Upload folder using huggingface_hub (part 207)

.gitattributes

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data/UPB_00001632/annotations/object.json

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+{
+    "object_name": "Two-Drawer Nightstand",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        50.0,
+        40.0,
+        60.0
+    ],
+    "mass": 18.0
+}

data/UPB_00001632/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001632",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Upper Drawer Assembly",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Complete upper drawer built from furniture-grade plywood with a painted front panel (~45\u00d712\u00d71.5 cm) and a box (~45\u00d735\u00d712 cm).",
+        "functional_description": "Provides enclosed storage in the top drawer bay; supports light household items.",
+        "movement_description": "Slides in and out of the carcass on wooden rails or slides with limited travel (approx. 30 cm).",
+        "grasp_description": "Users pull via the attached handle (Part 3) rather than the drawer face."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Furniture",
+        "density": 0.6,
+        "young": 10.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                3
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
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+                "range": [
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+                    0.0
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+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001632/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001632",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Lower Drawer Assembly",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Complete lower drawer of plywood with a larger front panel (~45\u00d715\u00d71.5 cm) and a deeper box (~45\u00d735\u00d715 cm).",
+        "functional_description": "Provides the main storage space; designed for heavier items than the upper drawer.",
+        "movement_description": "Linear translation relative to the carcass along slides; similar travel to the upper drawer.",
+        "grasp_description": "Normally pulled using the lower handle (Part 4)."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Furniture",
+        "density": 0.6,
+        "young": 10.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                4
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+            "B": {
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+    }
+}

data/UPB_00001632/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001632",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Upper Drawer Pull Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Decorative brass bail-pull with two rosette mounts (~12 cm wide).",
+        "functional_description": "Primary human interface for opening and closing the upper drawer; transfers hand force to the drawer.",
+        "movement_description": "No independent motion relative to the drawer; rigidly fastened with screws/bolts.",
+        "grasp_description": "Grasped by fingertips or a four-finger pinch; smooth metal surface with moderate grip."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001632/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001632",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Lower Drawer Pull Handle",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Matching brass bail-pull for the lower drawer (~12 cm wide) with floral rosettes.",
+        "functional_description": "Hand interface for actuating the lower drawer.",
+        "movement_description": "Rigidly fixed to the lower drawer face; moves only as the drawer moves.",
+        "grasp_description": "Typically pulled with a full pinch or three-finger grip; cool, smooth metallic feel."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001632/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001632",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Carcass/Frame",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Main nightstand body made of carved oak: top, sides, legs, shelf, rails and internal guides (~50\u00d740\u00d760 cm overall).",
+        "functional_description": "Provides structural support, houses the two sliding drawers and open shelf, and bears external loads.",
+        "movement_description": "Rigid stationary structure; serves as the parent reference for drawer translation.",
+        "grasp_description": "Occasionally lifted from below or moved by grasping side edges, but not a primary touch surface during normal use."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.75,
+        "young": 12.0,
+        "hardness": 50,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001632/full_model/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl MI_5c398134620e2c60467b8c5b
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.95294118 0.95294118 0.94509804
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000

data/UPB_00001632/meta_data.json

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+{
+    "id": "UPB_00001632",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Two-Drawer Nightstand"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 5,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001632/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>
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+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.874610 0.874610 0.874610"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.874610 0.874610 0.874610"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.874610 0.874610 0.874610"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.874610 0.874610 0.874610"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.874610 0.874610 0.874610"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.874610 0.874610 0.874610"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.874610 0.874610 0.874610"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.874610 0.874610 0.874610"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.874610 0.874610 0.874610"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_5"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.161684 0.076773" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2623830252098029" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.161684 -0.076773" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_5"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 -0.161684 -0.075944" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2623830252098029" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 0.161684 0.075944" 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>
+</robot>

data/UPB_00001632/parts/Nightstand_6AD6KZETD5TGIXRTJQ888888_kfJJ7.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5c398134620e2c60467b8c5b
+Kd 0.952899992 0.952899992 0.945100009
+illum 1
+

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001633/annotations/object.json

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+{
+    "object_name": "Sliding-Door Nightstand",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        50.0,
+        35.0,
+        50.0
+    ],
+    "mass": 8.5
+}

data/UPB_00001633/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001633",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Sliding Door Panel",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "A flat rectangular MDF door panel finished in paint, sized to cover the front opening of a compact nightstand (approx. 45\u00d730\u00d71 cm).",
+        "functional_description": "Provides a cover for the storage compartment, concealing contents and protecting them from dust.",
+        "movement_description": "Translates laterally along top and bottom wooden grooves in the cabinet body; travel approximately the width of the opening.",
+        "grasp_description": "Users grasp the door\u2019s edge to slide it open or closed; may use a push-to-open catch or a small chamfered edge for grip."
+    },
+    "basic_info": {
+        "material": "wood/MDF",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "B": {
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+                    0.0
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+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001633/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001633",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Cabinet Body with Legs",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "A wooden carcass with four tapered legs made from ash hardwood, forming an open box that supports a sliding door (external size about 50\u00d735\u00d750 cm).",
+        "functional_description": "Provides structural support and surface; contains internal tracks/grooves for the door panel and bears loads to the floor via legs.",
+        "movement_description": "Serves as the stationary parent for the sliding door; the body includes rails that guide the door\u2019s horizontal translation.",
+        "grasp_description": "Typically not grasped during regular use except when moving the whole nightstand."
+    },
+    "basic_info": {
+        "material": "wood/Ash_Hardwood",
+        "density": 0.65,
+        "young": 12.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001633/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_00001633/meta_data.json

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+{
+    "id": "UPB_00001633",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Sliding-Door Nightstand"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 2,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001633/model.urdf

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+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.004105 1.004105 1.004105"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.004105 1.004105 1.004105"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.004105 1.004105 1.004105"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.004105 1.004105 1.004105"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_2"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.193558 0.081793" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.30123144123298634" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.193558 -0.081793" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001633/parts/Nightstand_6DFVLBMTD5TGG56FK4888888_ZwfgO.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5cf5ced00b160a49b07d98d4
+Kd 1 1 1
+illum 1
+
+newmtl MI_5cf5ced00b160a49b07d98d5
+Kd 1 1 1
+illum 1
+map_Kd ./T_5cf5ced00b160a49b07d98d5_color.jpg
+

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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_00001634/annotations/object.json

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+{
+    "object_name": "Wardrobe Cabinet with Drawers",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        180.0,
+        60.0,
+        200.0
+    ],
+    "mass": 120.0
+}

data/UPB_00001634/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001634",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Narrow Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "A tall, narrow melamine-faced particle board door panel (~185*40*1.6 cm).",
+        "functional_description": "Covers the narrow left compartment of the wardrobe and provides access to stored items.",
+        "movement_description": "Rotates about a vertical hinge axis attached to the carcass; typical opening up to about 110 degrees with light hinge damping.",
+        "grasp_description": "Grasped at the edge/handle area to open and close the left narrow bay."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Melamine",
+        "density": 0.65,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
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+            "C": {
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+                "range": [
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+                    1.9198621771937625
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+                "damping": 0.03
+            }
+        }
+    }
+}