Upload folder using huggingface_hub (part 4)

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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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data/UPB_00000870/plys/model.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00000871/annotations/object.json

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+{
+    "object_name": "Low TV Console (3-Drawer)",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        180.0,
+        40.0,
+        35.0
+    ],
+    "mass": 32.0
+}

data/UPB_00000871/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000871",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Drawer Box",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "A plywood drawer box with oak veneer, approx. 55*30*15 cm, designed to fit the left bay.",
+        "functional_description": "Stores household items; interfaces with slides/runners in the cabinet carcass.",
+        "movement_description": "Translates in and out of the cabinet along the depth on runners; full travel about 35 cm with light damping from slides.",
+        "grasp_description": "User pulls the attached handle rather than the drawer box itself."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Oak_Veneer",
+        "density": 0.6,
+        "young": 10.0,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                4
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
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+                "pos": [
+                    -0.8751552104949951,
+                    -0.21326255798339844,
+                    0.038855329155921936
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+                "range": [
+                    -0.20000000298023224,
+                    0.0
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00000871/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000871",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Center Drawer Box",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Middle plywood drawer, oak veneer, approx. 55*30*15 cm.",
+        "functional_description": "Provides central storage within the console.",
+        "movement_description": "Slides along linear guides relative to the body; travel about 35 cm.",
+        "grasp_description": "Typically manipulated via the center handle attached to its front."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Oak_Veneer",
+        "density": 0.6,
+        "young": 10.0,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                5
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
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+                "pos": [
+                    0.0,
+                    -0.1959661841392517,
+                    0.0312923863530159
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+                "range": [
+                    -0.20000000298023224,
+                    0.0
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00000871/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000871",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Right Drawer Box",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Right-side plywood drawer with oak veneer, approx. 55*30*15 cm.",
+        "functional_description": "Right storage compartment for remotes, cables, or accessories.",
+        "movement_description": "Linear translation on runners relative to the cabinet body; ~35 cm stroke.",
+        "grasp_description": "Pulled via the right handle; the box itself is not directly grasped."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Oak_Veneer",
+        "density": 0.6,
+        "young": 10.0,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                6
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
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+                "pos": [
+                    0.899196982383728,
+                    -0.2058144062757492,
+                    0.041382770985364914
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+                "range": [
+                    -0.20000000298023224,
+                    0.0
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+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00000871/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000871",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Left Drawer Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Decorative bail-style zinc alloy handle, ~12*2*2 cm, mounted to the left drawer front.",
+        "functional_description": "Provides a comfortable grip to open and close the left drawer.",
+        "movement_description": "Rigidly fixed to the left drawer; it moves only when the drawer slides.",
+        "grasp_description": "User wraps fingers behind the handle and pulls to translate the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Zamak",
+        "density": 6.6,
+        "young": 83.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000871/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000871",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Center Drawer Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Zinc alloy drawer pull, ~12*2*2 cm, fixed to the center drawer front.",
+        "functional_description": "Primary gripping point for the center drawer.",
+        "movement_description": "Rigidly attached to the drawer; translates with the drawer during operation.",
+        "grasp_description": "Pulled by hand to open/close the center drawer."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Zamak",
+        "density": 6.6,
+        "young": 83.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000871/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000871",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Right Drawer Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Zinc alloy handle, ~12*2*2 cm, mounted to the right drawer front.",
+        "functional_description": "Provides pulling point for the right drawer.",
+        "movement_description": "No motion relative to the drawer; rigid joint to the drawer face.",
+        "grasp_description": "User grasps and pulls to actuate the right drawer."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Zamak",
+        "density": 6.6,
+        "young": 83.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000871/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000871",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Cabinet Body (Carcass)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Main wooden carcass of the TV console, oak-veneer plywood, approx. 180*40*35 cm with three drawer bays.",
+        "functional_description": "Provides structure, supports the top surface for TV/equipment, and houses the sliding drawers.",
+        "movement_description": "Stationary reference frame; drawers translate relative to it on internal runners.",
+        "grasp_description": "Usually not grasped during regular use; touched only for cleaning or moving the furniture."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Oak_Veneer",
+        "density": 0.6,
+        "young": 10.0,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000871/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_00000871/meta_data.json

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+{
+    "id": "UPB_00000871",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Low TV Console (3-Drawer)"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 7,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000871/model.urdf

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+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="helper_link_2"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.661157 0.661157 0.661157"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.661157 0.661157 0.661157"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.661157 0.661157 0.661157"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.661157 0.661157 0.661157"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.661157 0.661157 0.661157"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.661157 0.661157 0.661157"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.661157 0.661157 0.661157"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.661157 0.661157 0.661157"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.661157 0.661157 0.661157"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.661157 0.661157 0.661157"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.661157 0.661157 0.661157"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.661157 0.661157 0.661157"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.661157 0.661157 0.661157"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.661157 0.661157 0.661157"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_7"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.578615 -0.141000 0.025689" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.1322313797299708" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.578615 0.141000 -0.025689" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_7"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 -0.129564 0.020689" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.1322313797299708" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 0.129564 -0.020689" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_7"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.594510 -0.136076 0.027361" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.1322313797299708" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.594510 0.136076 -0.027361" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00000871/parts/TvCabinet_YVJZ3CUTQ3G3SPTUKI888888_oDjua.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_696d27382c9c1c6b92147d17
+Kd 1 1 1
+illum 1
+map_Kd ./T_696d27382c9c1c6b92147d17_color.jpg
+bump ./T_696d27382c9c1c6b92147d17_normal.jpg
+map_bump ./T_696d27382c9c1c6b92147d17_normal.jpg
+
+newmtl MI_696d27386505780126cfe2a8
+Kd 0.1402172 0.1402172 0.1402172
+illum 1
+

data/UPB_00000871/parts/part_1.obj

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+mtllib TvCabinet_YVJZ3CUTQ3G3SPTUKI888888_oDjua.mtl
+v -0.44164893 -0.185645252 -0.109999999
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data/UPB_00000872/annotations/object.json

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+{
+    "object_name": "TV Console with 4 Drawers",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        180.0,
+        40.0,
+        45.0
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+    "mass": 38.0
+}

data/UPB_00000872/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000872",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Drawer 1",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Wooden drawer box (laminated particle board) sized to fit the central bay of the console.",
+        "functional_description": "Stores small items such as remotes or cables in the left portion of the central section.",
+        "movement_description": "Slides in and out of the cabinet on guides/rails with limited depth translation.",
+        "grasp_description": "User pulls it open via its knob and pushes it closed."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminated",
+        "density": 0.65,
+        "young": 3.5,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.35
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+                5
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+}

data/UPB_00000872/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000872",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Drawer 2",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Second wooden drawer box, matching the first in size and material.",
+        "functional_description": "Provides additional enclosed storage in the central row.",
+        "movement_description": "Translates along cabinet depth on relative sliding supports.",
+        "grasp_description": "Pulled by its dedicated knob; pushed closed by hand."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminated",
+        "density": 0.65,
+        "young": 3.5,
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+        "poisson": 0.3,
+        "friction": 0.35
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+}

data/UPB_00000872/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000872",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Drawer 3",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Third laminated particle-board drawer box from the left.",
+        "functional_description": "Holds medium-sized accessories; part of the central drawer array.",
+        "movement_description": "Slides relative to the cabinet body with limited travel.",
+        "grasp_description": "Operated using its front knob."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminated",
+        "density": 0.65,
+        "young": 3.5,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.35
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+    }
+}

data/UPB_00000872/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000872",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Drawer 4",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Fourth (rightmost) drawer of laminated particle board.",
+        "functional_description": "Adds enclosed storage on the right side of the central bay.",
+        "movement_description": "Translational drawer motion guided by runners/stops.",
+        "grasp_description": "Pulled open with its knob and pushed shut."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminated",
+        "density": 0.65,
+        "young": 3.5,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.35
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+    }
+}

data/UPB_00000872/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000872",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Drawer Knob 1",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Matte-black round pull knob made from ABS plastic.",
+        "functional_description": "Provides a comfortable grip to actuate Drawer 1.",
+        "movement_description": "No independent motion; rigidly fixed to Drawer 1 and moves with it.",
+        "grasp_description": "Pinched or hooked with fingers to pull the drawer."
+    },
+    "basic_info": {
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+    }
+}