Upload folder using huggingface_hub (part 238)

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+    "object_name": "Vintage Wooden TV Console with 4 Center Drawers",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
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+        "entity": "UPB_00001865",
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+        "part_name": "Center Drawer Front A",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Solid walnut front panel for one of the four center drawers (approx. 38*12*2 cm).",
+        "functional_description": "Provides the face of a storage drawer; carries the handle and label frame and closes the opening flush with the carcass.",
+        "movement_description": "Moves with its complete drawer by translating in and out of the console on wooden/runner guides (0\u201330 cm).",
+        "grasp_description": "Typically pulled by the attached metal handle; edges may be touched while aligning the drawer."
+    },
+    "basic_info": {
+        "material": "wood/Walnut_Solid",
+        "density": 0.65,
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+        "type_name": "default",
+        "entity": "UPB_00001865",
+        "label": "11"
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+    "part_level": {
+        "part_name": "Main Wooden Carcass",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Primary body of the console made from solid walnut boards with two side cupboards and four center drawer bays (overall 180*45*55 cm).",
+        "functional_description": "Supports the structure, provides the top surface for a TV and storage compartments for media items.",
+        "movement_description": "Static base; serves as the parent reference for the sliding motion of all four drawers.",
+        "grasp_description": "Touched when moving the whole console or when placing items on top; edges may be held during transport."
+    },
+    "basic_info": {
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+        "entity": "UPB_00001865",
+        "label": "2"
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+        "basic_description": "Second walnut drawer face from the four central drawers (approx. 38*12*2 cm).",
+        "functional_description": "Closes its drawer opening and supports a handle and label frame.",
+        "movement_description": "Translates with its drawer along the depth of the console on guides.",
+        "grasp_description": "Pulled using the bail handle mounted at the center."
+    },
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+        "young": 12.0,
+        "hardness": 25,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                6
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    3.077604055404663,
+                    -2.319295883178711,
+                    1.0768823623657227
+                ],
+                "range": [
+                    -3.0,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001865/annotations/part_3.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001865",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Center Drawer Front C",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Third walnut drawer face among the central drawers (approx. 38*12*2 cm).",
+        "functional_description": "Decorative and structural front of a drawer; holds hardware.",
+        "movement_description": "Slides in/out with the drawer body relative to the carcass.",
+        "grasp_description": "Used via the attached metal handle."
+    },
+    "basic_info": {
+        "material": "wood/Walnut_Solid",
+        "density": 0.65,
+        "young": 12.0,
+        "hardness": 25,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                7
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    -3.038221836090088,
+                    -2.3196067810058594,
+                    -0.8209471702575684
+                ],
+                "range": [
+                    -3.0,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001865/annotations/part_4.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001865",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Center Drawer Front D",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Fourth walnut drawer face in the center stack (approx. 38*12*2 cm).",
+        "functional_description": "Acts as the closing panel for its drawer and supports hardware.",
+        "movement_description": "Translates in/out with drawer runners relative to the main body.",
+        "grasp_description": "Pulled by the bail handle to access the compartment."
+    },
+    "basic_info": {
+        "material": "wood/Walnut_Solid",
+        "density": 0.65,
+        "young": 12.0,
+        "hardness": 25,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                8
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    3.124633312225342,
+                    -2.3175134658813477,
+                    -0.7947407960891724
+                ],
+                "range": [
+                    -3.0,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001865/annotations/part_5.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001865",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Bail Handle A",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Brass bail pull with two rosette posts (approx. 11*1.5*4 cm).",
+        "functional_description": "Provides a comfortable grip to pull Drawer A.",
+        "movement_description": "Pivots about its two brass posts; moves with the drawer front as a unit during opening/closing.",
+        "grasp_description": "Users curl fingers under the bail and pull outward."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy",
+        "density": 8.4,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001865/annotations/part_6.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001865",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Bail Handle B",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Second brass bail pull sized for a center drawer.",
+        "functional_description": "Handhold for operating Drawer B.",
+        "movement_description": "Rotates on posts and travels with its drawer during translation.",
+        "grasp_description": "Gripped by fingers to pull the drawer open."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy",
+        "density": 8.4,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001865/annotations/part_7.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001865",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Bail Handle C",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Third brass bail pull for a center drawer.",
+        "functional_description": "Enables manual pulling of Drawer C.",
+        "movement_description": "Pivots around small hinge pins fixed to the drawer front.",
+        "grasp_description": "Held between fingers and palm for opening and closing."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy",
+        "density": 8.4,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001865/annotations/part_8.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001865",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Bail Handle D",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Fourth brass bail pull for the remaining center drawer.",
+        "functional_description": "Handle for operating Drawer D.",
+        "movement_description": "Rotates on its posts; travels with the drawer during sliding.",
+        "grasp_description": "Finger grip to pull or push the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy",
+        "density": 8.4,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001865/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001865",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Drawer Label Frames (set of 4)",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Four thin brass card/label frames (each approx. 7*2*0.2 cm) mounted on the drawer faces.",
+        "functional_description": "Holds paper labels to identify the contents of each drawer; also adds decorative detail.",
+        "movement_description": "No independent motion; each frame is fastened rigidly to its drawer front and moves only when that drawer moves.",
+        "grasp_description": "Not intended to be grasped."
+    },
+    "basic_info": {
+        "material": "wood/Walnut_Solid",
+        "density": 0.65,
+        "young": 12.0,
+        "hardness": 25,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001865/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

data/UPB_00001865/full_model/model.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fac4ef021fcfea587935579beeb1fa5f45ea67930ee0e5f54cc0f36174344aa
+size 90129636

data/UPB_00001865/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001865",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Vintage Wooden TV Console with 4 Center Drawers"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 10,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001865/model.urdf

@@ -0,0 +1,206 @@
+<?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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.075420 0.075420 0.075420"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.075420 0.075420 0.075420"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.075420 0.075420 0.075420"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.075420 0.075420 0.075420"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.075420 0.075420 0.075420"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.075420 0.075420 0.075420"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.075420 0.075420 0.075420"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.075420 0.075420 0.075420"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.075420 0.075420 0.075420"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.075420 0.075420 0.075420"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.075420 0.075420 0.075420"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.075420 0.075420 0.075420"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.075420 0.075420 0.075420"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.075420 0.075420 0.075420"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.075420 0.075420 0.075420"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.075420 0.075420 0.075420"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.075420 0.075420 0.075420"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.075420 0.075420 0.075420"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.075420 0.075420 0.075420"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.075420 0.075420 0.075420"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_11"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.228521 -0.176227 0.082515" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.22626094280672257" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.228521 0.176227 -0.082515" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_11"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.232114 -0.174922 0.081219" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.22626094280672257" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.232114 0.174922 -0.081219" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_11"/>
+    <child link="helper_link_2"/>
+    <origin xyz="-0.229144 -0.174945 -0.061916" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.22626094280672257" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0.229144 0.174945 0.061916" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="prismatic">
+    <parent link="link_11"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.235661 -0.174788 -0.059940" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.22626094280672257" upper="0.0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="-0.235661 0.174788 0.059940" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001865/parts/11.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 11.png