Upload folder using huggingface_hub (part 3)

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data/UPB_00000865/meta_data.json

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+{
+    "id": "UPB_00000865",
+    "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": 14,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000865/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="helper_link_3"/>
+  <link name="helper_link_4"/>
+  <link name="helper_link_5"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.022644 1.022644 1.022644"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.022644 1.022644 1.022644"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.022644 1.022644 1.022644"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.022644 1.022644 1.022644"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.022644 1.022644 1.022644"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.022644 1.022644 1.022644"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.022644 1.022644 1.022644"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.022644 1.022644 1.022644"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.022644 1.022644 1.022644"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.022644 1.022644 1.022644"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.022644 1.022644 1.022644"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.022644 1.022644 1.022644"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.022644 1.022644 1.022644"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.022644 1.022644 1.022644"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.022644 1.022644 1.022644"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.022644 1.022644 1.022644"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.022644 1.022644 1.022644"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.022644 1.022644 1.022644"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
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+    </visual>
+    <collision>
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+  </link>
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+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="base_link"/>
+    <child link="helper_link_0"/>
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+  <joint name="joint_1" type="fixed">
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+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0.327242 0.163623 -0.018569" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="base_link"/>
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+  <joint name="joint_5" type="fixed">
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+    <origin xyz="-0.985460 0.172245 0.000000" rpy="0 0 0"/>
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+  <joint name="joint_6" type="prismatic">
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+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="0.649397 0.169244 -0.172191" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="prismatic">
+    <parent link="link_14"/>
+    <child link="helper_link_4"/>
+    <origin xyz="0.011480 -0.173850 0.168053" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.306793282813831" upper="0.0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_5"/>
+    <origin xyz="-0.011480 0.173850 -0.168053" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="prismatic">
+    <parent link="link_14"/>
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+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="helper_link_5"/>
+    <child link="link_6"/>
+    <origin xyz="-0.671395 0.173850 -0.167639" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_10"/>
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+  </joint>
+  <joint name="joint_16" type="fixed">
+    <parent link="link_5"/>
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+  </joint>
+  <joint name="joint_17" type="fixed">
+    <parent link="link_6"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_18" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_13"/>
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+  </joint>
+  <joint name="joint_19" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_14"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00000865/parts/TvCabinet_YVJYLCMTQYWOGPTULI888888_YP53i.mtl

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+{
+    "object_name": "TV Stand with Dual Drawers",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        120.0,
+        40.0,
+        45.0
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+    "mass": 23.0
+}

data/UPB_00000866/annotations/part_1.json

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+{
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+        "type_name": "default",
+        "entity": "UPB_00000866",
+        "label": "1"
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+    "part_level": {
+        "part_name": "Left Drawer Box",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "A rectangular MDF drawer box (approx 52*33*12 cm) finished in paint/laminate.",
+        "functional_description": "Provides enclosed storage on the left side of the TV stand.",
+        "movement_description": "Slides in and out along wooden/laminated runners within the cabinet body; translation along the depth.",
+        "grasp_description": "Users pull it via the attached handle (part 3) to open and close."
+    },
+    "basic_info": {
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+}

data/UPB_00000866/annotations/part_2.json

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+{
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+        "entity": "UPB_00000866",
+        "label": "2"
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+    "part_level": {
+        "part_name": "Right Drawer Box",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "A rectangular MDF drawer box (approx 52*33*12 cm) finished in paint/laminate.",
+        "functional_description": "Provides enclosed storage on the right side of the TV stand.",
+        "movement_description": "Slides in and out along cabinet runners; translation along the depth relative to the cabinet body.",
+        "grasp_description": "Opened and closed via the right drawer handle (part 4)."
+    },
+    "basic_info": {
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+        "density": 0.75,
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+}

data/UPB_00000866/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000866",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Left Drawer Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Curved pull handle (~12*2*2 cm) made of powder-coated aluminum alloy.",
+        "functional_description": "Provides a comfortable grip to actuate the left drawer.",
+        "movement_description": "No relative motion to the drawer; it moves rigidly with part 1.",
+        "grasp_description": "Users grasp the handle with fingers to pull or push the left drawer."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061_PowderCoated",
+        "density": 2.7,
+        "young": 69.0,
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+        "poisson": 0.33,
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+}

data/UPB_00000866/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000866",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Right Drawer Handle",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Curved pull handle (~12*2*2 cm) made of powder-coated aluminum alloy.",
+        "functional_description": "Provides a comfortable grip to actuate the right drawer.",
+        "movement_description": "Rigidly fixed to the right drawer; no independent movement.",
+        "grasp_description": "Users grasp this handle to open and close the right drawer."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061_PowderCoated",
+        "density": 2.7,
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+}

data/UPB_00000866/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000866",
+        "label": "5"
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+    "part_level": {
+        "part_name": "Cabinet Carcass (Body)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Main MDF cabinet (approx 120*40*25 cm) with internal dividers and a rear cable hole; finished in laminate/paint.",
+        "functional_description": "Houses the drawers and open compartments, provides structure, and offers a surface for a TV or decor.",
+        "movement_description": "Acts as the stationary parent for both drawers; no independent motion. Rigidly fixed to the base frame.",
+        "grasp_description": "Usually not grasped directly in regular use; touched when placing items or cleaning."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated",
+        "density": 0.75,
+        "young": 3.2,
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+        "poisson": 0.3,
+        "friction": 0.5
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+}

data/UPB_00000866/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000866",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Base Frame and Legs",
+        "affordance": 7,
+        "graspable": true,
+        "basic_description": "Solid hardwood base with four splayed legs and connecting rails (approx footprint 118*38 cm; height ~20 cm).",
+        "functional_description": "Supports the cabinet body and transfers loads to the floor, providing rigidity and clearance.",
+        "movement_description": "Rigidly connected to the cabinet body; no relative movement.",
+        "grasp_description": "People may grasp the legs or rails when lifting or repositioning the stand."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.75,
+        "young": 10.5,
+        "hardness": 30,
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+}

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

data/UPB_00000866/meta_data.json

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+{
+    "id": "UPB_00000866",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "TV Stand with Dual Drawers"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 6,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

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+<?xml version="1.0" ?>
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+  <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="0.793650 0.793650 0.793650"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.793650 0.793650 0.793650"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.793650 0.793650 0.793650"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
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+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.793650 0.793650 0.793650"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.793650 0.793650 0.793650"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.793650 0.793650 0.793650"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.793650 0.793650 0.793650"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.793650 0.793650 0.793650"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.793650 0.793650 0.793650"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.793650 0.793650 0.793650"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_5"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.298874 -0.213650 0.212212" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.23809515937290043" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.298874 0.213650 -0.212212" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_5"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.312558 -0.206349 0.211905" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.23809515937290043" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.312558 0.206349 -0.211905" 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_00000866/parts/TvCabinet_YVJYONMTQYC7GPTULE888888_PUpHF.mtl

@@ -0,0 +1,18 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_696d2863b847e873e72185ea
+Kd 1 1 1
+illum 1
+map_Kd ./T_696d2863b847e873e72185ea_color.jpg
+bump ./T_696d2863b847e873e72185ea_normal.jpg
+map_bump ./T_696d2863b847e873e72185ea_normal.jpg
+
+newmtl MI_696d2863a4f33b4785929918
+Kd 0.32529971 0.349582195 0.294129789
+illum 1
+
+newmtl MI_696d28636244bc532ba67828
+Kd 0.1402172 0.1402172 0.1402172
+illum 1
+