 0000000000000000000000000000000000000000..09452450b9e8e9282ad1a92706e3e1f6ac239875 --- /dev/null +++ b/data/UPB_00001628/parts/4.mtl @@ -0,0 +1,8 @@ +# https://github.com/mikedh/trimesh + +newmtl material_0 +Ka 0.40000000 0.40000000 0.40000000 +Kd 0.40000000 0.40000000 0.40000000 +Ks 0.40000000 0.40000000 0.40000000 +Ns 1.00000000 +map_Kd 4.png diff --git a/data/UPB_00001628/parts/4.png b/data/UPB_00001628/parts/4.png new file mode 100644 index 0000000000000000000000000000000000000000..eaec2692671590c7a72f83758782e874cd7f2fee --- /dev/null +++ b/data/UPB_00001628/parts/4.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d4908229096357c4a4b974c1c114c0f26cbf858ee625b73b4ad1379168845e7 +size 96 diff --git a/data/UPB_00001628/parts/Desk_ZU6X5LZVAIJIKPTUKU888888_JyCUr.mtl b/data/UPB_00001628/parts/Desk_ZU6X5LZVAIJIKPTUKU888888_JyCUr.mtl new file mode 100644 index 0000000000000000000000000000000000000000..73a2456428b6d22b883f8eaf9ada1799808c2d08 --- /dev/null +++ b/data/UPB_00001628/parts/Desk_ZU6X5LZVAIJIKPTUKU888888_JyCUr.mtl @@ -0,0 +1,13 @@ +# File produced by Open Asset Import Library (http://www.assimp.sf.net) +# (assimp v5.4.0) + +newmtl MI_6103e7127fdaa40001ca234e +Kd 0.102879547 0.0888505206 0.085972771 +illum 1 + +newmtl MI_6103e7125b8969000111459b +Kd 0.00779999979 0.00779999979 0.00779999979 +illum 1 +bump ./T_6103e7125b8969000111459b_normal.jpg +map_bump ./T_6103e7125b8969000111459b_normal.jpg + diff --git a/data/UPB_00001628/parts/T_6103e7125b8969000111459b_normal.jpg b/data/UPB_00001628/parts/T_6103e7125b8969000111459b_normal.jpg new file mode 100644 index 0000000000000000000000000000000000000000..46b8ae50c0cc699429bff8162cfb0ca9e45436fb --- /dev/null +++ b/data/UPB_00001628/parts/T_6103e7125b8969000111459b_normal.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1eb556b24a2af1d576313fcc8e323ab9f13588f266efce6069afb785e4f90e28 +size 234567 diff --git a/data/UPB_00001628/parts/part_1.obj b/data/UPB_00001628/parts/part_1.obj new file mode 100644 index 0000000000000000000000000000000000000000..d1297ffa3ea97a88cc04536e004e55806c28f8de --- /dev/null +++ b/data/UPB_00001628/parts/part_1.obj @@ -0,0 +1,20966 @@ +# https://github.com/mikedh/trimesh +mtllib 1.mtl +usemtl material_0 +v -0.37166601 -0.26259401 0.23671700 +v -0.37156701 -0.26249501 0.23661700 +v -0.37126699 -0.26249501 0.23681700 +v -0.37136701 -0.26259401 0.23691700 +v -0.37106800 -0.26249501 0.23721600 +v -0.37116700 -0.26259401 0.23731600 +v -0.37156701 -0.26249501 0.23661700 +v -0.37146699 -0.26229501 0.23654000 +v -0.37116700 -0.26229501 0.23673099 +v -0.37126699 -0.26249501 0.23681700 +v -0.37096801 -0.26229501 0.23711599 +v -0.37106800 -0.26249501 0.23721600 +v -0.37126699 -0.26249501 0.23681700 +v -0.37116700 -0.26229501 0.23673099 +v -0.37565801 -0.26698500 0.24160699 +v -0.37541401 -0.26678601 0.24133800 +v -0.37514099 -0.26678601 0.24154200 +v -0.37535900 -0.26698500 0.24180700 +v -0.37494600 -0.26678601 0.24190700 +v -0.37515899 -0.26698500 0.24220601 +v -0.37541401 -0.26678601 0.24133800 +v -0.37525901 -0.26648599 0.24116699 +v -0.37499100 -0.26648599 0.24138200 +v -0.37514099 -0.26678601 0.24154200 +v -0.37479100 -0.26648599 0.24176501 +v -0.37494600 -0.26678601 0.24190700 +v -0.37514099 -0.26678601 0.24154200 +v -0.37499100 -0.26648599 0.24138200 +v -0.37315199 -0.26548800 0.23852199 +v -0.37292299 -0.26528901 0.23826300 +v -0.37260801 -0.26528901 0.23848400 +v -0.37284601 -0.26548800 0.23874900 +v -0.37245601 -0.26528901 0.23885299 +v -0.37266401 -0.26548800 0.23911200 +v -0.37292299 -0.26528901 0.23826300 +v -0.37281299 -0.26499000 0.23810500 +v -0.37250501 -0.26499000 0.23829000 +v -0.37260801 -0.26528901 0.23848400 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sha256:b5425ff8224885aa8c6d2d44f7e7db6e8514f6b103bae5e9f2dfce222b872291 +size 160242 diff --git a/data/UPB_00001628/plys/3.ply b/data/UPB_00001628/plys/3.ply new file mode 100644 index 0000000000000000000000000000000000000000..e5e389fc8860f72c3f2ad23581fd0713cedfe2d8 --- /dev/null +++ b/data/UPB_00001628/plys/3.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e870bc4e783277f4cc345a1f517bf6f22a6ee189b4aff9b7c50848be3e27b084 +size 160242 diff --git a/data/UPB_00001628/plys/4.ply b/data/UPB_00001628/plys/4.ply new file mode 100644 index 0000000000000000000000000000000000000000..4ffa4c06802354368bac5585f984f90c5e086526 --- /dev/null +++ b/data/UPB_00001628/plys/4.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5eb758fff0bd9d0d6abe0f906f5b386b09d0b729abb92c63e31d89788c71d2f1 +size 160242 diff --git a/data/UPB_00001628/plys/5.ply b/data/UPB_00001628/plys/5.ply new file mode 100644 index 0000000000000000000000000000000000000000..1a5a92b6948c584764764c922d12a7c5e297b15d --- /dev/null +++ b/data/UPB_00001628/plys/5.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:661244a0ed404c0a6462dacd52f67dfa566bf8089baeff3027173bd11a16edda +size 1550946 diff --git a/data/UPB_00001628/plys/model.ply b/data/UPB_00001628/plys/model.ply new file mode 100644 index 0000000000000000000000000000000000000000..2a13b7303b0698f9ae76a564c658b0500d1dd110 --- /dev/null +++ b/data/UPB_00001628/plys/model.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d003cff1db521b4372680d99fd5c94a2231666c812c98204fea28cc50be10bee +size 1600243 diff --git a/data/UPB_00001629/annotations/object.json b/data/UPB_00001629/annotations/object.json new file mode 100644 index 0000000000000000000000000000000000000000..7f7dd4960ab90334d89d3e57abf359fbcaa3f64e --- /dev/null +++ b/data/UPB_00001629/annotations/object.json @@ -0,0 +1,10 @@ +{ + "object_name": "Two-Drawer Console Table", + "category": "Furniture/TableFurniture", + "volume": [ + 120.0, + 40.0, + 75.0 + ], + "mass": 18.0 +} \ No newline at end of file diff --git a/data/UPB_00001629/annotations/part_1.json b/data/UPB_00001629/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..f780666c0a924fb7936a3b3c364567a5eff4bf3b --- /dev/null +++ b/data/UPB_00001629/annotations/part_1.json @@ -0,0 +1,51 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001629", + "label": "1" + }, + "part_level": { + "part_name": "Left Drawer", + "affordance": 2, + "graspable": true, + "basic_description": "A veneered MDF drawer (approx. 50*30*10 cm) with a small knob on the front, fitting the left bay of the table.", + "functional_description": "Provides enclosed storage; the front face with knob is used to pull the drawer.", + "movement_description": "Slides in and out along rails/grooves within the drawer housing (part 4) in a single translational degree of freedom.", + "grasp_description": "Users grasp the knob or drawer front to pull and push the drawer." + }, + "basic_info": { + "material": "wood/MDF_Veneered", + "density": 0.75, + "young": 3.0, + "hardness": 20, + "poisson": 0.3, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 1 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + -0.29469549655914307, + -0.21263661980628967, + 0.22560057044029236 + ], + "range": [ + -0.30000001192092896, + 0.0 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001629/annotations/part_2.json b/data/UPB_00001629/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..9fff59975b5f25dbb66740da3f92bd4b37124a8c --- /dev/null +++ b/data/UPB_00001629/annotations/part_2.json @@ -0,0 +1,51 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001629", + "label": "2" + }, + "part_level": { + "part_name": "Right Drawer", + "affordance": 3, + "graspable": true, + "basic_description": "A veneered MDF drawer (approx. 50*30*10 cm) occupying the right bay.", + "functional_description": "Provides enclosed storage on the right side, matching the left drawer.", + "movement_description": "Slides relative to the drawer housing (part 4) with limited travel equal to the internal depth.", + "grasp_description": "Pulled and pushed using the front knob or edge." + }, + "basic_info": { + "material": "wood/MDF_Veneered", + "density": 0.75, + "young": 3.0, + "hardness": 20, + "poisson": 0.3, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 2 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + 0.2940247058868408, + -0.21263661980628967, + 0.22560057044029236 + ], + "range": [ + -0.30000001192092896, + 0.0 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001629/annotations/part_3.json b/data/UPB_00001629/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..a0f50f6c4cfc91cf0ba55b1af3933b50f781ba5b --- /dev/null +++ b/data/UPB_00001629/annotations/part_3.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001629", + "label": "3" + }, + "part_level": { + "part_name": "Metal Frame", + "affordance": 7, + "graspable": false, + "basic_description": "Powder-coated low-carbon steel tube frame (envelope ~120*40*75 cm) forming legs and side supports.", + "functional_description": "Provides structural support and stability for the tabletop and drawer housing.", + "movement_description": "Rigidly connected to the tabletop (part 5) and the drawer housing (part 4); no relative motion.", + "grasp_description": "Rarely grasped during normal use; may be touched when moving the table." + }, + "basic_info": { + "material": "metal/Steel_LowCarbon", + "density": 7.85, + "young": 200.0, + "hardness": 150, + "poisson": 0.3, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001629/annotations/part_4.json b/data/UPB_00001629/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..56155d195d0d63640f42b358b5f1bfa7bcac225a --- /dev/null +++ b/data/UPB_00001629/annotations/part_4.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001629", + "label": "4" + }, + "part_level": { + "part_name": "Drawer Housing (Carcass)", + "affordance": 8, + "graspable": false, + "basic_description": "A veneered MDF rectangular box (~110*35*12 cm) located beneath the tabletop, forming two drawer bays.", + "functional_description": "Guides and supports the two drawers with rails/grooves; transfers loads to the metal frame.", + "movement_description": "Rigidly fixed to the metal frame (part 3). Provides translational guides for drawers (parts 1 and 2).", + "grasp_description": "Not intended to be grasped directly; touched only during assembly or maintenance." + }, + "basic_info": { + "material": "wood/MDF_Veneered", + "density": 0.75, + "young": 3.0, + "hardness": 20, + "poisson": 0.3, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001629/annotations/part_5.json b/data/UPB_00001629/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..1b6616fa201978c9d5c652c783745ae79955b97c --- /dev/null +++ b/data/UPB_00001629/annotations/part_5.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001629", + "label": "5" + }, + "part_level": { + "part_name": "Tabletop", + "affordance": 1, + "graspable": true, + "basic_description": "Flat veneered MDF board (~120*40*2.5 cm) forming the working surface of the table.", + "functional_description": "Provides the main surface for placing objects and writing; distributes loads to the frame.", + "movement_description": "Rigidly fixed to the metal frame (part 3) with fasteners; no relative motion.", + "grasp_description": "Frequently touched; users place items or grasp the edges when repositioning the table." + }, + "basic_info": { + "material": "wood/MDF_Veneered", + "density": 0.75, + "young": 3.0, + "hardness": 20, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001629/full_model/material.mtl b/data/UPB_00001629/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00001629/full_model/material.mtl @@ -0,0 +1,8 @@ +# https://github.com/mikedh/trimesh + +newmtl material_0 +Ka 0.40000000 0.40000000 0.40000000 +Kd 0.40000000 0.40000000 0.40000000 +Ks 0.40000000 0.40000000 0.40000000 +Ns 1.00000000 +map_Kd material_0.png \ No newline at end of file diff --git a/data/UPB_00001629/full_model/material_0.png b/data/UPB_00001629/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e9e1afdefe47663f36fd8c3e53612b25b6f10d9d --- /dev/null +++ b/data/UPB_00001629/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:349d5ed4ddaf6805a1cff135d5e2dfb8dd0683ff48f08dd36928c2b74b416f2b +size 460639 diff --git a/data/UPB_00001629/full_model/model.obj b/data/UPB_00001629/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..14978a3ed1a5e0c1bf8ed5aa391a00a7384327f6 --- /dev/null +++ b/data/UPB_00001629/full_model/model.obj @@ -0,0 +1,23524 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v -0.28022400 -0.23461600 0.22911499 +v -0.28121901 -0.23461699 0.23097400 +v 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Console Table" + }, + "geometry": { + "asset_type": "decomposed_parts", + "num_parts": 5, + "format": "obj" + }, + "annotation": { + "version": "v1.0" + } +} \ No newline at end of file diff --git a/data/UPB_00001629/model.urdf b/data/UPB_00001629/model.urdf new file mode 100644 index 0000000000000000000000000000000000000000..12df8702a4404f9a14454e673e01088e539bbfb6 --- /dev/null +++ b/data/UPB_00001629/model.urdf @@ -0,0 +1,105 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/data/UPB_00001629/parts/1.mtl b/data/UPB_00001629/parts/1.mtl new file mode 100644 index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc --- /dev/null +++ b/data/UPB_00001629/parts/1.mtl @@ -0,0 +1,8 @@ +# https://github.com/mikedh/trimesh + +newmtl material_0 +Ka 0.40000000 0.40000000 0.40000000 +Kd 0.40000000 0.40000000 0.40000000 +Ks 0.40000000 0.40000000 0.40000000 +Ns 1.00000000 +map_Kd 1.png diff --git a/data/UPB_00001629/parts/1.png b/data/UPB_00001629/parts/1.png new file mode 100644 index 0000000000000000000000000000000000000000..28feceb3d92e7192cdb55780753326a44969335e --- /dev/null +++ b/data/UPB_00001629/parts/1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5519989c5a5f8e331b69b41ccd25739574b8c8f4d6668f064659375a0f97a89a +size 428055 diff --git a/data/UPB_00001629/parts/2.mtl b/data/UPB_00001629/parts/2.mtl new file mode 100644 index 0000000000000000000000000000000000000000..57a1c04a7f3f0f8866abca464506627fead239e6 --- /dev/null +++ b/data/UPB_00001629/parts/2.mtl @@ -0,0 +1,8 @@ +# https://github.com/mikedh/trimesh + +newmtl material_0 +Ka 0.40000000 0.40000000 0.40000000 +Kd 0.40000000 0.40000000 0.40000000 +Ks 0.40000000 0.40000000 0.40000000 +Ns 1.00000000 +map_Kd 2.png diff --git a/data/UPB_00001629/parts/2.png b/data/UPB_00001629/parts/2.png new file mode 100644 index 0000000000000000000000000000000000000000..28feceb3d92e7192cdb55780753326a44969335e --- /dev/null +++ b/data/UPB_00001629/parts/2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5519989c5a5f8e331b69b41ccd25739574b8c8f4d6668f064659375a0f97a89a +size 428055 diff --git a/data/UPB_00001629/parts/Desk_ZU6XFQBVAIIZ4PTULY888888_ppv6F.mtl b/data/UPB_00001629/parts/Desk_ZU6XFQBVAIIZ4PTULY888888_ppv6F.mtl new file mode 100644 index 0000000000000000000000000000000000000000..9d0f08999133803928bb01c4b36220bf98546c39 --- /dev/null +++ b/data/UPB_00001629/parts/Desk_ZU6XFQBVAIIZ4PTULY888888_ppv6F.mtl @@ -0,0 +1,18 @@ +# File produced by Open Asset Import Library (http://www.assimp.sf.net) +# (assimp v5.4.0) + +newmtl MI_6103ea1c5b89690001114614 +Kd 1 1 1 +illum 1 +map_Kd ./T_6103ea1c5b89690001114614_color.jpg + +newmtl MI_6103ea1c00e3a3000189a4d4 +Kd 0.846400023 0.59799999 0.377200007 +illum 1 + +newmtl MI_6103ea1cc6ff5a0001df70d0 +Kd 1 1 1 +Ks 0.100000001 0.100000001 0.100000001 +d 1 +illum 1 + diff --git a/data/UPB_00001629/parts/T_6103ea1c5b89690001114614_color.jpg b/data/UPB_00001629/parts/T_6103ea1c5b89690001114614_color.jpg new file mode 100644 index 0000000000000000000000000000000000000000..26a28458fda62f13ffb81325aeca3f6267192fb7 --- /dev/null +++ b/data/UPB_00001629/parts/T_6103ea1c5b89690001114614_color.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b285583ff73769ebf50dced705247fe4dfa6de47badf5b44c153dc7f40c5147d +size 94542 diff --git a/data/UPB_00001629/parts/part_1.obj b/data/UPB_00001629/parts/part_1.obj new file mode 100644 index 0000000000000000000000000000000000000000..de0049832feb4d233e7afab571f105bf0af2f01a --- /dev/null +++ b/data/UPB_00001629/parts/part_1.obj @@ -0,0 +1,4480 @@ +# https://github.com/mikedh/trimesh +mtllib 1.mtl +usemtl material_0 +v -0.28022400 -0.23461600 0.22911499 +v -0.28121901 -0.23461699 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8/1/5 9/1/5 +f 10/1/6 11/1/6 12/1/6 +f 13/1/6 14/1/6 15/1/6 +f 16/1/7 17/1/7 18/1/7 +f 19/1/8 20/1/8 21/1/8 +f 22/1/9 23/1/9 24/1/9 +f 25/1/10 26/1/10 27/1/10 +f 28/1/10 29/1/10 30/1/10 +f 31/1/11 32/1/11 33/1/11 +f 34/1/12 35/1/12 36/1/12 +f 37/1/7 38/1/7 39/1/7 +f 40/1/13 41/1/13 42/1/13 +f 43/1/12 44/1/12 45/1/12 +f 46/1/1 47/1/1 48/1/1 +f 49/1/14 50/1/14 51/1/14 +f 52/1/15 53/1/15 54/1/15 +f 55/1/15 56/1/15 57/1/15 +f 58/1/16 59/1/16 60/1/16 +f 61/1/14 62/1/14 63/1/14 +f 64/1/4 65/1/4 66/1/4 +f 67/1/4 68/1/4 69/1/4 +f 70/1/2 71/1/2 72/1/2 +f 73/1/16 74/1/16 75/1/16 +f 76/1/2 77/1/2 78/1/2 +f 79/1/17 80/1/17 81/1/17 +f 82/1/18 83/1/18 84/1/18 +f 85/1/17 86/1/17 87/1/17 +f 88/1/18 89/1/18 90/1/18 +f 91/1/3 92/1/3 93/1/3 +f 94/1/3 95/1/3 96/1/3 +f 97/1/19 98/1/19 99/1/19 +f 100/1/13 101/1/13 102/1/13 +f 103/1/20 104/1/20 105/1/20 +f 106/1/21 107/1/21 108/1/21 +f 109/1/22 110/1/22 111/1/22 +f 112/1/23 113/1/23 114/1/23 +f 115/1/24 116/1/24 117/1/24 +f 118/1/22 119/1/22 120/1/22 +f 121/1/25 122/1/25 123/1/25 +f 124/1/19 125/1/19 126/1/19 +f 127/1/9 128/1/9 129/1/9 +f 130/1/26 131/1/26 132/1/26 diff --git a/data/UPB_00001629/plys/1.ply b/data/UPB_00001629/plys/1.ply new file mode 100644 index 0000000000000000000000000000000000000000..01eaad2fc670512fb6f10a3327bc6acceeb6c607 --- /dev/null +++ b/data/UPB_00001629/plys/1.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc927c54f247519c984705cfc494d99f08c23c5c04ab0c8ac7f56f150e9ba2a1 +size 160242 diff --git a/data/UPB_00001629/plys/2.ply b/data/UPB_00001629/plys/2.ply new file mode 100644 index 0000000000000000000000000000000000000000..173d6f913a7654bf23cdbf888f732e9a25c69eb2 --- /dev/null +++ b/data/UPB_00001629/plys/2.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38e617ce1e9087812b11f8c712c903e79f0731d96a0b2ea20fe47f71145ce6a7 +size 160242 diff --git a/data/UPB_00001629/plys/3.ply b/data/UPB_00001629/plys/3.ply new file mode 100644 index 0000000000000000000000000000000000000000..da682539690874c1989094f43a4db3c53a9a368e --- /dev/null +++ b/data/UPB_00001629/plys/3.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:771624da78592609126eb50ffd9b7b45ca51f297b525a034deaeddca51b004bf +size 254082 diff --git a/data/UPB_00001629/plys/4.ply b/data/UPB_00001629/plys/4.ply new file mode 100644 index 0000000000000000000000000000000000000000..0209914b01906b4aa63c6c0b1d4f5ebc5b8a041f --- /dev/null +++ b/data/UPB_00001629/plys/4.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:adf05ed016cd42c84fa0df3d1dc093fa58f2f84647187ad8531ad38c972340ea +size 849586 diff --git a/data/UPB_00001629/plys/5.ply b/data/UPB_00001629/plys/5.ply new file mode 100644 index 0000000000000000000000000000000000000000..90cf6de8ea4a1214f4bc49e449f45024ac6368ab --- /dev/null +++ b/data/UPB_00001629/plys/5.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:080f5183ebe5177d7a167435efd7ae48b306cbe06afe8117b14dbd6a3250a8f5 +size 392242 diff --git a/data/UPB_00001629/plys/model.ply b/data/UPB_00001629/plys/model.ply new file mode 100644 index 0000000000000000000000000000000000000000..374f2339870e3736270c0ac0d6d23ba7a958d677 --- /dev/null +++ b/data/UPB_00001629/plys/model.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a9305ee4476b29faaa2f047f65b9c598102ae110b790615e6c745933cb99086 +size 1600243 diff --git a/data/UPB_00001630/annotations/object.json b/data/UPB_00001630/annotations/object.json new file mode 100644 index 0000000000000000000000000000000000000000..bd610d8055170d8b6f3b9f31e4499fde8ed769c0 --- /dev/null +++ b/data/UPB_00001630/annotations/object.json @@ -0,0 +1,10 @@ +{ + "object_name": "Three-Drawer Writing Desk", + "category": "Furniture/OfficeFurniture", + "volume": [ + 130.0, + 55.0, + 76.0 + ], + "mass": 24.0 +} \ No newline at end of file diff --git a/data/UPB_00001630/annotations/part_1.json b/data/UPB_00001630/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..dc2be728e380b8ffaf4cd137ecccf4a286c2d568 --- /dev/null +++ b/data/UPB_00001630/annotations/part_1.json @@ -0,0 +1,51 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001630", + "label": "1" + }, + "part_level": { + "part_name": "Left Drawer (front and box)", + "affordance": 3, + "graspable": true, + "basic_description": "Small left-side drawer with a laminated MDF front panel and integrated handle; approx. 25*30*18 cm.", + "functional_description": "Provides small-item storage on the left side of the desk.", + "movement_description": "Slides in/out along internal runners relative to the desk carcass.", + "grasp_description": "Users pull the handle area to open and push the panel to close." + }, + "basic_info": { + "material": "wood/MDF_Laminated", + "density": 0.7, + "young": 3.5, + "hardness": 25, + "poisson": 0.35, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 1 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + -0.3586534261703491, + -0.23070605099201202, + 0.25992685556411743 + ], + "range": [ + -0.4000000059604645, + 0.0 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001630/annotations/part_2.json b/data/UPB_00001630/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..602d197190393565a92d705155ad1759748be357 --- /dev/null +++ b/data/UPB_00001630/annotations/part_2.json @@ -0,0 +1,51 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001630", + "label": "2" + }, + "part_level": { + "part_name": "Right Drawer (front and box)", + "affordance": 4, + "graspable": true, + "basic_description": "Small right-side drawer with laminated MDF front and pull; approx. 25*30*18 cm.", + "functional_description": "Right-hand storage for stationery and accessories.", + "movement_description": "Translates on slides relative to the desk carcass.", + "grasp_description": "Pulled by the handle to open; pushed to close." + }, + "basic_info": { + "material": "wood/MDF_Laminated", + "density": 0.7, + "young": 3.5, + "hardness": 25, + "poisson": 0.35, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 2 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + 0.35913094878196716, + -0.23070605099201202, + 0.25992685556411743 + ], + "range": [ + -0.4000000059604645, + 0.0 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001630/annotations/part_3.json b/data/UPB_00001630/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..d456d08b3389eaa71ec71908bf92dc1ba5cf4a5f --- /dev/null +++ b/data/UPB_00001630/annotations/part_3.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001630", + "label": "3" + }, + "part_level": { + "part_name": "Metal Support Frame (sled legs/underframe)", + "affordance": 7, + "graspable": false, + "basic_description": "Pair of rectangular steel-tube sled legs/underframe that brace the desk body; tube wall ~1.5\u20132 mm.", + "functional_description": "Provides stiffness and load-bearing support, reducing racking of the wooden carcass.", + "movement_description": "Rigidly fixed to the main wooden carcass via fasteners.", + "grasp_description": "Not normally grasped; occasionally contacted by feet." + }, + "basic_info": { + "material": "metal/Steel_Tube_PowderCoated", + "density": 7.85, + "young": 200.0, + "hardness": 150, + "poisson": 0.29, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001630/annotations/part_4.json b/data/UPB_00001630/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..cb79c07d7bb78312265829982cda4aa964787e0d --- /dev/null +++ b/data/UPB_00001630/annotations/part_4.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001630", + "label": "4" + }, + "part_level": { + "part_name": "Center Drawer (front and box)", + "affordance": 2, + "graspable": true, + "basic_description": "Wide center drawer with a long MDF front; approx. 70*35*12 cm.", + "functional_description": "Primary storage for notebooks, keyboard, or documents.", + "movement_description": "Slides in linear translation on runners beneath the desktop.", + "grasp_description": "Gripped along the front edge/pull to open and close frequently." + }, + "basic_info": { + "material": "wood/MDF_Laminated", + "density": 0.7, + "young": 3.5, + "hardness": 25, + "poisson": 0.35, + "friction": 0.3 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001630/annotations/part_5.json b/data/UPB_00001630/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..3a43b8c44766840425831073f26682253d39f4f0 --- /dev/null +++ b/data/UPB_00001630/annotations/part_5.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001630", + "label": "5" + }, + "part_level": { + "part_name": "Wooden Carcass (side panels and drawer housing)", + "affordance": 6, + "graspable": false, + "basic_description": "Dark veneered plywood body forming the desk sides, internal cavities, and supports for slides; approx. 120*50*70 cm.", + "functional_description": "Houses the drawers, transfers loads to the frame/legs, and interfaces with the top.", + "movement_description": "Stationary reference for all drawers and rigidly fastened to the metal frame and top.", + "grasp_description": "Occasionally touched along edges but not intended as a gripping surface." + }, + "basic_info": { + "material": "wood/Plywood_Veneered", + "density": 0.6, + "young": 10.0, + "hardness": 30, + "poisson": 0.33, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001630/annotations/part_6.json b/data/UPB_00001630/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..47cc121fdd6e5763b5b31ff3594bfbf9ab9cf1fa --- /dev/null +++ b/data/UPB_00001630/annotations/part_6.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001630", + "label": "6" + }, + "part_level": { + "part_name": "Tabletop Panel", + "affordance": 1, + "graspable": false, + "basic_description": "Rectangular marble slab with subtle veining; approx. 130*55*2 cm.", + "functional_description": "Primary work surface; provides a smooth, hard, and durable top.", + "movement_description": "Fixed to the wooden carcass using brackets/adhesive; no motion.", + "grasp_description": "Touched frequently as a work surface but not typically grasped." + }, + "basic_info": { + "material": "stone/Marble", + "density": 2.7, + "young": 60.0, + "hardness": 20, + "poisson": 0.27, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001630/full_model/material.mtl b/data/UPB_00001630/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00001630/full_model/material.mtl @@ -0,0 +1,8 @@ +# https://github.com/mikedh/trimesh + +newmtl material_0 +Ka 0.40000000 0.40000000 0.40000000 +Kd 0.40000000 0.40000000 0.40000000 +Ks 0.40000000 0.40000000 0.40000000 +Ns 1.00000000 +map_Kd material_0.png \ No newline at end of file diff --git a/data/UPB_00001630/full_model/material_0.png b/data/UPB_00001630/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..64ecd77aa8a5a0e23cf12e71c4e0c61abdd90334 --- /dev/null +++ b/data/UPB_00001630/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e59aa1be7bba9a9100566866e076b3c94d200b82aa6545c573e68cb15d9d04c +size 2113869 diff --git a/data/UPB_00001630/full_model/model.obj b/data/UPB_00001630/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..b246d8906a24e723d77a7c85b7015a94f04d36b4 --- /dev/null +++ b/data/UPB_00001630/full_model/model.obj @@ -0,0 +1,8590 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v -0.35535300 -0.23605700 0.29688501 +v -0.35535300 -0.23691100 0.29588401 +v -0.35535300 -0.23180001 0.29577100 +v -0.35535300 -0.22825301 0.29917601 +v -0.35535300 -0.23011001 0.30306900 +v -0.36235300 -0.23180001 0.29577100 +v -0.36235300 -0.23089600 0.29672200 +v -0.35535300 -0.23089600 0.29672200 +v -0.35535300 -0.23605700 0.22071600 +v -0.36235300 -0.23605700 0.22071600 +v -0.36235300 -0.23011001 0.21453200 +v -0.36235300 -0.23877600 0.22634600 +v -0.36235300 -0.23854300 0.22509500 +v -0.35535300 -0.23854300 0.22509500 +v -0.36235300 -0.23885401 0.22766000 +v -0.36235300 -0.23385400 0.22766000 +v -0.36235300 -0.23352499 0.22511300 +v -0.36235300 -0.23377200 0.22635099 +v -0.35535300 -0.23377200 0.22635099 +v -0.35535300 -0.23385400 0.22766000 +v -0.35535300 -0.23011001 0.21453200 +v -0.36235300 -0.23377200 0.29124999 +v -0.36235300 -0.23352499 0.29248801 +v -0.35535300 -0.23352499 0.29248801 +v -0.36235300 -0.23605700 0.29688501 +v -0.35535300 -0.23377200 0.29124999 +v -0.36235300 -0.23385400 0.28994101 +v -0.36235300 -0.23885401 0.28994101 +v -0.35535300 -0.23761100 0.22278000 +v -0.35535300 -0.23815399 0.22390599 +v -0.36235300 -0.23815399 0.22390599 +v -0.36235300 -0.23877600 0.29125401 +v -0.36235300 -0.22825301 0.29917601 +v -0.35535300 -0.23253900 0.22285300 +v -0.35535300 -0.23180001 0.22183000 +v -0.35535300 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2883/2883 +f 2891/2891 2892/2892 2893/2893 +f 2891/2891 2894/2894 2892/2892 + diff --git a/data/UPB_00001630/meta_data.json b/data/UPB_00001630/meta_data.json new file mode 100644 index 0000000000000000000000000000000000000000..3b2ec063b6b7c78b141081f2bbac4461689b948d --- /dev/null +++ b/data/UPB_00001630/meta_data.json @@ -0,0 +1,22 @@ +{ + "id": "UPB_00001630", + "source": [ + { + "dataset": "UniPhys-Bench", + "organization": "Manycore Tech Inc.", + "license_ref": "UniPhys-Bench" + } + ], + "object": { + "category": "Furniture/OfficeFurniture", + "object_name": "Three-Drawer Writing Desk" + }, + "geometry": { + "asset_type": "decomposed_parts", + "num_parts": 6, + "format": "obj" + }, + "annotation": { + "version": "v1.0" + } +} \ No newline at end of file diff --git a/data/UPB_00001630/model.urdf b/data/UPB_00001630/model.urdf new file mode 100644 index 0000000000000000000000000000000000000000..d03467435a88490521b19a5abd2de1def2c3bfe7 --- /dev/null +++ b/data/UPB_00001630/model.urdf @@ -0,0 +1,122 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/data/UPB_00001630/parts/1.mtl b/data/UPB_00001630/parts/1.mtl new file mode 100644 index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc --- /dev/null +++ b/data/UPB_00001630/parts/1.mtl @@ -0,0 +1,8 @@ +# https://github.com/mikedh/trimesh + +newmtl material_0 +Ka 0.40000000 0.40000000 0.40000000 +Kd 0.40000000 0.40000000 0.40000000 +Ks 0.40000000 0.40000000 0.40000000 +Ns 1.00000000 +map_Kd 1.png diff --git a/data/UPB_00001630/parts/1.png b/data/UPB_00001630/parts/1.png new file mode 100644 index 0000000000000000000000000000000000000000..a6764cc4fbd11d2887a7ded9842da676a0df9e38 --- /dev/null +++ b/data/UPB_00001630/parts/1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:479493ebb6f4f5322cb0057c8ea9b3eb095892e00e9aa18f34582fa8add9228b +size 357898 diff --git a/data/UPB_00001630/parts/2.mtl b/data/UPB_00001630/parts/2.mtl new file mode 100644 index 0000000000000000000000000000000000000000..57a1c04a7f3f0f8866abca464506627fead239e6 --- /dev/null +++ b/data/UPB_00001630/parts/2.mtl @@ -0,0 +1,8 @@ +# https://github.com/mikedh/trimesh + +newmtl material_0 +Ka 0.40000000 0.40000000 0.40000000 +Kd 0.40000000 0.40000000 0.40000000 +Ks 0.40000000 0.40000000 0.40000000 +Ns 1.00000000 +map_Kd 2.png diff --git a/data/UPB_00001630/parts/2.png b/data/UPB_00001630/parts/2.png new file mode 100644 index 0000000000000000000000000000000000000000..a6764cc4fbd11d2887a7ded9842da676a0df9e38 --- /dev/null +++ b/data/UPB_00001630/parts/2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:479493ebb6f4f5322cb0057c8ea9b3eb095892e00e9aa18f34582fa8add9228b +size 357898 diff --git a/data/UPB_00001630/parts/Desk_ZU6XHPBVAU35IPTULA888888_qTb4p.mtl b/data/UPB_00001630/parts/Desk_ZU6XHPBVAU35IPTULA888888_qTb4p.mtl new file mode 100644 index 0000000000000000000000000000000000000000..227068d8cceb133914e881d281d549ba6c474cc6 --- /dev/null +++ b/data/UPB_00001630/parts/Desk_ZU6XHPBVAU35IPTULA888888_qTb4p.mtl @@ -0,0 +1,26 @@ +# File produced by Open Asset Import Library (http://www.assimp.sf.net) +# (assimp v5.4.0) + +newmtl MI_6103e98b5b896900011145f0 +Kd 1 1 1 +illum 1 +map_Kd ./T_6103e98b5b896900011145f0_color.jpg +bump ./T_6103e98b5b896900011145f0_normal.jpg +map_bump ./T_6103e98b5b896900011145f0_normal.jpg + +newmtl MI_6103e98b00e3a3000189a4b2 +Kd 0.47082299 0.402570993 0.291761994 +illum 1 + +newmtl MI_6103e98be113f600016ace8f +Kd 1 1 1 +illum 1 +map_Kd ./T_6103e98be113f600016ace8f_color_front.jpg + +newmtl MI_6103e98b7d6a6300015ecc82 +Kd 1 1 1 +illum 1 +map_Kd ./T_6103e98b7d6a6300015ecc82_color_front.jpg +bump ./T_6103e98b7d6a6300015ecc82_normal.jpg +map_bump ./T_6103e98b7d6a6300015ecc82_normal.jpg + diff --git a/data/UPB_00001630/parts/T_6103e98b5b896900011145f0_color.jpg b/data/UPB_00001630/parts/T_6103e98b5b896900011145f0_color.jpg new file mode 100644 index 0000000000000000000000000000000000000000..343dd5c70e746785211848d90971c5cc8d1d3368 --- /dev/null +++ b/data/UPB_00001630/parts/T_6103e98b5b896900011145f0_color.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:daacb90d29eb708887876e52a3c11969b8d4c0ff278fc504ec0857ed160ca839 +size 114907 diff --git a/data/UPB_00001630/parts/T_6103e98b5b896900011145f0_normal.jpg b/data/UPB_00001630/parts/T_6103e98b5b896900011145f0_normal.jpg new file mode 100644 index 0000000000000000000000000000000000000000..c82acae0a37941e80a0e4d997ab8e0c0f50b72cf --- /dev/null +++ b/data/UPB_00001630/parts/T_6103e98b5b896900011145f0_normal.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe73215bea95c50accfd49dde2956e8e97fa60c4e486a362e436815ebaa195ad +size 343504 diff --git a/data/UPB_00001630/parts/T_6103e98b7d6a6300015ecc82_color_front.jpg b/data/UPB_00001630/parts/T_6103e98b7d6a6300015ecc82_color_front.jpg new file mode 100644 index 0000000000000000000000000000000000000000..0c166bda9e84f4c097e935cc1052f41ad190d5e5 --- /dev/null +++ b/data/UPB_00001630/parts/T_6103e98b7d6a6300015ecc82_color_front.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5fd3ae6849ae4dd462fcd3861d595ac7ac5f95f3740439003fc27cef57bff04e +size 226941 diff --git a/data/UPB_00001630/parts/T_6103e98b7d6a6300015ecc82_normal.jpg b/data/UPB_00001630/parts/T_6103e98b7d6a6300015ecc82_normal.jpg new file mode 100644 index 0000000000000000000000000000000000000000..e127044aed74e1eb0414b4b3fd6e0a843dde4018 --- /dev/null +++ b/data/UPB_00001630/parts/T_6103e98b7d6a6300015ecc82_normal.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1431f1d748ea1a280eb92f5546e30d91bae9fe65b2ff75eb9e6b30fe28eee24 +size 17308 diff --git a/data/UPB_00001630/parts/T_6103e98be113f600016ace8f_color_front.jpg b/data/UPB_00001630/parts/T_6103e98be113f600016ace8f_color_front.jpg new file mode 100644 index 0000000000000000000000000000000000000000..9d38a03f1603a4f3421f793a9942de9449e4eb64 --- /dev/null +++ b/data/UPB_00001630/parts/T_6103e98be113f600016ace8f_color_front.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a47a533aa85bb6eac964d1b17dbcc401a6578bdfc5a3b868495a13f78ba4b75 +size 36607 diff --git a/data/UPB_00001630/parts/part_1.obj b/data/UPB_00001630/parts/part_1.obj new file mode 100644 index 0000000000000000000000000000000000000000..61e4d699d69e7475728bc2cdaed6365f6feb94ea --- /dev/null +++ b/data/UPB_00001630/parts/part_1.obj @@ -0,0 +1,618 @@ +# https://github.com/mikedh/trimesh +mtllib 1.mtl +usemtl material_0 +v -0.35535300 -0.23605700 0.29688501 +v -0.35535300 -0.23691100 0.29588401 +v -0.35535300 -0.23180001 0.29577100 +v -0.35535300 -0.22825301 0.29917601 +v -0.35535300 -0.23011001 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0.0 -1.0 0.0 +usemtl MI_6103e98be113f600016ace8f +f 1/1/6 2/2/6 3/3/6 +f 4/1/6 5/3/6 6/4/6 +f 7/5/1 8/6/1 9/7/1 +f 10/8/4 11/9/4 12/10/4 +f 13/5/1 14/11/1 15/6/1 +f 16/9/3 17/12/3 18/8/3 +f 19/5/2 20/11/2 21/6/2 +f 22/5/2 23/6/2 24/7/2 +f 25/8/4 26/10/4 27/12/4 +f 28/9/3 29/10/3 30/12/3 +f 31/1/5 32/3/5 33/4/5 +f 34/1/5 35/2/5 36/3/5 diff --git a/data/UPB_00001630/plys/1.ply b/data/UPB_00001630/plys/1.ply new file mode 100644 index 0000000000000000000000000000000000000000..daba3149b11d541757a929ae24afd2421cd44119 --- /dev/null +++ b/data/UPB_00001630/plys/1.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af385bce5c82b9aca1500eb07d118f9274b81b0e362d4c576541240faa7e861e +size 160242 diff --git a/data/UPB_00001630/plys/2.ply b/data/UPB_00001630/plys/2.ply new file mode 100644 index 0000000000000000000000000000000000000000..a1f18c3f3eeba51fea5d85c3742b14631e25ba2b --- /dev/null +++ b/data/UPB_00001630/plys/2.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0acf5d595fea21ab6cf521b2812624fb25b3293546b72d18b33d219be49fb1a3 +size 160242 diff --git a/data/UPB_00001630/plys/3.ply b/data/UPB_00001630/plys/3.ply new file mode 100644 index 0000000000000000000000000000000000000000..fa3cd71c4297b5d2041574db8c9917635f4b963a --- /dev/null +++ b/data/UPB_00001630/plys/3.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa3213ea0dcfaf285441ec5fc250c2feed760531818166225b7eb739b1a8ac41 +size 162770 diff --git a/data/UPB_00001630/plys/4.ply b/data/UPB_00001630/plys/4.ply new file mode 100644 index 0000000000000000000000000000000000000000..cf12a0d79b6d6c5f5f90cf8328dfc71a760b29a6 --- /dev/null +++ b/data/UPB_00001630/plys/4.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1880d62b27563758919d12b2c5e654f8eb44fb713f15c59b48b1e6759e49fd5 +size 160242 diff --git a/data/UPB_00001630/plys/5.ply b/data/UPB_00001630/plys/5.ply new file mode 100644 index 0000000000000000000000000000000000000000..37e50309e86f525251f8728ca60e5794b281a942 --- /dev/null +++ b/data/UPB_00001630/plys/5.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b281f0a8e61e3bdb1abab06bd8067a9ca6e65af9703b923df728827d53332d7 +size 984850 diff --git a/data/UPB_00001630/plys/6.ply b/data/UPB_00001630/plys/6.ply new file mode 100644 index 0000000000000000000000000000000000000000..7181ee9d69aaf92e34c19506083734a3e12b16ce --- /dev/null +++ b/data/UPB_00001630/plys/6.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8fcb75a861f3cb6e23d56610661993e59a27c408991c36dd89dad415849bbf4b +size 365506 diff --git a/data/UPB_00001630/plys/model.ply b/data/UPB_00001630/plys/model.ply new file mode 100644 index 0000000000000000000000000000000000000000..d664e08c481ee240c9dfe0b0c2f81555f75f5e96 --- /dev/null +++ b/data/UPB_00001630/plys/model.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:426c10a1e5794ced535ba7ec56236208628afd8a307933e9732760044ec10726 +size 1600243 diff --git a/data/UPB_00001631/annotations/object.json b/data/UPB_00001631/annotations/object.json new file mode 100644 index 0000000000000000000000000000000000000000..5c575d674ff5c6cf6bd07ba06929c202968774ca --- /dev/null +++ b/data/UPB_00001631/annotations/object.json @@ -0,0 +1,10 @@ +{ + "object_name": "Three-Drawer Nightstand", + "category": "Furniture/StorageFurniture", + "volume": [ + 60.0, + 40.0, + 70.0 + ], + "mass": 28.0 +} \ No newline at end of file diff --git a/data/UPB_00001631/annotations/part_1.json b/data/UPB_00001631/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..2066a0f2fe4842bed7456b132afc8bd9df43878a --- /dev/null +++ b/data/UPB_00001631/annotations/part_1.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001631", + "label": "1" + }, + "part_level": { + "part_name": "Top Drawer (front panel + drawer box assumed)", + "affordance": 5, + "graspable": true, + "basic_description": "Rectangular ornate wooden front panel (about 50\u00d715\u00d72 cm) representing the top drawer face, with the full drawer box implied by function.", + "functional_description": "Provides storage and forms the visible decorative face of the top drawer.", + "movement_description": "Slides in and out relative to the fixed carcass on wooden runners or guides.", + "grasp_description": "Pulled by the ring pull or by grasping the panel\u2019s lower edge." + }, + "basic_info": { + "material": "wood/Hardwood_Oak", + "density": 0.7, + "young": 11.0, + "hardness": 40, + "poisson": 0.35, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 1, + 4 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + 0.0, + -0.20392629504203796, + 0.26205500960350037 + ], + "range": [ + -0.30000001192092896, + 0.0 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001631/annotations/part_10.json b/data/UPB_00001631/annotations/part_10.json new file mode 100644 index 0000000000000000000000000000000000000000..85d9c7cd50eeb4809d7f707828615f4c3fa2e3ca --- /dev/null +++ b/data/UPB_00001631/annotations/part_10.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001631", + "label": "10" + }, + "part_level": { + "part_name": "Feet Set (4 turned feet)", + "affordance": 7, + "graspable": false, + "basic_description": "Four small turned wooden feet (~6\u00d76\u00d76 cm each) supporting the base.", + "functional_description": "Elevate and stabilize the nightstand, distributing load to the floor.", + "movement_description": "Rigidly fixed to the base; no relative motion.", + "grasp_description": "Not meant to be grasped; may contact hands when positioning the furniture." + }, + "basic_info": { + "material": "wood/Hardwood_Oak", + "density": 0.7, + "young": 11.0, + "hardness": 40, + "poisson": 0.35, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001631/annotations/part_2.json b/data/UPB_00001631/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..3e3176ab083add54977f2eb484c29c2607954d8d --- /dev/null +++ b/data/UPB_00001631/annotations/part_2.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001631", + "label": "2" + }, + "part_level": { + "part_name": "Middle Drawer (front panel + drawer box assumed)", + "affordance": 4, + "graspable": true, + "basic_description": "Rectangular wooden front panel (about 50\u00d713\u00d72 cm) for the middle drawer, with an attached bail handle.", + "functional_description": "Main storage drawer; the face panel provides the aesthetic exterior.", + "movement_description": "Linear translation along drawer slides/runners within the carcass.", + "grasp_description": "Frequently pulled by the bail handle with one hand." + }, + "basic_info": { + "material": "wood/Hardwood_Oak", + "density": 0.7, + "young": 11.0, + "hardness": 40, + "poisson": 0.35, + "friction": 0.46 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 2, + 5 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + 0.0, + -0.20392629504203796, + 0.055497899651527405 + ], + "range": [ + -0.30000001192092896, + 0.0 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001631/annotations/part_3.json b/data/UPB_00001631/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..a8d5dd2f6560d7d0251165a51dff2ee19e25ad9a --- /dev/null +++ b/data/UPB_00001631/annotations/part_3.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001631", + "label": "3" + }, + "part_level": { + "part_name": "Bottom Drawer (front panel + drawer box assumed)", + "affordance": 6, + "graspable": true, + "basic_description": "Lower drawer wooden face panel (about 50\u00d714\u00d72 cm), assumed attached to a deeper drawer box.", + "functional_description": "Provides the lowest storage space; the front panel visually matches the others.", + "movement_description": "Slides along guides within the cabinet; slightly heavier so more damping/friction.", + "grasp_description": "Pulled using the lower bail handle." + }, + "basic_info": { + "material": "wood/Hardwood_Oak", + "density": 0.7, + "young": 11.0, + "hardness": 40, + "poisson": 0.35, + "friction": 0.47 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 3, + 6 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + 0.0, + -0.20392629504203796, + -0.13510307669639587 + ], + "range": [ + -0.30000001192092896, + 0.0 + ], + "damping": 0.06 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001631/annotations/part_4.json b/data/UPB_00001631/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..d022069e5ce21c87cff5903b680ac8593bdf24dd --- /dev/null +++ b/data/UPB_00001631/annotations/part_4.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001631", + "label": "4" + }, + "part_level": { + "part_name": "Top Drawer Ring Pull", + "affordance": 2, + "graspable": true, + "basic_description": "Small brass ring pull (approx. 4\u00d74\u00d71 cm) fixed at the center of the top drawer front.", + "functional_description": "Provides a secure grip to open/close the top drawer.", + "movement_description": "Rigidly fastened to the drawer front; ring itself can swivel freely but assembly is fixed to the drawer.", + "grasp_description": "Gripped between fingers to pull the drawer outward." + }, + "basic_info": { + "material": "metal/Brass", + "density": 8.5, + "young": 100.0, + "hardness": 120, + "poisson": 0.34, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001631/annotations/part_5.json b/data/UPB_00001631/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..6c4d9a47ee891d1b1c9bf9b69111cde5e780c9a7 --- /dev/null +++ b/data/UPB_00001631/annotations/part_5.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001631", + "label": "5" + }, + "part_level": { + "part_name": "Middle Drawer Bail Handle", + "affordance": 1, + "graspable": true, + "basic_description": "Classic brass bail pull with two rosettes (about 12\u00d72\u00d72 cm) mounted on the middle drawer.", + "functional_description": "Primary touchpoint for opening and closing the middle drawer.", + "movement_description": "Rigidly attached to the drawer front; bail swings relative to its mounts but the assembly moves with the drawer.", + "grasp_description": "Typically grasped with one or two fingers for pulling." + }, + "basic_info": { + "material": "metal/Brass", + "density": 8.5, + "young": 100.0, + "hardness": 120, + "poisson": 0.34, + "friction": 0.34 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001631/annotations/part_6.json b/data/UPB_00001631/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..602cdf3c219949674ea1810b8009bdd45f8d8c05 --- /dev/null +++ b/data/UPB_00001631/annotations/part_6.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001631", + "label": "6" + }, + "part_level": { + "part_name": "Bottom Drawer Bail Handle", + "affordance": 3, + "graspable": true, + "basic_description": "Brass bail handle similar to the middle one, fixed to the bottom drawer front.", + "functional_description": "User interface for operating the bottom drawer.", + "movement_description": "Rigidly connected to the drawer; bail swings but the mounts move with the drawer.", + "grasp_description": "Pulled with fingers to extend or push in the drawer." + }, + "basic_info": { + "material": "metal/Brass", + "density": 8.5, + "young": 100.0, + "hardness": 120, + "poisson": 0.34, + "friction": 0.34 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001631/annotations/part_7.json b/data/UPB_00001631/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..28673e63c651e4e9e9b9a91e3834ede981ab912e --- /dev/null +++ b/data/UPB_00001631/annotations/part_7.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001631", + "label": "7" + }, + "part_level": { + "part_name": "Side Panels and Corner Moldings (left & right)", + "affordance": 9, + "graspable": false, + "basic_description": "Two symmetrical wooden side assemblies with decorative top/bottom moldings; each panel roughly 60\u00d735\u00d72 cm.", + "functional_description": "Provide lateral structure, mountings for runners, and ornate edges.", + "movement_description": "Rigidly fixed to the carcass and the front face frame\u2014no independent motion.", + "grasp_description": "Generally not grasped; may be touched when moving the whole nightstand." + }, + "basic_info": { + "material": "wood/Hardwood_Oak", + "density": 0.7, + "young": 11.0, + "hardness": 40, + "poisson": 0.35, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001631/annotations/part_8.json b/data/UPB_00001631/annotations/part_8.json new file mode 100644 index 0000000000000000000000000000000000000000..b5054bcdb41cc4e27197521752acdaa1b3f9606a --- /dev/null +++ b/data/UPB_00001631/annotations/part_8.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001631", + "label": "8" + }, + "part_level": { + "part_name": "Carcass Core (top panel, internal shelves/rails, back/center support)", + "affordance": 10, + "graspable": false, + "basic_description": "Main fixed body of the nightstand: top board, intermediate rails/shelves, and structural spine/back panel forming the drawer bays.", + "functional_description": "Carries loads, supports drawer runners, and connects sides, front frame, and feet.", + "movement_description": "Static reference frame; drawers translate relative to it.", + "grasp_description": "Seldom grasped directly except when lifting the entire furniture piece." + }, + "basic_info": { + "material": "wood/Hardwood_Oak", + "density": 0.7, + "young": 11.0, + "hardness": 40, + "poisson": 0.35, + "friction": 0.46 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001631/annotations/part_9.json b/data/UPB_00001631/annotations/part_9.json new file mode 100644 index 0000000000000000000000000000000000000000..c48e3fdf606410cc9f7bce5e092684104877cf43 --- /dev/null +++ b/data/UPB_00001631/annotations/part_9.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001631", + "label": "9" + }, + "part_level": { + "part_name": "Front Face Frame and Cornice", + "affordance": 8, + "graspable": false, + "basic_description": "Decorative front frame with top cornice, rails around drawer openings, and bottom apron.", + "functional_description": "Stiffens the cabinet front, defines drawer openings, and adds ornamentation.", + "movement_description": "Rigidly attached to the sides and core; drawers slide through the framed openings.", + "grasp_description": "Occasionally touched when cleaning; not intended as a handle." + }, + "basic_info": { + "material": "wood/Hardwood_Oak", + "density": 0.7, + "young": 11.0, + "hardness": 40, + "poisson": 0.35, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001631/full_model/material.mtl b/data/UPB_00001631/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00001631/full_model/material.mtl @@ -0,0 +1,8 @@ +# https://github.com/mikedh/trimesh + +newmtl material_0 +Ka 0.40000000 0.40000000 0.40000000 +Kd 0.40000000 0.40000000 0.40000000 +Ks 0.40000000 0.40000000 0.40000000 +Ns 1.00000000 +map_Kd material_0.png \ No newline at end of file diff --git a/data/UPB_00001631/full_model/material_0.png b/data/UPB_00001631/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..7f2ea6e8a07f40b7ac784f8eebcd6ee3df2213f4 --- /dev/null +++ b/data/UPB_00001631/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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