Upload folder using huggingface_hub (part 2)

.gitattributes

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data/UPB_00000860/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00000860",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Long TV Console Sideboard"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 13,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000860/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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.698269 0.698269 0.698269"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.698269 0.698269 0.698269"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.698269 0.698269 0.698269"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.698269 0.698269 0.698269"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.698269 0.698269 0.698269"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.698269 0.698269 0.698269"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.698269 0.698269 0.698269"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.698269 0.698269 0.698269"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.698269 0.698269 0.698269"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.698269 0.698269 0.698269"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.698269 0.698269 0.698269"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.698269 0.698269 0.698269"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.698269 0.698269 0.698269"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.698269 0.698269 0.698269"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.698269 0.698269 0.698269"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.698269 0.698269 0.698269"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.698269 0.698269 0.698269"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.698269 0.698269 0.698269"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.698269 0.698269 0.698269"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.698269 0.698269 0.698269"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.698269 0.698269 0.698269"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.698269 0.698269 0.698269"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.698269 0.698269 0.698269"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.698269 0.698269 0.698269"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.698269 0.698269 0.698269"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.698269 0.698269 0.698269"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_13"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.437575 -0.142355 0.041819" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.437575 0.142355 -0.041819" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_13"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.436370 -0.157553 0.056292" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.436370 0.157553 -0.056292" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="link_13"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.878219 -0.159396 0.053095" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.878219 0.159396 -0.053095" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="prismatic">
+    <parent link="link_13"/>
+    <child link="helper_link_3"/>
+    <origin xyz="-0.658117 -0.151054 0.130896" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.20948059051368584" upper="0.0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="0.658117 0.151054 -0.130896" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="prismatic">
+    <parent link="link_13"/>
+    <child link="helper_link_4"/>
+    <origin xyz="-0.652375 -0.149974 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.20948059051368584" upper="0.0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_5"/>
+    <origin xyz="0.652375 0.149974 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="link_5"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_16" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_12"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_17" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_13"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00000860/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

data/UPB_00000860/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

data/UPB_00000860/parts/TvCabinet_YVJYF2UTQYYUCPTULI888888_U0bmE.mtl

@@ -0,0 +1,30 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_696d2675ac69b96f03c21d96
+Kd 0.32529971 0.349582195 0.294129789
+illum 1
+
+newmtl MI_696d267592e71a7b73aa1731
+Kd 0.0952767879 0.0952767879 0.0952767879
+illum 1
+bump ./T_696d267592e71a7b73aa1731_normal.jpg
+map_bump ./T_696d267592e71a7b73aa1731_normal.jpg
+
+newmtl MI_696d26759efb7d3d403f40fa
+Kd 1 1 1
+illum 1
+map_Kd ./T_696d26759efb7d3d403f40fa_color.jpg
+
+newmtl MI_696d267586d5e369b8bc35ef
+Kd 0.0471264012 0.0471264012 0.0471264012
+illum 1
+
+newmtl MI_696d2675a4f33b4785929908
+Kd 1 1 1
+Ks 0.100000001 0.100000001 0.100000001
+d 1
+illum 1
+bump ./T_696d2675a4f33b4785929908_normal.jpg
+map_bump ./T_696d2675a4f33b4785929908_normal.jpg
+

data/UPB_00000860/parts/part_3.obj

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data/UPB_00000861/annotations/object.json

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+{
+    "object_name": "Mid-century Sideboard / TV Console",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
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+}

data/UPB_00000861/annotations/part_1.json

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+{
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+        "type_name": "default",
+        "entity": "UPB_00000861",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Door Panel",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Left hinged door panel made from MDF with oak veneer, approx. 45*1.8*45 cm.",
+        "functional_description": "Covers the left storage compartment and provides an aesthetic front surface.",
+        "movement_description": "Rotates about a vertical hinge axis relative to the cabinet frame, opening up to ~110\u00b0.",
+        "grasp_description": "Users pull the attached knob to open; the panel itself is not typically grasped."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneer_Oak",
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+}

data/UPB_00000861/annotations/part_10.json

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+{
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+        "type_name": "default",
+        "entity": "UPB_00000861",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Bottom Drawer Knob",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Circular knob for the bottom drawer, black anodized aluminum, ~3*3*2 cm.",
+        "functional_description": "Allows controlled pulling/pushing of the bottom drawer under heavier loads.",
+        "movement_description": "Rigidly fixed and translates together with the drawer.",
+        "grasp_description": "Pinched or hooked for leverage when opening the heavier bottom drawer."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_Anodized",
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+}

data/UPB_00000861/annotations/part_11.json

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+{
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+        "type_name": "default",
+        "entity": "UPB_00000861",
+        "label": "11"
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+    "part_level": {
+        "part_name": "Cabinet Frame and Legs",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Main cabinet carcass with internal shelves and splayed legs, oak-veneered particle board, approx. 176*44*58 cm.",
+        "functional_description": "Provides structural support, houses compartments and slide rails, and transfers load to the floor via legs.",
+        "movement_description": "Acts as the stationary parent for all hinged doors and sliding drawers.",
+        "grasp_description": "Not normally grasped; touched when moving the whole furniture piece."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Veneer_Oak",
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+}

data/UPB_00000861/annotations/part_2.json

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+{
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+        "entity": "UPB_00000861",
+        "label": "2"
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+        "part_name": "Right Door Panel",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Right hinged door panel, MDF with oak veneer, approx. 45*1.8*45 cm.",
+        "functional_description": "Closes the right storage bay and aligns with the overall exterior finish.",
+        "movement_description": "Rotates about a vertical hinge axis relative to the frame to open/close.",
+        "grasp_description": "Operated by its knob; the panel is rarely grasped directly."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneer_Oak",
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+}

data/UPB_00000861/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000861",
+        "label": "3"
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+    "part_level": {
+        "part_name": "Top Drawer Box",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Shallow upper drawer box made of birch plywood, approx. 60*38*14 cm.",
+        "functional_description": "Provides storage for small items; connects to slides within the frame.",
+        "movement_description": "Translates forward/back on slide rails relative to the frame, up to ~35 cm extension.",
+        "grasp_description": "Pulled via the top drawer knob; the box edges are not commonly held."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
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+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.007343785371631384,
+                    -0.2199999988079071,
+                    0.2782246172428131
+                ],
+                "range": [
+                    -0.25999999046325684,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00000861/annotations/part_4.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000861",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Middle Drawer Box",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Mid-height drawer box, birch plywood, approx. 60*38*14 cm.",
+        "functional_description": "General storage drawer in the center column.",
+        "movement_description": "Slides in/out along rails relative to the frame with moderate damping.",
+        "grasp_description": "Users grasp its knob to operate; edges are only briefly touched when loading."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.6,
+        "young": 8.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                9
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.004705474711954594,
+                    -0.2297280877828598,
+                    0.10974431037902832
+                ],
+                "range": [
+                    -0.25999999046325684,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00000861/annotations/part_5.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000861",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Bottom Drawer Box",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Deep lower drawer box, birch plywood, approx. 60*38*15 cm.",
+        "functional_description": "Stores larger or heavier items at the bottom position.",
+        "movement_description": "Translates outward/inward on slides; slightly heavier feel due to load.",
+        "grasp_description": "Typically pulled using the bottom drawer knob."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.6,
+        "young": 8.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                5,
+                10
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.007084091659635305,
+                    -0.22350946068763733,
+                    -0.06479723751544952
+                ],
+                "range": [
+                    -0.25999999046325684,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00000861/annotations/part_6.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000861",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Left Door Knob",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Round recessed pull/knob, black anodized aluminum, ~3*3*2 cm.",
+        "functional_description": "Provides a grip point to operate the left door.",
+        "movement_description": "Rigidly fixed to the door; moves only as the door rotates.",
+        "grasp_description": "Pinched or hooked with fingers to pull the door open."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 60,
+        "poisson": 0.33,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000861/annotations/part_7.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000861",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Right Door Knob",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Round recessed pull/knob, black anodized aluminum, ~3*3*2 cm.",
+        "functional_description": "Allows the right door to be pulled open and shut.",
+        "movement_description": "Rigidly attached to the right door panel and follows its rotation.",
+        "grasp_description": "Common pinch grip when opening the right door."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 60,
+        "poisson": 0.33,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000861/annotations/part_8.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000861",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Top Drawer Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Small circular knob, black anodized aluminum, ~3*3*2 cm.",
+        "functional_description": "Primary grip for operating the top drawer.",
+        "movement_description": "Rigidly fixed to the drawer front, translating with the drawer box.",
+        "grasp_description": "Pinched with fingertips to pull/push the top drawer."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 60,
+        "poisson": 0.33,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000861/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000861",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Middle Drawer Knob",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Circular drawer knob, black anodized aluminum, ~3*3*2 cm.",
+        "functional_description": "Grip point for the middle drawer.",
+        "movement_description": "Rigidly attached; translates along with the drawer box on rails.",
+        "grasp_description": "Used with a pinch grip to slide the middle drawer."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 60,
+        "poisson": 0.33,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}