Upload folder using huggingface_hub (part 212)

.gitattributes

@@ -11921,3 +11921,36 @@ data/UPB_00001653/plys/1.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001653/plys/2.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001653/plys/3.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001653/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001654/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001654/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001654/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001654/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001654/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001654/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001654/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001655/parts/part_5.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001655/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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+data/UPB_00001655/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001656/parts/part_3.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001656/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001656/plys/2.ply filter=lfs diff=lfs merge=lfs -text
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+data/UPB_00001658/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001654/annotations/part_3.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001654",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Front Corner Posts/Trim (pair)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Two narrow hardwood vertical posts fixed along the cabinet\u2019s front corners as structural/decorative trim.",
+        "functional_description": "Stiffens the front edges of the carcass and protects the corners from impact and wear.",
+        "movement_description": "Rigidly fixed to the carcass; no relative motion.",
+        "grasp_description": "Not intended to be grasped; may be incidental touch points while moving the table."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Beech",
+        "density": 0.72,
+        "young": 12.0,
+        "hardness": 40,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001654/annotations/part_4.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001654",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Carcass Shell (sides and back)",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "U-shaped veneered particle board forming the side walls and back of the cabinet with an open front.",
+        "functional_description": "Provides the primary structure and guides for the drawers; interfaces with top and base panels.",
+        "movement_description": "Stationary reference frame for all other parts; drawers translate relative to it.",
+        "grasp_description": "Occasionally touched on the sides when repositioning the nightstand."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Veneered",
+        "density": 0.65,
+        "young": 3.5,
+        "hardness": 15,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001654/annotations/part_5.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001654",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Top Panel",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Flat laminated MDF board forming the top surface of the nightstand.",
+        "functional_description": "Provides a stable surface for placing items like lamps or books; stiffens the carcass.",
+        "movement_description": "Rigidly fixed to the carcass without motion.",
+        "grasp_description": "Touched when placing objects; not typically grasped."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.7,
+        "young": 3.0,
+        "hardness": 15,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001654/annotations/part_6.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001654",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Base Panel/Plinth",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Laminated MDF base panel supporting the cabinet and distributing load to the floor.",
+        "functional_description": "Adds rigidity and a flat bearing surface; helps align and support the drawers.",
+        "movement_description": "Rigidly attached to the carcass with no relative motion.",
+        "grasp_description": "Rarely touched except when lifting the furniture from below."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.7,
+        "young": 3.0,
+        "hardness": 15,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001654/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_00001654/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001654",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Two-Drawer Nightstand"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 6,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001654/model.urdf

@@ -0,0 +1,122 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.636427 0.636427 0.636427"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.636427 0.636427 0.636427"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.636427 0.636427 0.636427"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.636427 0.636427 0.636427"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.636427 0.636427 0.636427"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.636427 0.636427 0.636427"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.636427 0.636427 0.636427"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.636427 0.636427 0.636427"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.636427 0.636427 0.636427"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.636427 0.636427 0.636427"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.636427 0.636427 0.636427"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.636427 0.636427 0.636427"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_4"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.174706 0.016730" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.1909281199347274" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.174706 -0.016730" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_4"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 -0.174706 -0.144767" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.1909281199347274" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 0.174706 0.144767" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001654/parts/Nightstand_6M7RJXJVAVY32PTULU888888_jFJb4.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5f018fd27d6a630001697a4a
+Kd 0.442098171 0.418176085 0.388549536
+illum 1
+
+newmtl MI_5f018fd2b1d8ad00013e053b
+Kd 0.259081006 0.201563999 0.161353007
+illum 1
+
+newmtl MI_5f018fd2d849e100014813c7
+Kd 0.070600003 0.0666999966 0.0588000007
+illum 1
+
+newmtl MI_5f018fd2c6ff5a0001d291cf
+Kd 0.070600003 0.0666999966 0.0588000007
+illum 1
+
+newmtl MI_5f018fd2c6ff5a0001d291ce
+Kd 1 1 1
+illum 1
+map_Kd ./T_5f018fd2c6ff5a0001d291ce_color.jpg
+bump ./T_5f018fd2c6ff5a0001d291ce_normal.jpg
+map_bump ./T_5f018fd2c6ff5a0001d291ce_normal.jpg
+

data/UPB_00001654/parts/part_4.obj

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data/UPB_00001655/annotations/object.json

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+{
+    "object_name": "Two-Drawer Nightstand",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        50.0,
+        40.0,
+        50.0
+    ],
+    "mass": 17.0
+}

data/UPB_00001655/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001655",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Upper Drawer (front panel + hidden box)",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Upper drawer assembly with a walnut front panel (~40\u00d714\u00d71.5 cm) fixed to a hidden wooden box (~38\u00d712\u00d730 cm).",
+        "functional_description": "Provides enclosed storage in the upper bay; the panel forms the facade while the box contains items.",
+        "movement_description": "Slides in and out of the carcass on wooden runners, translating along the depth axis.",
+        "grasp_description": "Users pull or push it via the knob; the panel is occasionally touched for guidance but not primarily grasped."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Walnut",
+        "density": 0.64,
+        "young": 11.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
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+                3
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+            "B": {
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+    }
+}

data/UPB_00001655/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001655",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Lower Drawer (front panel + hidden box)",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Lower drawer assembly with matching walnut front (~40\u00d714\u00d71.5 cm) attached to a drawer box (~38\u00d712\u00d730 cm).",
+        "functional_description": "Provides enclosed storage in the lower bay; identical function to the upper drawer.",
+        "movement_description": "Translates along the cabinet depth on runners; same sliding motion as the upper drawer.",
+        "grasp_description": "Pulled and pushed through its dedicated knob; the panel surface may be touched lightly."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Walnut",
+        "density": 0.64,
+        "young": 11.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
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+        "motion_info": {
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+                4
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+    }
+}

data/UPB_00001655/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001655",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Upper Drawer Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Round brass knob with backplate and short stem (~30 mm diameter, ~25 mm projection), mounted to the upper drawer front.",
+        "functional_description": "Primary handhold for opening and closing the upper drawer; transfers pull force to the drawer.",
+        "movement_description": "No independent motion; it moves rigidly with the upper drawer as a single unit.",
+        "grasp_description": "Gripped between fingers to pull the drawer outward or push it inward."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001655/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001655",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Lower Drawer Knob",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Matching brass knob sized like the upper one, mounted on the lower drawer front.",
+        "functional_description": "Provides the main gripping point for actuating the lower drawer.",
+        "movement_description": "Rigidly fixed to the lower drawer; translates with it during opening and closing.",
+        "grasp_description": "Commonly pinched or hooked with fingers to operate the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001655/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001655",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Cabinet Carcass (top, sides, back, legs, runners)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Main walnut structure of the nightstand including top panel, sidewalls, back, internal rails/runners and four legs. External size ~50\u00d740\u00d750 cm with two stacked drawer bays.",
+        "functional_description": "Provides overall rigidity and houses the two sliding drawers; supports loads placed on the top surface.",
+        "movement_description": "Stationary frame; acts as the parent reference for the drawers\u2019 translational motion.",
+        "grasp_description": "Occasionally pushed or lifted at the sides when repositioning the entire nightstand, not during normal use."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Walnut",
+        "density": 0.64,
+        "young": 11.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001655/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_00001655/meta_data.json

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+{
+    "id": "UPB_00001655",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Two-Drawer Nightstand"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 5,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001655/model.urdf

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+<?xml version="1.0" ?>
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+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.960017 0.960017 0.960017"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.960017 0.960017 0.960017"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.960017 0.960017 0.960017"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
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+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.960017 0.960017 0.960017"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.960017 0.960017 0.960017"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.960017 0.960017 0.960017"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.960017 0.960017 0.960017"/>
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+      </geometry>
+    </collision>
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+    <parent link="link_5"/>
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+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2880051636491058" upper="0.0"/>
+  </joint>
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+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
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+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_3"/>
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+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="link_2"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

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+illum 1
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