Upload folder using huggingface_hub (part 236)

.gitattributes

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data/UPB_00001851/annotations/object.json

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+{
+    "object_name": "Sliding-Door Media Console",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        180.0,
+        40.0,
+        55.0
+    ],
+    "mass": 32.0
+}

data/UPB_00001851/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001851",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left sliding door panel",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Rectangular dark-wood door panel (~60*1.8*20 cm) made of MDF with veneer finish.",
+        "functional_description": "Covers the left storage bay and provides an aesthetic facade.",
+        "movement_description": "Slides horizontally along tracks fixed to the main body to open or close the bay.",
+        "grasp_description": "Users grasp the attached brass ring pull (part 3) to slide the door."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneer",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                3
+            ],
+            "B": {
+                "axis": [
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+                    1.0,
+                    0.0
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+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001851/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001851",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Right sliding door panel",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Rectangular dark-wood door panel (~60*1.8*20 cm) made of MDF with veneer.",
+        "functional_description": "Covers the right storage bay and matches the left door.",
+        "movement_description": "Slides laterally on the same track system as the left door.",
+        "grasp_description": "Grasp the ring pull (part 4) to move it left or right."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneer",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
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+    "kinematic_info": {
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+            "B"
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+        "motion_info": {
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+                2,
+                4
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+}

data/UPB_00001851/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001851",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Left ring pull handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Small brass ring pull with backplate (~6 cm ring OD) mounted on the left door.",
+        "functional_description": "Provides a comfortable grip for operating the left sliding door.",
+        "movement_description": "No independent motion; rigidly fixed to the door and moves with it.",
+        "grasp_description": "Pinched between fingers or hooked with a fingertip to slide the door."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 100,
+        "poisson": 0.34,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001851/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001851",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Right ring pull handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Matching brass ring pull with backplate (~6 cm ring OD) mounted on the right door.",
+        "functional_description": "Primary touch point for moving the right sliding door.",
+        "movement_description": "Rigidly attached; it travels with the door during sliding.",
+        "grasp_description": "Finger-ring grip used to pull or push the door smoothly."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 100,
+        "poisson": 0.34,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001851/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001851",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Decorative/terminal caps and feet ferrules",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Multiple small brass end-caps (~2*2*2 cm each) fitted to leg bottoms and post tops.",
+        "functional_description": "Protects wood ends from wear and adds a decorative accent.",
+        "movement_description": "Fixed to the wooden frame; no independent motion.",
+        "grasp_description": "Not intended for user contact; occasionally touched when moving the console."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+        "motion_info": {}
+    }
+}

data/UPB_00001851/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001851",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Main body frame, shelves, legs and top rail",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Long rectangular console frame (~180*40*55 cm) made from MDF with dark wood veneer; includes legs, lower shelves, and an upper rail/shelf.",
+        "functional_description": "Supports a TV on top, provides lower cubbies for devices or storage, and houses the sliding doors and hardware.",
+        "movement_description": "Stationary base; acts as the parent reference for the sliding doors. Brass caps (part 5) are rigid fixtures.",
+        "grasp_description": "Users place objects on the top and may grasp the front edge or side panels when repositioning the console."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneer",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001851/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

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data/UPB_00001851/meta_data.json

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+{
+    "id": "UPB_00001851",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Sliding-Door Media Console"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 6,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001851/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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.799461 0.799461 0.799461"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.799461 0.799461 0.799461"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.799461 0.799461 0.799461"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
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+      </geometry>
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+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.799461 0.799461 0.799461"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.799461 0.799461 0.799461"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.799461 0.799461 0.799461"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.799461 0.799461 0.799461"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.799461 0.799461 0.799461"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.799461 0.799461 0.799461"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.799461 0.799461 0.799461"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_6"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.502553 -0.115063 -0.034523" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.23983842665788377" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.502553 0.115063 0.034523" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_6"/>
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+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.23983842665788377" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.513065 0.108541 0.029959" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="link_2"/>
+    <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_00001851/parts/TvCabinet_ZKMLMOJVAIMPSPTUKM888888_87b0D.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_66a632d760cf470001a761f2
+Kd 1 1 1
+illum 1
+map_Kd ./T_66a632d760cf470001a761f2_color.jpg
+
+newmtl MI_66a632d7ddbd0d000163995d
+Kd 1 1 1
+illum 1
+map_Kd ./T_66a632d7ddbd0d000163995d_color.jpg
+bump ./T_66a632d7ddbd0d000163995d_normal.jpg
+map_bump ./T_66a632d7ddbd0d000163995d_normal.jpg
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data/UPB_00001852/annotations/object.json

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+{
+    "object_name": "Wooden TV Console Cabinet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        160.0,
+        45.0,
+        50.0
+    ],
+    "mass": 30.0
+}

data/UPB_00001852/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001852",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Cabinet Door",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Frame-and-panel walnut door, about 35*30*2 cm, matching the cabinet finish.",
+        "functional_description": "Covers the left storage compartment and keeps contents protected from dust and view.",
+        "movement_description": "Rotates about a vertical hinge axis relative to the main body; typically opens outward by ~100\u00b0.",
+        "grasp_description": "Usually not grabbed directly; users pull the attached handle (part 6)."
+    },
+    "basic_info": {
+        "material": "wood/Walnut",
+        "density": 0.64,
+        "young": 12.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                6,
+                7
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
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+                "pos": [
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+                    0.0
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+                "range": [
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+                    1.9198621771937625
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+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001852/annotations/part_10.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001852",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Right Keyhole Escutcheon",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Brass escutcheon for the right door, \u22486*2*0.3 cm.",
+        "functional_description": "Reinforces and decorates the keyhole area on the right door.",
+        "movement_description": "Fixed to the right door with no independent motion.",
+        "grasp_description": "Not grasped during typical use."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001852/annotations/part_11.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001852",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Main Wooden Carcass",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Primary structure of the TV console with top, sides, shelves and back; overall about 160*45*50 cm.",
+        "functional_description": "Supports loads, houses compartments and the center drawer, and provides stability and aesthetics.",
+        "movement_description": "Acts as the fixed parent/ground for the assembly; doors rotate on hinges and the drawer slides on runners relative to this part.",
+        "grasp_description": "When moving the furniture, users may grasp underside edges or side posts."
+    },
+    "basic_info": {
+        "material": "wood/Walnut",
+        "density": 0.64,
+        "young": 12.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001852/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001852",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Right Cabinet Door",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Walnut door panel for the right compartment, approx 35*30*2 cm.",
+        "functional_description": "Encloses the right storage bay and provides a mounting surface for handle and escutcheon.",
+        "movement_description": "Hinged rotation about a vertical axis on the cabinet frame; opens ~100\u00b0.",
+        "grasp_description": "Operated by the right handle (part 9), not by the panel edge."
+    },
+    "basic_info": {
+        "material": "wood/Walnut",
+        "density": 0.64,
+        "young": 12.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                9,
+                10
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
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+                "pos": [
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+                    0.0
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+                "damping": 0.04
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+        }
+    }
+}

data/UPB_00001852/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001852",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Center Drawer Front Panel",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Rectangular walnut drawer face, about 70*15*2 cm, stylized to match doors.",
+        "functional_description": "Forms the front of a sliding drawer in the center bay; provides a surface for the knob.",
+        "movement_description": "Translates along the cabinet depth on runners; typical travel up to ~25 cm.",
+        "grasp_description": "Users grasp the attached knob (part 4) to pull or push the drawer."
+    },
+    "basic_info": {
+        "material": "wood/Walnut",
+        "density": 0.64,
+        "young": 12.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                4
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.17222300171852112,
+                    -0.07097794115543365
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001852/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001852",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Drawer Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Small rounded brass knob, \u22483 cm diameter and 2 cm projection, mounted to the drawer front.",
+        "functional_description": "Primary grasp point for operating the center drawer.",
+        "movement_description": "No independent motion; rigidly fixed to the drawer front.",
+        "grasp_description": "Pinched or hooked by fingers to pull the drawer open and push it closed."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001852/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001852",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Left Door Pull Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Ornate brass pull, about 12*3*2 cm, mounted to the left door.",
+        "functional_description": "Provides a comfortable grasp to swing the left door.",
+        "movement_description": "No independent motion; rigidly attached to the door.",
+        "grasp_description": "Fingers wrap around the handle to pull the door open."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}