Upload folder using huggingface_hub (part 224)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +87 -0
- data/UPB_00001774/meta_data.json +22 -0
- data/UPB_00001774/model.urdf +122 -0
- data/UPB_00001774/parts/Nightstand_ZSSOAFZVAVUPIPTULY888888_NXsul.mtl +12 -0
- data/UPB_00001774/parts/T_609a7b205974ed0001e73a84_color_front.jpg +3 -0
- data/UPB_00001774/parts/part_1.obj +0 -0
- data/UPB_00001774/parts/part_2.obj +0 -0
- data/UPB_00001774/parts/part_3.obj +0 -0
- data/UPB_00001774/parts/part_4.obj +0 -0
- data/UPB_00001774/parts/part_5.obj +3 -0
- data/UPB_00001774/parts/part_6.obj +0 -0
- data/UPB_00001774/plys/1.ply +3 -0
- data/UPB_00001774/plys/2.ply +3 -0
- data/UPB_00001774/plys/3.ply +3 -0
- data/UPB_00001774/plys/4.ply +3 -0
- data/UPB_00001774/plys/5.ply +3 -0
- data/UPB_00001774/plys/6.ply +3 -0
- data/UPB_00001774/plys/model.ply +3 -0
- data/UPB_00001775/annotations/object.json +10 -0
- data/UPB_00001775/annotations/part_1.json +52 -0
- data/UPB_00001775/annotations/part_2.json +52 -0
- data/UPB_00001775/annotations/part_3.json +30 -0
- data/UPB_00001775/annotations/part_4.json +30 -0
- data/UPB_00001775/annotations/part_5.json +30 -0
- data/UPB_00001775/annotations/part_6.json +30 -0
- data/UPB_00001775/full_model/material.mtl +8 -0
- data/UPB_00001775/full_model/material_0.png +3 -0
- data/UPB_00001775/full_model/model.obj +0 -0
- data/UPB_00001775/meta_data.json +22 -0
- data/UPB_00001775/model.urdf +122 -0
- data/UPB_00001775/parts/Nightstand_ZTRR4KRVAUFKAPTUKQ888888_z55We.mtl +14 -0
- data/UPB_00001775/parts/T_60dd85eb5b896900015f9669_color.jpg +3 -0
- data/UPB_00001775/parts/T_60dd85eb5b896900015f9669_normal.jpg +3 -0
- data/UPB_00001775/parts/part_1.obj +0 -0
- data/UPB_00001775/parts/part_2.obj +0 -0
- data/UPB_00001775/parts/part_3.obj +1879 -0
- data/UPB_00001775/parts/part_4.obj +1879 -0
- data/UPB_00001775/parts/part_5.obj +0 -0
- data/UPB_00001775/parts/part_6.obj +3 -0
- data/UPB_00001775/plys/1.ply +3 -0
- data/UPB_00001775/plys/2.ply +3 -0
- data/UPB_00001775/plys/3.ply +3 -0
- data/UPB_00001775/plys/4.ply +3 -0
- data/UPB_00001775/plys/5.ply +3 -0
- data/UPB_00001775/plys/6.ply +3 -0
- data/UPB_00001775/plys/model.ply +3 -0
- data/UPB_00001776/annotations/object.json +10 -0
- data/UPB_00001776/annotations/part_1.json +51 -0
- data/UPB_00001776/annotations/part_2.json +51 -0
- data/UPB_00001776/annotations/part_3.json +30 -0
.gitattributes
CHANGED
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@@ -12688,3 +12688,90 @@ data/UPB_00001773/plys/7.ply filter=lfs diff=lfs merge=lfs -text
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| 12688 |
data/UPB_00001773/plys/8.ply filter=lfs diff=lfs merge=lfs -text
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| 12689 |
data/UPB_00001773/plys/9.ply filter=lfs diff=lfs merge=lfs -text
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| 12690 |
data/UPB_00001773/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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| 12688 |
data/UPB_00001773/plys/8.ply filter=lfs diff=lfs merge=lfs -text
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| 12689 |
data/UPB_00001773/plys/9.ply filter=lfs diff=lfs merge=lfs -text
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| 12690 |
data/UPB_00001773/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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| 12691 |
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data/UPB_00001774/parts/part_5.obj filter=lfs diff=lfs merge=lfs -text
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| 12692 |
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data/UPB_00001774/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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| 12693 |
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data/UPB_00001774/plys/2.ply filter=lfs diff=lfs merge=lfs -text
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| 12694 |
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data/UPB_00001774/plys/3.ply filter=lfs diff=lfs merge=lfs -text
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| 12695 |
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data/UPB_00001774/plys/4.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001774/plys/5.ply filter=lfs diff=lfs merge=lfs -text
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| 12697 |
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data/UPB_00001774/plys/6.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001774/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001775/parts/part_6.obj filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001775/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001775/plys/2.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001775/plys/3.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001775/plys/4.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001775/plys/5.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001775/plys/6.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001775/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001776/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001776/plys/2.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001776/plys/3.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001776/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001777/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001777/plys/2.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001777/plys/3.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001777/plys/4.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001777/plys/5.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001777/plys/6.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001777/plys/7.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001777/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001778/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001778/plys/2.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001778/plys/3.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001778/plys/4.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001778/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001779/full_model/model.obj filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001779/parts/part_1.obj filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001779/parts/part_2.obj filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001779/parts/part_6.obj filter=lfs diff=lfs merge=lfs -text
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| 12728 |
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data/UPB_00001779/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001779/plys/2.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001779/plys/3.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001779/plys/4.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001779/plys/6.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001779/plys/7.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001779/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001780/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001780/plys/2.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001780/plys/3.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001780/plys/4.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001780/plys/5.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001780/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001781/full_model/model.obj filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001781/parts/part_2.obj filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001781/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001781/plys/2.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001781/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001782/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001782/plys/2.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001782/plys/3.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001782/plys/4.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001782/plys/5.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001782/plys/6.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001782/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001783/full_model/model.obj filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001783/parts/part_4.obj filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001783/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001783/plys/2.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001783/plys/3.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001783/plys/4.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001783/plys/5.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001783/plys/6.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001783/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001784/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001784/plys/2.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001784/plys/3.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001784/plys/4.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001784/plys/5.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001784/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001785/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001785/plys/2.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001785/plys/3.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001785/plys/4.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001785/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001786/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001786/plys/2.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001786/plys/3.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001786/plys/4.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001786/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001774/meta_data.json
ADDED
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@@ -0,0 +1,22 @@
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{
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"id": "UPB_00001774",
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"source": [
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{
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"dataset": "UniPhys-Bench",
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"organization": "Manycore Tech Inc.",
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"license_ref": "UniPhys-Bench"
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}
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],
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"object": {
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"category": "Furniture/StorageFurniture",
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"object_name": "Two-Drawer Nightstand"
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},
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"geometry": {
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"asset_type": "decomposed_parts",
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"num_parts": 6,
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"format": "obj"
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},
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"annotation": {
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"version": "v1.0"
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}
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}
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data/UPB_00001774/model.urdf
ADDED
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<?xml version="1.0" ?>
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<robot name="robot">
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<link name="base_link"/>
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<link name="helper_link_0"/>
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<link name="helper_link_1"/>
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<link name="link_1">
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<visual>
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<geometry>
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<mesh filename="parts/part_1.obj" scale="0.999731 0.999731 0.999731"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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| 14 |
+
<mesh filename="parts/part_1.obj" scale="0.999731 0.999731 0.999731"/>
|
| 15 |
+
</geometry>
|
| 16 |
+
</collision>
|
| 17 |
+
</link>
|
| 18 |
+
<link name="link_2">
|
| 19 |
+
<visual>
|
| 20 |
+
<geometry>
|
| 21 |
+
<mesh filename="parts/part_2.obj" scale="0.999731 0.999731 0.999731"/>
|
| 22 |
+
</geometry>
|
| 23 |
+
</visual>
|
| 24 |
+
<collision>
|
| 25 |
+
<geometry>
|
| 26 |
+
<mesh filename="parts/part_2.obj" scale="0.999731 0.999731 0.999731"/>
|
| 27 |
+
</geometry>
|
| 28 |
+
</collision>
|
| 29 |
+
</link>
|
| 30 |
+
<link name="link_3">
|
| 31 |
+
<visual>
|
| 32 |
+
<geometry>
|
| 33 |
+
<mesh filename="parts/part_3.obj" scale="0.999731 0.999731 0.999731"/>
|
| 34 |
+
</geometry>
|
| 35 |
+
</visual>
|
| 36 |
+
<collision>
|
| 37 |
+
<geometry>
|
| 38 |
+
<mesh filename="parts/part_3.obj" scale="0.999731 0.999731 0.999731"/>
|
| 39 |
+
</geometry>
|
| 40 |
+
</collision>
|
| 41 |
+
</link>
|
| 42 |
+
<link name="link_4">
|
| 43 |
+
<visual>
|
| 44 |
+
<geometry>
|
| 45 |
+
<mesh filename="parts/part_4.obj" scale="0.999731 0.999731 0.999731"/>
|
| 46 |
+
</geometry>
|
| 47 |
+
</visual>
|
| 48 |
+
<collision>
|
| 49 |
+
<geometry>
|
| 50 |
+
<mesh filename="parts/part_4.obj" scale="0.999731 0.999731 0.999731"/>
|
| 51 |
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</geometry>
|
| 52 |
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</collision>
|
| 53 |
+
</link>
|
| 54 |
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<link name="link_5">
|
| 55 |
+
<visual>
|
| 56 |
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<geometry>
|
| 57 |
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<mesh filename="parts/part_5.obj" scale="0.999731 0.999731 0.999731"/>
|
| 58 |
+
</geometry>
|
| 59 |
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</visual>
|
| 60 |
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<collision>
|
| 61 |
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<geometry>
|
| 62 |
+
<mesh filename="parts/part_5.obj" scale="0.999731 0.999731 0.999731"/>
|
| 63 |
+
</geometry>
|
| 64 |
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</collision>
|
| 65 |
+
</link>
|
| 66 |
+
<link name="link_6">
|
| 67 |
+
<visual>
|
| 68 |
+
<geometry>
|
| 69 |
+
<mesh filename="parts/part_6.obj" scale="0.999731 0.999731 0.999731"/>
|
| 70 |
+
</geometry>
|
| 71 |
+
</visual>
|
| 72 |
+
<collision>
|
| 73 |
+
<geometry>
|
| 74 |
+
<mesh filename="parts/part_6.obj" scale="0.999731 0.999731 0.999731"/>
|
| 75 |
+
</geometry>
|
| 76 |
+
</collision>
|
| 77 |
+
</link>
|
| 78 |
+
<joint name="joint_0" type="prismatic">
|
| 79 |
+
<parent link="link_5"/>
|
| 80 |
+
<child link="helper_link_0"/>
|
| 81 |
+
<origin xyz="0.000835 -0.207836 0.002794" rpy="0 0 0"/>
|
| 82 |
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<axis xyz="0.0 1.0 0.0"/>
|
| 83 |
+
<limit lower="-0.29991930091051483" upper="0.0"/>
|
| 84 |
+
</joint>
|
| 85 |
+
<joint name="joint_1" type="fixed">
|
| 86 |
+
<parent link="helper_link_0"/>
|
| 87 |
+
<child link="link_1"/>
|
| 88 |
+
<origin xyz="-0.000835 0.207836 -0.002794" rpy="0 0 0"/>
|
| 89 |
+
</joint>
|
| 90 |
+
<joint name="joint_2" type="prismatic">
|
| 91 |
+
<parent link="link_5"/>
|
| 92 |
+
<child link="helper_link_1"/>
|
| 93 |
+
<origin xyz="0.000000 -0.207836 0.161196" rpy="0 0 0"/>
|
| 94 |
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<axis xyz="0.0 1.0 0.0"/>
|
| 95 |
+
<limit lower="-0.29991930091051483" upper="0.0"/>
|
| 96 |
+
</joint>
|
| 97 |
+
<joint name="joint_3" type="fixed">
|
| 98 |
+
<parent link="helper_link_1"/>
|
| 99 |
+
<child link="link_2"/>
|
| 100 |
+
<origin xyz="-0.000000 0.207836 -0.161196" rpy="0 0 0"/>
|
| 101 |
+
</joint>
|
| 102 |
+
<joint name="joint_4" type="fixed">
|
| 103 |
+
<parent link="link_1"/>
|
| 104 |
+
<child link="link_3"/>
|
| 105 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 106 |
+
</joint>
|
| 107 |
+
<joint name="joint_5" type="fixed">
|
| 108 |
+
<parent link="link_2"/>
|
| 109 |
+
<child link="link_4"/>
|
| 110 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 111 |
+
</joint>
|
| 112 |
+
<joint name="joint_6" type="fixed">
|
| 113 |
+
<parent link="base_link"/>
|
| 114 |
+
<child link="link_5"/>
|
| 115 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 116 |
+
</joint>
|
| 117 |
+
<joint name="joint_7" type="fixed">
|
| 118 |
+
<parent link="base_link"/>
|
| 119 |
+
<child link="link_6"/>
|
| 120 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 121 |
+
</joint>
|
| 122 |
+
</robot>
|
data/UPB_00001774/parts/Nightstand_ZSSOAFZVAVUPIPTULY888888_NXsul.mtl
ADDED
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ADDED
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ADDED
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ADDED
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data/UPB_00001775/annotations/object.json
ADDED
|
@@ -0,0 +1,10 @@
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|
|
|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"object_name": "Two-Drawer Nightstand",
|
| 3 |
+
"category": "Furniture/StorageFurniture",
|
| 4 |
+
"volume": [
|
| 5 |
+
50.0,
|
| 6 |
+
40.0,
|
| 7 |
+
55.0
|
| 8 |
+
],
|
| 9 |
+
"mass": 20.0
|
| 10 |
+
}
|
data/UPB_00001775/annotations/part_1.json
ADDED
|
@@ -0,0 +1,52 @@
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001775",
|
| 5 |
+
"label": "1"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Upper Drawer (front and drawer box)",
|
| 9 |
+
"affordance": 3,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "MDF drawer with a rectangular front panel about 45*20*1.5 cm, matching the upper opening of the cabinet.",
|
| 12 |
+
"functional_description": "Stores small items; its front panel closes the upper bay.",
|
| 13 |
+
"movement_description": "Slides in and out of the carcass on runners; translation approximately 35 cm with light damping from slides.",
|
| 14 |
+
"grasp_description": "Users pull via the attached upper handle; they may push the panel to close but usually do not grasp the panel edges directly."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "wood/MDF",
|
| 18 |
+
"density": 0.75,
|
| 19 |
+
"young": 4.0,
|
| 20 |
+
"hardness": 8,
|
| 21 |
+
"poisson": 0.3,
|
| 22 |
+
"friction": 0.4
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"B"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
1,
|
| 31 |
+
3
|
| 32 |
+
],
|
| 33 |
+
"B": {
|
| 34 |
+
"axis": [
|
| 35 |
+
0.0,
|
| 36 |
+
1.0,
|
| 37 |
+
0.0
|
| 38 |
+
],
|
| 39 |
+
"pos": [
|
| 40 |
+
0.0,
|
| 41 |
+
-0.20088879764080048,
|
| 42 |
+
0.13523101806640625
|
| 43 |
+
],
|
| 44 |
+
"range": [
|
| 45 |
+
-0.30000001192092896,
|
| 46 |
+
0.0
|
| 47 |
+
],
|
| 48 |
+
"damping": 0.05
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
| 52 |
+
}
|
data/UPB_00001775/annotations/part_2.json
ADDED
|
@@ -0,0 +1,52 @@
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
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|
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|
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|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001775",
|
| 5 |
+
"label": "2"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Lower Drawer (front and drawer box)",
|
| 9 |
+
"affordance": 4,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "MDF drawer with a rectangular front panel about 45*20*1.5 cm, fitting the lower opening.",
|
| 12 |
+
"functional_description": "Provides additional storage and closes the lower bay.",
|
| 13 |
+
"movement_description": "Translates in/out of the cabinet on slide rails; range roughly the cabinet depth.",
|
| 14 |
+
"grasp_description": "Users pull using the lower handle; front panel is usually pushed to close."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "wood/MDF",
|
| 18 |
+
"density": 0.75,
|
| 19 |
+
"young": 4.0,
|
| 20 |
+
"hardness": 8,
|
| 21 |
+
"poisson": 0.3,
|
| 22 |
+
"friction": 0.4
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"B"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
2,
|
| 31 |
+
4
|
| 32 |
+
],
|
| 33 |
+
"B": {
|
| 34 |
+
"axis": [
|
| 35 |
+
0.0,
|
| 36 |
+
1.0,
|
| 37 |
+
0.0
|
| 38 |
+
],
|
| 39 |
+
"pos": [
|
| 40 |
+
0.0,
|
| 41 |
+
-0.20088879764080048,
|
| 42 |
+
-0.0030031204223632812
|
| 43 |
+
],
|
| 44 |
+
"range": [
|
| 45 |
+
-0.30000001192092896,
|
| 46 |
+
0.0
|
| 47 |
+
],
|
| 48 |
+
"damping": 0.05
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
| 52 |
+
}
|
data/UPB_00001775/annotations/part_3.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
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|
|
|
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|
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|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001775",
|
| 5 |
+
"label": "3"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Upper Drawer Handle",
|
| 9 |
+
"affordance": 1,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Brushed aluminum bar handle ~10*1.5*2 cm with rounded ends, mounted on the upper drawer front.",
|
| 12 |
+
"functional_description": "Provides a comfortable grip to actuate the upper drawer.",
|
| 13 |
+
"movement_description": "No independent motion; rigidly fastened to the upper drawer and moves with it.",
|
| 14 |
+
"grasp_description": "Pinch or hook fingers behind/around the bar to pull or push the drawer."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "metal/Aluminum_Alloy_6061",
|
| 18 |
+
"density": 2.7,
|
| 19 |
+
"young": 69.0,
|
| 20 |
+
"hardness": 95,
|
| 21 |
+
"poisson": 0.33,
|
| 22 |
+
"friction": 0.3
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001775/annotations/part_4.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001775",
|
| 5 |
+
"label": "4"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Lower Drawer Handle",
|
| 9 |
+
"affordance": 2,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Brushed aluminum bar handle ~10*1.5*2 cm with rounded ends, mounted on the lower drawer front.",
|
| 12 |
+
"functional_description": "Primary grip for operating the lower drawer.",
|
| 13 |
+
"movement_description": "Rigidly fixed to the lower drawer; follows its sliding motion.",
|
| 14 |
+
"grasp_description": "Users pull with fingers or a full hand grip to open; push to close."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "metal/Aluminum_Alloy_6061",
|
| 18 |
+
"density": 2.7,
|
| 19 |
+
"young": 69.0,
|
| 20 |
+
"hardness": 95,
|
| 21 |
+
"poisson": 0.33,
|
| 22 |
+
"friction": 0.3
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001775/annotations/part_5.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001775",
|
| 5 |
+
"label": "5"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Cabinet Body (carcass)",
|
| 9 |
+
"affordance": 5,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "MDF box-shaped carcass forming the nightstand shell, external size about 50*40*55 cm with two internal bays for drawers.",
|
| 12 |
+
"functional_description": "Provides structure, enclosure, and a top surface; houses and guides the drawers via slides.",
|
| 13 |
+
"movement_description": "Static parent component; defines the translation paths for the drawers and is rigidly attached to the leg set.",
|
| 14 |
+
"grasp_description": "Users may reposition the nightstand by lifting at the sides or top; surfaces are touched when placing items."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "wood/MDF",
|
| 18 |
+
"density": 0.75,
|
| 19 |
+
"young": 4.0,
|
| 20 |
+
"hardness": 8,
|
| 21 |
+
"poisson": 0.3,
|
| 22 |
+
"friction": 0.45
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001775/annotations/part_6.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001775",
|
| 5 |
+
"label": "6"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Leg Set / Base Frame",
|
| 9 |
+
"affordance": 8,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Four powder-coated steel corner legs (~20 cm tall, ~3 cm thick) and a small central brace, forming the support base.",
|
| 12 |
+
"functional_description": "Elevates and stabilizes the cabinet; transmits loads to the floor and may include pads for grip and floor protection.",
|
| 13 |
+
"movement_description": "No motion relative to the carcass; rigidly fastened with screws or brackets.",
|
| 14 |
+
"grasp_description": "Rarely touched directly; may be used when lifting the furniture carefully."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "metal/Steel_Low_Carbon_Powder_Coated",
|
| 18 |
+
"density": 7.85,
|
| 19 |
+
"young": 200.0,
|
| 20 |
+
"hardness": 150,
|
| 21 |
+
"poisson": 0.3,
|
| 22 |
+
"friction": 0.55
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001775/full_model/material.mtl
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
|
| 3 |
+
newmtl material_0
|
| 4 |
+
Ka 0.40000000 0.40000000 0.40000000
|
| 5 |
+
Kd 0.40000000 0.40000000 0.40000000
|
| 6 |
+
Ks 0.40000000 0.40000000 0.40000000
|
| 7 |
+
Ns 1.00000000
|
| 8 |
+
map_Kd material_0.png
|
data/UPB_00001775/full_model/material_0.png
ADDED
|
Git LFS Details
|
data/UPB_00001775/full_model/model.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/UPB_00001775/meta_data.json
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"id": "UPB_00001775",
|
| 3 |
+
"source": [
|
| 4 |
+
{
|
| 5 |
+
"dataset": "UniPhys-Bench",
|
| 6 |
+
"organization": "Manycore Tech Inc.",
|
| 7 |
+
"license_ref": "UniPhys-Bench"
|
| 8 |
+
}
|
| 9 |
+
],
|
| 10 |
+
"object": {
|
| 11 |
+
"category": "Furniture/StorageFurniture",
|
| 12 |
+
"object_name": "Two-Drawer Nightstand"
|
| 13 |
+
},
|
| 14 |
+
"geometry": {
|
| 15 |
+
"asset_type": "decomposed_parts",
|
| 16 |
+
"num_parts": 6,
|
| 17 |
+
"format": "obj"
|
| 18 |
+
},
|
| 19 |
+
"annotation": {
|
| 20 |
+
"version": "v1.0"
|
| 21 |
+
}
|
| 22 |
+
}
|
data/UPB_00001775/model.urdf
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="robot">
|
| 3 |
+
<link name="base_link"/>
|
| 4 |
+
<link name="helper_link_0"/>
|
| 5 |
+
<link name="helper_link_1"/>
|
| 6 |
+
<link name="link_1">
|
| 7 |
+
<visual>
|
| 8 |
+
<geometry>
|
| 9 |
+
<mesh filename="parts/part_1.obj" scale="1.182074 1.182074 1.182074"/>
|
| 10 |
+
</geometry>
|
| 11 |
+
</visual>
|
| 12 |
+
<collision>
|
| 13 |
+
<geometry>
|
| 14 |
+
<mesh filename="parts/part_1.obj" scale="1.182074 1.182074 1.182074"/>
|
| 15 |
+
</geometry>
|
| 16 |
+
</collision>
|
| 17 |
+
</link>
|
| 18 |
+
<link name="link_2">
|
| 19 |
+
<visual>
|
| 20 |
+
<geometry>
|
| 21 |
+
<mesh filename="parts/part_2.obj" scale="1.182074 1.182074 1.182074"/>
|
| 22 |
+
</geometry>
|
| 23 |
+
</visual>
|
| 24 |
+
<collision>
|
| 25 |
+
<geometry>
|
| 26 |
+
<mesh filename="parts/part_2.obj" scale="1.182074 1.182074 1.182074"/>
|
| 27 |
+
</geometry>
|
| 28 |
+
</collision>
|
| 29 |
+
</link>
|
| 30 |
+
<link name="link_3">
|
| 31 |
+
<visual>
|
| 32 |
+
<geometry>
|
| 33 |
+
<mesh filename="parts/part_3.obj" scale="1.182074 1.182074 1.182074"/>
|
| 34 |
+
</geometry>
|
| 35 |
+
</visual>
|
| 36 |
+
<collision>
|
| 37 |
+
<geometry>
|
| 38 |
+
<mesh filename="parts/part_3.obj" scale="1.182074 1.182074 1.182074"/>
|
| 39 |
+
</geometry>
|
| 40 |
+
</collision>
|
| 41 |
+
</link>
|
| 42 |
+
<link name="link_4">
|
| 43 |
+
<visual>
|
| 44 |
+
<geometry>
|
| 45 |
+
<mesh filename="parts/part_4.obj" scale="1.182074 1.182074 1.182074"/>
|
| 46 |
+
</geometry>
|
| 47 |
+
</visual>
|
| 48 |
+
<collision>
|
| 49 |
+
<geometry>
|
| 50 |
+
<mesh filename="parts/part_4.obj" scale="1.182074 1.182074 1.182074"/>
|
| 51 |
+
</geometry>
|
| 52 |
+
</collision>
|
| 53 |
+
</link>
|
| 54 |
+
<link name="link_5">
|
| 55 |
+
<visual>
|
| 56 |
+
<geometry>
|
| 57 |
+
<mesh filename="parts/part_5.obj" scale="1.182074 1.182074 1.182074"/>
|
| 58 |
+
</geometry>
|
| 59 |
+
</visual>
|
| 60 |
+
<collision>
|
| 61 |
+
<geometry>
|
| 62 |
+
<mesh filename="parts/part_5.obj" scale="1.182074 1.182074 1.182074"/>
|
| 63 |
+
</geometry>
|
| 64 |
+
</collision>
|
| 65 |
+
</link>
|
| 66 |
+
<link name="link_6">
|
| 67 |
+
<visual>
|
| 68 |
+
<geometry>
|
| 69 |
+
<mesh filename="parts/part_6.obj" scale="1.182074 1.182074 1.182074"/>
|
| 70 |
+
</geometry>
|
| 71 |
+
</visual>
|
| 72 |
+
<collision>
|
| 73 |
+
<geometry>
|
| 74 |
+
<mesh filename="parts/part_6.obj" scale="1.182074 1.182074 1.182074"/>
|
| 75 |
+
</geometry>
|
| 76 |
+
</collision>
|
| 77 |
+
</link>
|
| 78 |
+
<joint name="joint_0" type="prismatic">
|
| 79 |
+
<parent link="link_5"/>
|
| 80 |
+
<child link="helper_link_0"/>
|
| 81 |
+
<origin xyz="0.000000 -0.237465 0.159853" rpy="0 0 0"/>
|
| 82 |
+
<axis xyz="0.0 1.0 0.0"/>
|
| 83 |
+
<limit lower="-0.3546221449753965" upper="0.0"/>
|
| 84 |
+
</joint>
|
| 85 |
+
<joint name="joint_1" type="fixed">
|
| 86 |
+
<parent link="helper_link_0"/>
|
| 87 |
+
<child link="link_1"/>
|
| 88 |
+
<origin xyz="-0.000000 0.237465 -0.159853" rpy="0 0 0"/>
|
| 89 |
+
</joint>
|
| 90 |
+
<joint name="joint_2" type="prismatic">
|
| 91 |
+
<parent link="link_5"/>
|
| 92 |
+
<child link="helper_link_1"/>
|
| 93 |
+
<origin xyz="0.000000 -0.237465 -0.003550" rpy="0 0 0"/>
|
| 94 |
+
<axis xyz="0.0 1.0 0.0"/>
|
| 95 |
+
<limit lower="-0.3546221449753965" upper="0.0"/>
|
| 96 |
+
</joint>
|
| 97 |
+
<joint name="joint_3" type="fixed">
|
| 98 |
+
<parent link="helper_link_1"/>
|
| 99 |
+
<child link="link_2"/>
|
| 100 |
+
<origin xyz="-0.000000 0.237465 0.003550" rpy="0 0 0"/>
|
| 101 |
+
</joint>
|
| 102 |
+
<joint name="joint_4" type="fixed">
|
| 103 |
+
<parent link="link_1"/>
|
| 104 |
+
<child link="link_3"/>
|
| 105 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 106 |
+
</joint>
|
| 107 |
+
<joint name="joint_5" type="fixed">
|
| 108 |
+
<parent link="link_2"/>
|
| 109 |
+
<child link="link_4"/>
|
| 110 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 111 |
+
</joint>
|
| 112 |
+
<joint name="joint_6" type="fixed">
|
| 113 |
+
<parent link="base_link"/>
|
| 114 |
+
<child link="link_5"/>
|
| 115 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 116 |
+
</joint>
|
| 117 |
+
<joint name="joint_7" type="fixed">
|
| 118 |
+
<parent link="base_link"/>
|
| 119 |
+
<child link="link_6"/>
|
| 120 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 121 |
+
</joint>
|
| 122 |
+
</robot>
|
data/UPB_00001775/parts/Nightstand_ZTRR4KRVAUFKAPTUKQ888888_z55We.mtl
ADDED
|
@@ -0,0 +1,14 @@
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|
| 1 |
+
# File produced by Open Asset Import Library (http://www.assimp.sf.net)
|
| 2 |
+
# (assimp v5.4.0)
|
| 3 |
+
|
| 4 |
+
newmtl MI_60dd85eb5b896900015f9669
|
| 5 |
+
Kd 1 1 1
|
| 6 |
+
illum 1
|
| 7 |
+
map_Kd ./T_60dd85eb5b896900015f9669_color.jpg
|
| 8 |
+
bump ./T_60dd85eb5b896900015f9669_normal.jpg
|
| 9 |
+
map_bump ./T_60dd85eb5b896900015f9669_normal.jpg
|
| 10 |
+
|
| 11 |
+
newmtl MI_60dd85ebe77dfc0001ee0d57
|
| 12 |
+
Kd 0.103887998 0.103887998 0.103887998
|
| 13 |
+
illum 1
|
| 14 |
+
|
data/UPB_00001775/parts/T_60dd85eb5b896900015f9669_color.jpg
ADDED
|
Git LFS Details
|
data/UPB_00001775/parts/T_60dd85eb5b896900015f9669_normal.jpg
ADDED
|
Git LFS Details
|
data/UPB_00001775/parts/part_1.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/UPB_00001775/parts/part_2.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/UPB_00001775/parts/part_3.obj
ADDED
|
@@ -0,0 +1,1879 @@
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|
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|
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|
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|
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|
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|
data/UPB_00001775/parts/part_4.obj
ADDED
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data/UPB_00001775/parts/part_5.obj
ADDED
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data/UPB_00001775/parts/part_6.obj
ADDED
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data/UPB_00001775/plys/1.ply
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data/UPB_00001775/plys/2.ply
ADDED
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size 160242
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data/UPB_00001775/plys/3.ply
ADDED
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size 160242
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data/UPB_00001775/plys/4.ply
ADDED
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version https://git-lfs.github.com/spec/v1
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size 160242
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data/UPB_00001775/plys/5.ply
ADDED
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size 1315154
|
data/UPB_00001775/plys/6.ply
ADDED
|
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version https://git-lfs.github.com/spec/v1
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size 160242
|
data/UPB_00001775/plys/model.ply
ADDED
|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 1600243
|
data/UPB_00001776/annotations/object.json
ADDED
|
@@ -0,0 +1,10 @@
|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"object_name": "Compact Two-Drawer Organizer",
|
| 3 |
+
"category": "Furniture/StorageFurniture",
|
| 4 |
+
"volume": [
|
| 5 |
+
40.0,
|
| 6 |
+
30.0,
|
| 7 |
+
25.0
|
| 8 |
+
],
|
| 9 |
+
"mass": 2.6
|
| 10 |
+
}
|
data/UPB_00001776/annotations/part_1.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001776",
|
| 5 |
+
"label": "1"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Upper Drawer Front",
|
| 9 |
+
"affordance": 1,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "ABS plastic upper drawer front panel with a slight pull lip along the lower edge. Approximate panel size 38*10*1.2 cm.",
|
| 12 |
+
"functional_description": "Provides the handle and closure face for the upper drawer; rigidly connected to the drawer box behind it.",
|
| 13 |
+
"movement_description": "Moves as part of the upper drawer, translating in and out along internal runners within the body by up to ~22 cm. Light damping reduces slam on closing.",
|
| 14 |
+
"grasp_description": "Users grasp the lower lip of this panel to pull the upper drawer out and push it closed."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "wood",
|
| 18 |
+
"density": 0.6831475819899716,
|
| 19 |
+
"young": 10.090554474708158,
|
| 20 |
+
"hardness": 30.98401889938855,
|
| 21 |
+
"poisson": 0.336887159533042,
|
| 22 |
+
"friction": 0.488647859922181
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"B"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
1
|
| 31 |
+
],
|
| 32 |
+
"B": {
|
| 33 |
+
"axis": [
|
| 34 |
+
0.0,
|
| 35 |
+
1.0,
|
| 36 |
+
0.0
|
| 37 |
+
],
|
| 38 |
+
"pos": [
|
| 39 |
+
0.0,
|
| 40 |
+
-0.20913389325141907,
|
| 41 |
+
0.09987186640501022
|
| 42 |
+
],
|
| 43 |
+
"range": [
|
| 44 |
+
-0.30000001192092896,
|
| 45 |
+
0.0
|
| 46 |
+
],
|
| 47 |
+
"damping": 0.04
|
| 48 |
+
}
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
data/UPB_00001776/annotations/part_2.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001776",
|
| 5 |
+
"label": "2"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Lower Drawer Front",
|
| 9 |
+
"affordance": 2,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "ABS plastic lower drawer front panel with an integrated pull along the upper edge. Approximate panel size 38*10*1.2 cm.",
|
| 12 |
+
"functional_description": "Serves as the handle and exterior face for the lower drawer; firmly attached to the lower drawer box.",
|
| 13 |
+
"movement_description": "Translates relative to the body on runners; same range as the upper drawer. A slight damping effect minimizes impact at end of travel.",
|
| 14 |
+
"grasp_description": "Users grasp the upper lip to pull the lower drawer open and push to close."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "wood",
|
| 18 |
+
"density": 0.6831475819899716,
|
| 19 |
+
"young": 10.090554474708158,
|
| 20 |
+
"hardness": 30.98401889938855,
|
| 21 |
+
"poisson": 0.336887159533042,
|
| 22 |
+
"friction": 0.488647859922181
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"B"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
2
|
| 31 |
+
],
|
| 32 |
+
"B": {
|
| 33 |
+
"axis": [
|
| 34 |
+
0.0,
|
| 35 |
+
1.0,
|
| 36 |
+
0.0
|
| 37 |
+
],
|
| 38 |
+
"pos": [
|
| 39 |
+
0.0,
|
| 40 |
+
-0.20913389325141907,
|
| 41 |
+
-0.07605382800102234
|
| 42 |
+
],
|
| 43 |
+
"range": [
|
| 44 |
+
-0.30000001192092896,
|
| 45 |
+
0.0
|
| 46 |
+
],
|
| 47 |
+
"damping": 0.04
|
| 48 |
+
}
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
data/UPB_00001776/annotations/part_3.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001776",
|
| 5 |
+
"label": "3"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Cabinet Body",
|
| 9 |
+
"affordance": 6,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "ABS plastic carcass that houses two drawers. External size about 40*30*25 cm with rounded edges and internal guide rails.",
|
| 12 |
+
"functional_description": "Provides structural support and slide channels for the two drawers; bears loads and keeps the unit square.",
|
| 13 |
+
"movement_description": "Stationary reference frame. Both drawers translate along guides relative to this body.",
|
| 14 |
+
"grasp_description": "Not typically grasped during normal use, except when repositioning the entire organizer."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/ABS_Plastic",
|
| 18 |
+
"density": 1.04,
|
| 19 |
+
"young": 2.1,
|
| 20 |
+
"hardness": 15,
|
| 21 |
+
"poisson": 0.37,
|
| 22 |
+
"friction": 0.35
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|