Upload folder using huggingface_hub (part 98)

.gitattributes

@@ -9851,3 +9851,20 @@ data/UPB_00001433/plys/7.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001433/plys/8.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001433/plys/9.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001433/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001434/full_model/model.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001434/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001434/plys/10.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001434/plys/11.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001434/plys/12.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001434/plys/13.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001434/plys/14.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001434/plys/15.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001434/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001434/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001434/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001434/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001434/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001434/plys/7.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001434/plys/8.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001434/plys/9.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001434/plys/model.ply filter=lfs diff=lfs merge=lfs -text

data/UPB_00001434/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001434",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Right Outer Door",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Rightmost hinged door panel, MDF laminate, approx 55*2*205 cm.",
+        "functional_description": "Covers and secures the rightmost wardrobe compartment.",
+        "movement_description": "Pivots on hinges attached to the cabinet side.",
+        "grasp_description": "Handled via its metal pull."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                7,
+                11
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    1.3606865406036377,
+                    -0.20598524808883667,
+                    -4.657431773580356e-08
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001434/annotations/part_8.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001434",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Left Outer Door Handle",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Curved die-cast zinc pull handle, approx 2.5*3*18 cm, mounted to the left outer door.",
+        "functional_description": "Provides a comfortable grip to open and close the left outer door.",
+        "movement_description": "Rigidly fixed to the door; moves only when the door moves.",
+        "grasp_description": "Grasp with fingers and pull to rotate the door about its hinges."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_DieCast",
+        "density": 6.6,
+        "young": 95.0,
+        "hardness": 110,
+        "poisson": 0.33,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001434/annotations/part_9.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001434",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Left Inner Door Handle",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Die-cast zinc handle, approx 2.5*3*18 cm, mounted on the left inner door.",
+        "functional_description": "Allows pulling or pushing to actuate the left inner door.",
+        "movement_description": "Rigid connection to its door; no independent motion.",
+        "grasp_description": "Finger-wrap grip to swing the door open or closed."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_DieCast",
+        "density": 6.6,
+        "young": 95.0,
+        "hardness": 110,
+        "poisson": 0.33,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001434/full_model/material.mtl

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+# 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

data/UPB_00001434/full_model/model.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:de0a3acf03c76549e879cdb18f69e84ebe3a53dc9642f823b017727d80d6af78
+size 23772297

data/UPB_00001434/meta_data.json

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+{
+    "id": "UPB_00001434",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Four-door Wardrobe with Central Shelves and Drawers"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 15,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001434/model.urdf

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+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="helper_link_2"/>
+  <link name="helper_link_3"/>
+  <link name="helper_link_4"/>
+  <link name="helper_link_5"/>
+  <link name="helper_link_6"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.865175 0.865175 0.865175"/>
+      </geometry>
+    </collision>
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+      </geometry>
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+        <mesh filename="parts/part_2.obj" scale="0.865175 0.865175 0.865175"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
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+      </geometry>
+    </visual>
+    <collision>
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+      </geometry>
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+  </link>
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+    <visual>
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+  </link>
+  <link name="link_6">
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+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
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+      </geometry>
+    </collision>
+  </link>
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+        <mesh filename="parts/part_7.obj" scale="0.865175 0.865175 0.865175"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.865175 0.865175 0.865175"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.865175 0.865175 0.865175"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.865175 0.865175 0.865175"/>
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+  </link>
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+    <visual>
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+        <mesh filename="parts/part_10.obj" scale="0.865175 0.865175 0.865175"/>
+      </geometry>
+    </visual>
+    <collision>
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+  </link>
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+    <visual>
+      <geometry>
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+    <collision>
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+      </geometry>
+    </collision>
+  </link>
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+    <visual>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
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+      </geometry>
+    </collision>
+  </link>
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+    <visual>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="0.865175 0.865175 0.865175"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="0.865175 0.865175 0.865175"/>
+      </geometry>
+    </collision>
+  </link>
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+    <visual>
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+      </geometry>
+    </visual>
+    <collision>
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+      </geometry>
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+  </link>
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+    <parent link="link_6"/>
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+  <joint name="joint_21" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_15"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001434/parts/part_15.obj

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data/UPB_00001435/annotations/object.json

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+{
+    "object_name": "Wardrobe Closet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
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+        60.0,
+        220.0
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+    "mass": 180.0
+}

data/UPB_00001435/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001435",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Column Drawer (Upper)",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "MDF drawer box with decorative front panel, approx 40*45*15 cm for the left shelf column.",
+        "functional_description": "Provides small-item storage; rides on side slides within the carcass.",
+        "movement_description": "Translates outward from the carcass on linear slides up to about 45 cm with light damping.",
+        "grasp_description": "Pulled by its knob with a pinch grip or by the drawer front edge."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated",
+        "density": 0.75,
+        "young": 3.5,
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data/UPB_00001435/annotations/part_10.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001435",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Door Knob (Rightmost Door)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Die-cast zinc cabinet knob, ~3 cm.",
+        "functional_description": "Grasp point for the rightmost door.",
+        "movement_description": "Rigid coupling to the door; follows door motion.",
+        "grasp_description": "Used daily for opening and closing."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_DieCast",
+        "density": 6.6,
+        "young": 90.0,
+        "hardness": 120,
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+}

data/UPB_00001435/annotations/part_11.json

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+{
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+        "type_name": "default",
+        "entity": "UPB_00001435",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Lower Drawer Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Small black zinc-alloy knob fitted to the lower drawer front.",
+        "functional_description": "Provides a grip to pull the lower drawer.",
+        "movement_description": "Rigidly fixed to the drawer front.",
+        "grasp_description": "Pinched and pulled to open the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_DieCast",
+        "density": 6.6,
+        "young": 90.0,
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+}

data/UPB_00001435/annotations/part_12.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001435",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Upper Drawer Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Die-cast zinc knob attached to the upper drawer front.",
+        "functional_description": "Primary grasp point to open the upper drawer.",
+        "movement_description": "Rigid connection; the knob moves with the drawer.",
+        "grasp_description": "User pulls the knob to slide the drawer out."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_DieCast",
+        "density": 6.6,
+        "young": 90.0,
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+}

data/UPB_00001435/annotations/part_13.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001435",
+        "label": "13"
+    },
+    "part_level": {
+        "part_name": "Wardrobe Carcass with Shelves",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Main MDF cabinet body with vertical dividers and a left column of shelves; approx 200*60*220 cm overall, panel thickness ~18 mm.",
+        "functional_description": "Provides structure, alignment for doors and drawers, and storage compartments.",
+        "movement_description": "Acts as the fixed reference frame for all doors (rotation) and drawers (translation).",
+        "grasp_description": "Not typically grasped during normal use except when moving or assembling the furniture."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated",
+        "density": 0.75,
+        "young": 3.5,
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+        "friction": 0.55
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+}

data/UPB_00001435/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001435",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Left Column Drawer (Lower)",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Lower MDF drawer in the left shelving bay, approx 40*45*15 cm.",
+        "functional_description": "Stores items; mates to the carcass with ball-bearing slides.",
+        "movement_description": "Slides in and out along the cabinet depth; limited by the slide travel.",
+        "grasp_description": "User pulls the knob to open and pushes the front to close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated",
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+}

data/UPB_00001435/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001435",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Leftmost Door Panel",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Tall MDF cabinet door about 40*210*1.8 cm with raised panel styling.",
+        "functional_description": "Covers and protects the left wardrobe compartment and reduces dust.",
+        "movement_description": "Rotates about a vertical hinge line on the carcass; soft-close hinges provide damping.",
+        "grasp_description": "Pulled by the attached knob or by the door edge to swing open."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
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+        "young": 3.5,
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+        "friction": 0.5
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+}

data/UPB_00001435/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001435",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Left-Center Door Panel",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "MDF wardrobe door roughly 40*210*1.8 cm.",
+        "functional_description": "Encloses a central section of the closet.",
+        "movement_description": "Swings on concealed hinges fixed to the carcass side stile.",
+        "grasp_description": "User pulls the knob to open; pushes on the panel to close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
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+        "friction": 0.5
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