Upload folder using huggingface_hub (part 7)

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+{
+    "object_name": "TV Console Cabinet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
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+}

data/UPB_00000885/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000885",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Door Panel",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Slatted MDF door panel with oak-veneer finish, approx 37*35*1.8 cm.",
+        "functional_description": "Covers the left storage compartment of the cabinet.",
+        "movement_description": "Hinged on the left side of the carcass; rotates outward about a vertical axis.",
+        "grasp_description": "Typically pulled via the attached vertical handle (part 7), not by the panel itself."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneer_Oak",
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data/UPB_00000885/annotations/part_11.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000885",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Top Slab",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Marble top panel, beveled edges, approx 180*40*1.2 cm.",
+        "functional_description": "Provides a stiff, durable top surface for TV and decor.",
+        "movement_description": "Fixed to the carcass with brackets/adhesive; no motion.",
+        "grasp_description": "Usually not grasped; may be touched when placing objects."
+    },
+    "basic_info": {
+        "material": "stone/Marble",
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+}

data/UPB_00000885/annotations/part_12.json

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+{
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+        "entity": "UPB_00000885",
+        "label": "12"
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+    "part_level": {
+        "part_name": "Back Panel",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Thin hardboard backer, about 165*35*0.5 cm.",
+        "functional_description": "Squares and stiffens the carcass and keeps items from falling out the rear.",
+        "movement_description": "Rigidly nailed/screwed to the carcass; no relative motion.",
+        "grasp_description": "Not handled during normal operation."
+    },
+    "basic_info": {
+        "material": "wood/HDF_Hardboard",
+        "density": 0.85,
+        "young": 4.0,
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+}

data/UPB_00000885/annotations/part_2.json

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+{
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+        "entity": "UPB_00000885",
+        "label": "2"
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+    "part_level": {
+        "part_name": "Right Door Panel",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Slatted MDF door panel with oak-veneer finish, approx 37*35*1.8 cm.",
+        "functional_description": "Covers the right storage compartment of the cabinet.",
+        "movement_description": "Hinged on the right side of the carcass; rotates outward about a vertical axis.",
+        "grasp_description": "Pulled open using the attached vertical handle (part 8)."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneer_Oak",
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data/UPB_00000885/annotations/part_3.json

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+{
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+        "entity": "UPB_00000885",
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+    "part_level": {
+        "part_name": "Upper Drawer Box",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "MDF drawer box with painted finish, approx 70*32*12 cm outer envelope.",
+        "functional_description": "Provides pull-out storage in the center bay.",
+        "movement_description": "Slides on runners relative to the carcass to a maximum extension of about 32 cm.",
+        "grasp_description": "User pulls the attached handle (part 5) to open/close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
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data/UPB_00000885/annotations/part_4.json

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+{
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+        "entity": "UPB_00000885",
+        "label": "4"
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+        "basic_description": "MDF drawer box with painted finish, approx 70*32*12 cm outer envelope.",
+        "functional_description": "Second pull-out storage drawer beneath the upper one.",
+        "movement_description": "Translates on slides relative to the carcass, similar travel as the upper drawer.",
+        "grasp_description": "Operated using its handle (part 6)."
+    },
+    "basic_info": {
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+}

data/UPB_00000885/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000885",
+        "label": "5"
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+    "part_level": {
+        "part_name": "Upper Drawer Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Curved steel pull handle, black powder-coated, about 12*2*2 cm.",
+        "functional_description": "Provides a grip to actuate the upper drawer.",
+        "movement_description": "Rigidly fixed to the upper drawer front; moves with the drawer.",
+        "grasp_description": "Grasped with fingers to pull the drawer open or push it closed."
+    },
+    "basic_info": {
+        "material": "metal/Steel_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 140,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000885/annotations/part_6.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000885",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Lower Drawer Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Curved steel pull handle, black powder-coated, about 12*2*2 cm.",
+        "functional_description": "Provides a grip to actuate the lower drawer.",
+        "movement_description": "Rigidly attached to the lower drawer front; follows the drawer motion.",
+        "grasp_description": "Pulled by hand to open and close the lower drawer."
+    },
+    "basic_info": {
+        "material": "metal/Steel_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 140,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000885/annotations/part_7.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000885",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Left Door Handle",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Vertical steel pull, black powder-coated, about 14*2*2 cm.",
+        "functional_description": "Allows the user to open/close the left hinged door.",
+        "movement_description": "Rigidly fixed to the left door, moving with it during rotation.",
+        "grasp_description": "Gripped by hand and pulled to swing the door."
+    },
+    "basic_info": {
+        "material": "metal/Steel_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 140,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000885/annotations/part_8.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000885",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Right Door Handle",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Vertical steel pull, black powder-coated, about 14*2*2 cm.",
+        "functional_description": "Allows the user to open/close the right hinged door.",
+        "movement_description": "Rigidly fixed to the right door panel.",
+        "grasp_description": "Gripped to pull the door open or push it closed."
+    },
+    "basic_info": {
+        "material": "metal/Steel_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 140,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000885/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000885",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Base Carcass with Side Panels and Legs",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Main MDF structure forming the bottom panel, integrated side walls and legs; envelope about 180*40*40 cm.",
+        "functional_description": "Provides structural support for all storage components and transfers load to the floor via legs.",
+        "movement_description": "Stationary reference part. Doors rotate and drawers translate relative to this carcass.",
+        "grasp_description": "Not grasped directly in normal use."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 15,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000885/full_model/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

data/UPB_00000885/full_model/model.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d8d79a2896d9a2767849f79ab5f3aa069dcad8f598ae7fdb9680f9cbe55d25e
+size 11610005

data/UPB_00000885/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00000885",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "TV Console Cabinet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 11,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000885/model.urdf

@@ -0,0 +1,223 @@
+<?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="helper_link_3"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.648479 0.648479 0.648479"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.648479 0.648479 0.648479"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.648479 0.648479 0.648479"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.648479 0.648479 0.648479"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.648479 0.648479 0.648479"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.648479 0.648479 0.648479"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.648479 0.648479 0.648479"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.648479 0.648479 0.648479"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.648479 0.648479 0.648479"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.648479 0.648479 0.648479"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.648479 0.648479 0.648479"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.648479 0.648479 0.648479"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.648479 0.648479 0.648479"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.648479 0.648479 0.648479"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.648479 0.648479 0.648479"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.648479 0.648479 0.648479"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.648479 0.648479 0.648479"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.648479 0.648479 0.648479"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.648479 0.648479 0.648479"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.648479 0.648479 0.648479"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.648479 0.648479 0.648479"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.648479 0.648479 0.648479"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_9"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.806252 -0.207513 0.059856" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.806252 0.207513 -0.059856" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_9"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.808077 -0.207513 0.080941" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.808077 0.207513 -0.080941" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_9"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.014660 -0.212853 0.178176" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2593915709704536" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.014660 0.212853 -0.178176" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="prismatic">
+    <parent link="link_9"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.000000 -0.207513 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2593915709704536" upper="0.0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="-0.000000 0.207513 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_12"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00000885/parts/9.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 9.png

data/UPB_00000885/parts/TvCabinet_YVJZG7ETQ3CQMPTUKM888888_j2zw1.mtl

@@ -0,0 +1,24 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_696d25ad6e4f3300ff74cb01
+Kd 0.392199993 0.2588 0.1373
+illum 1
+
+newmtl MI_696d25ad86d5e369b8bc35eb
+Kd 1 1 1
+illum 1
+map_Kd ./T_696d25ad86d5e369b8bc35eb_color.jpg
+
+newmtl MI_696d25adb0236c40faa6c860
+Kd 0.32529971 0.349582195 0.294129789
+illum 1
+
+newmtl MI_696d25ad82c1fe49a066710b
+Kd 0.619941831 0.36786893 0.145729661
+illum 1
+
+newmtl MI_696d25ad2f71860666d6d180
+Kd 0.0471264012 0.0471264012 0.0471264012
+illum 1
+