diff --git a/.gitattributes b/.gitattributes index 8dbe6296c7a83d411b41b6a5ebcd12f5b1270c3b..087c4cb2103c5ddfa84a2f1ba004cbe700691c30 100644 --- a/.gitattributes +++ b/.gitattributes @@ -9451,3 +9451,27 @@ data/UPB_00001412/plys/7.ply filter=lfs diff=lfs merge=lfs -text data/UPB_00001412/plys/8.ply filter=lfs diff=lfs merge=lfs -text data/UPB_00001412/plys/9.ply filter=lfs diff=lfs merge=lfs -text data/UPB_00001412/plys/model.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001413/full_model/model.obj filter=lfs diff=lfs merge=lfs -text +data/UPB_00001413/plys/1.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001413/plys/10.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001413/plys/11.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001413/plys/12.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001413/plys/13.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001413/plys/14.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001413/plys/15.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001413/plys/16.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001413/plys/17.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001413/plys/18.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001413/plys/19.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001413/plys/2.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001413/plys/20.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001413/plys/21.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001413/plys/3.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001413/plys/4.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001413/plys/5.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001413/plys/6.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001413/plys/7.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001413/plys/8.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001413/plys/9.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001413/plys/model.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001414/full_model/model.obj filter=lfs diff=lfs merge=lfs -text diff --git a/data/UPB_00001413/annotations/part_16.json b/data/UPB_00001413/annotations/part_16.json new file mode 100644 index 0000000000000000000000000000000000000000..d777bb42fb9b5872515169d33b40c918348ecd68 --- /dev/null +++ b/data/UPB_00001413/annotations/part_16.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001413", + "label": "16" + }, + "part_level": { + "part_name": "Knob for Tall Door F", + "affordance": 1, + "graspable": true, + "basic_description": "Matte black aluminum knob, ~3*3*2 cm.", + "functional_description": "Handhold for the right tall wardrobe door.", + "movement_description": "No relative motion; rigid to Door F.", + "grasp_description": "Pinch and pull to open/close the door." + }, + "basic_info": { + "material": "metal/Aluminum_Alloy_Anodized_Black", + "density": 2.7, + "young": 69.0, + "hardness": 120, + "poisson": 0.33, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001413/annotations/part_17.json b/data/UPB_00001413/annotations/part_17.json new file mode 100644 index 0000000000000000000000000000000000000000..f762937a5a31cffef8512ea9f57ec2dbff123449 --- /dev/null +++ b/data/UPB_00001413/annotations/part_17.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001413", + "label": "17" + }, + "part_level": { + "part_name": "Knob for Drawer 1", + "affordance": 1, + "graspable": true, + "basic_description": "Small square metal drawer knob, ~3*3*2 cm.", + "functional_description": "Interface to pull the left drawer.", + "movement_description": "Rigid to the drawer front; translates together with the drawer.", + "grasp_description": "Fingers wrap and pull to slide the drawer." + }, + "basic_info": { + "material": "metal/Aluminum_Alloy_Anodized_Black", + "density": 2.7, + "young": 69.0, + "hardness": 120, + "poisson": 0.33, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001413/annotations/part_18.json b/data/UPB_00001413/annotations/part_18.json new file mode 100644 index 0000000000000000000000000000000000000000..0f6174facf14e64a50c1b142abe3e9dbc1a4b658 --- /dev/null +++ b/data/UPB_00001413/annotations/part_18.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001413", + "label": "18" + }, + "part_level": { + "part_name": "Knob for Drawer 2", + "affordance": 1, + "graspable": true, + "basic_description": "Metal knob for the second drawer, ~3*3*2 cm.", + "functional_description": "Provides grip to open Drawer 2.", + "movement_description": "Rigidly fastened; follows the drawer\u2019s translation.", + "grasp_description": "Pinch and pull to actuate the drawer." + }, + "basic_info": { + "material": "metal/Aluminum_Alloy_Anodized_Black", + "density": 2.7, + "young": 69.0, + "hardness": 120, + "poisson": 0.33, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001413/annotations/part_19.json b/data/UPB_00001413/annotations/part_19.json new file mode 100644 index 0000000000000000000000000000000000000000..8a413aeaf0c0f1d74818225b4889616022ffbece --- /dev/null +++ b/data/UPB_00001413/annotations/part_19.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001413", + "label": "19" + }, + "part_level": { + "part_name": "Knob for Drawer 3", + "affordance": 1, + "graspable": true, + "basic_description": "Square anodized aluminum knob for Drawer 3.", + "functional_description": "Handhold to pull the third drawer.", + "movement_description": "Rigid to the drawer front; no independent motion.", + "grasp_description": "Pulled with fingertips to slide the drawer." + }, + "basic_info": { + "material": "metal/Aluminum_Alloy_Anodized_Black", + "density": 2.7, + "young": 69.0, + "hardness": 120, + "poisson": 0.33, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001413/annotations/part_2.json b/data/UPB_00001413/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..fb51e48efc6334498e9f6fddcafb5a1acf50d534 --- /dev/null +++ b/data/UPB_00001413/annotations/part_2.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001413", + "label": "2" + }, + "part_level": { + "part_name": "Left-Center Drawer 2", + "affordance": 4, + "graspable": false, + "basic_description": "Middle-left drawer, MDF painted, approx. 55*45*20 cm.", + "functional_description": "Storage for small items beneath the open shelf.", + "movement_description": "Translates on slides relative to the carcass.", + "grasp_description": "Pulled by its dedicated knob." + }, + "basic_info": { + "material": "wood/MDF_Painted", + "density": 0.75, + "young": 3.0, + "hardness": 12, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 2, + 18 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + -0.9881234765052795, + -0.32890692353248596, + -1.0980947017669678 + ], + "range": [ + -0.30000001192092896, + 0.0 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001413/annotations/part_20.json b/data/UPB_00001413/annotations/part_20.json new file mode 100644 index 0000000000000000000000000000000000000000..20476f15ed2d62f430d4cd22416c39487ddee6a6 --- /dev/null +++ b/data/UPB_00001413/annotations/part_20.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001413", + "label": "20" + }, + "part_level": { + "part_name": "Knob for Drawer 4", + "affordance": 1, + "graspable": true, + "basic_description": "Metal knob for the rightmost drawer, ~3*3*2 cm.", + "functional_description": "Primary grip to operate Drawer 4.", + "movement_description": "Rigid connection; moves with the drawer during translation.", + "grasp_description": "Fingertips pull rearward to open." + }, + "basic_info": { + "material": "metal/Aluminum_Alloy_Anodized_Black", + "density": 2.7, + "young": 69.0, + "hardness": 120, + "poisson": 0.33, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001413/annotations/part_21.json b/data/UPB_00001413/annotations/part_21.json new file mode 100644 index 0000000000000000000000000000000000000000..475750c1c4bb5f43350bb74c83985cb53bc5ce81 --- /dev/null +++ b/data/UPB_00001413/annotations/part_21.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001413", + "label": "21" + }, + "part_level": { + "part_name": "Cabinet Carcass and Shelves", + "affordance": 10, + "graspable": false, + "basic_description": "Main structural body with fixed panels and shelves, covering the full cabinet size 240*60*220 cm, laminated particle board.", + "functional_description": "Provides structural support, internal shelving, and mounting points for drawer slides and door hinges.", + "movement_description": "Static reference; other parts translate or rotate relative to this carcass.", + "grasp_description": "Not grasped directly during typical use, except incidental contact when placing items." + }, + "basic_info": { + "material": "wood/Particle_Board_Laminate", + "density": 0.65, + "young": 2.5, + "hardness": 10, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001413/annotations/part_3.json b/data/UPB_00001413/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..0ed0084907ee179bd1462484e909e657e77c7a18 --- /dev/null +++ b/data/UPB_00001413/annotations/part_3.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001413", + "label": "3" + }, + "part_level": { + "part_name": "Right-Center Drawer 3", + "affordance": 4, + "graspable": false, + "basic_description": "Middle-right drawer, MDF painted, approx. 55*45*20 cm.", + "functional_description": "Provides drawer storage under the open niche.", + "movement_description": "Slides in translation along runners attached to the cabinet.", + "grasp_description": "User grips the knob to open/close." + }, + "basic_info": { + "material": "wood/MDF_Painted", + "density": 0.75, + "young": 3.0, + "hardness": 12, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 3, + 19 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + -0.09674342721700668, + -0.27240514755249023, + -0.7726283073425293 + ], + "range": [ + -0.30000001192092896, + 0.0 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001413/annotations/part_4.json b/data/UPB_00001413/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..2556283cfeafbf1ec3917d19f64dc7ba7083c6d7 --- /dev/null +++ b/data/UPB_00001413/annotations/part_4.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001413", + "label": "4" + }, + "part_level": { + "part_name": "Right Drawer 4", + "affordance": 4, + "graspable": false, + "basic_description": "Rightmost drawer, MDF painted, approx. 55*45*20 cm.", + "functional_description": "Right-hand drawer storage.", + "movement_description": "Slides in/out relative to the cabinet structure.", + "grasp_description": "Operated by the attached knob." + }, + "basic_info": { + "material": "wood/MDF_Painted", + "density": 0.75, + "young": 3.0, + "hardness": 12, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 4, + 20 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + 0.0, + -0.29393693804740906, + -1.0266778469085693 + ], + "range": [ + -0.30000001192092896, + 0.0 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001413/annotations/part_5.json b/data/UPB_00001413/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..998fe0fed92cb75c471d55489b0d6828ec10a71d --- /dev/null +++ b/data/UPB_00001413/annotations/part_5.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001413", + "label": "5" + }, + "part_level": { + "part_name": "Upper Door A (far left)", + "affordance": 3, + "graspable": false, + "basic_description": "Tall rectangular cabinet door panel for the left upper bay, approx. 40*80*1.8 cm, MDF painted.", + "functional_description": "Covers an upper storage compartment.", + "movement_description": "Rotates about a vertical hinge line relative to the carcass.", + "grasp_description": "Opened by pulling its knob; door surface itself is not typically grasped." + }, + "basic_info": { + "material": "wood/MDF_Painted", + "density": 0.75, + "young": 3.0, + "hardness": 12, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 5, + 11 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -1.38238525390625, + -0.25591349601745605, + 0.684066116809845 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001413/annotations/part_6.json b/data/UPB_00001413/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..2619e7aa6607ecbe65201c1a6bb49f9ddde4842d --- /dev/null +++ b/data/UPB_00001413/annotations/part_6.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001413", + "label": "6" + }, + "part_level": { + "part_name": "Upper Door B (left-center)", + "affordance": 3, + "graspable": false, + "basic_description": "Upper door panel for the second bay from left, approx. 40*80*1.8 cm, MDF painted.", + "functional_description": "Covers an upper storage cubby.", + "movement_description": "Swings on vertical hinges relative to the carcass.", + "grasp_description": "Pulled by its knob." + }, + "basic_info": { + "material": "wood/MDF_Painted", + "density": 0.75, + "young": 3.0, + "hardness": 12, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 6, + 12 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + -0.4688880145549774, + -0.27052855491638184, + 0.3949497640132904 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001413/annotations/part_7.json b/data/UPB_00001413/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..90c09cc026cb1ab58ca563cd37537ba27d0d0eeb --- /dev/null +++ b/data/UPB_00001413/annotations/part_7.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001413", + "label": "7" + }, + "part_level": { + "part_name": "Upper Door C (center-right)", + "affordance": 3, + "graspable": false, + "basic_description": "Upper door panel, third from left, approx. 40*80*1.8 cm, MDF painted.", + "functional_description": "Closes a compartment above the open niche.", + "movement_description": "Rotational opening about a vertical axis via hinges.", + "grasp_description": "Operated with the attached knob." + }, + "basic_info": { + "material": "wood/MDF_Painted", + "density": 0.75, + "young": 3.0, + "hardness": 12, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 7, + 13 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.4536105692386627, + -0.2714948356151581, + 0.5950634479522705 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001413/annotations/part_8.json b/data/UPB_00001413/annotations/part_8.json new file mode 100644 index 0000000000000000000000000000000000000000..5de1b8137aec7a354a776a457970e88748fd8987 --- /dev/null +++ b/data/UPB_00001413/annotations/part_8.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001413", + "label": "8" + }, + "part_level": { + "part_name": "Upper Door D (far right of upper row)", + "affordance": 3, + "graspable": false, + "basic_description": "Rightmost door in the upper row, approx. 40*80*1.8 cm, MDF painted.", + "functional_description": "Covers the right-most upper storage bay.", + "movement_description": "Rotates open on hinges attached to the carcass.", + "grasp_description": "Pulled by its knob." + }, + "basic_info": { + "material": "wood/MDF_Painted", + "density": 0.75, + "young": 3.0, + "hardness": 12, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 8, + 14 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.416445791721344, + -0.2721284329891205, + 0.3385605216026306 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001413/annotations/part_9.json b/data/UPB_00001413/annotations/part_9.json new file mode 100644 index 0000000000000000000000000000000000000000..05b44137b1fd4840959f2cb09284943643418170 --- /dev/null +++ b/data/UPB_00001413/annotations/part_9.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001413", + "label": "9" + }, + "part_level": { + "part_name": "Tall Door E (right section, left leaf)", + "affordance": 3, + "graspable": false, + "basic_description": "Full-height wardrobe door for the left bay of the right section, approx. 50*210*1.8 cm, MDF painted.", + "functional_description": "Encloses a tall hanging/shelved compartment.", + "movement_description": "Swings about a vertical hinge line relative to the carcass.", + "grasp_description": "Opened using the knob mounted at a convenient height." + }, + "basic_info": { + "material": "wood/MDF_Painted", + "density": 0.75, + "young": 3.0, + "hardness": 12, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 9, + 15 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + 0.45929187536239624, + -0.27971363067626953, + 0.39408841729164124 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git 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0000000000000000000000000000000000000000..04cf0805c640191a2c180428cd6434cdbb1d8a25 --- /dev/null +++ b/data/UPB_00001413/plys/9.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8397ace969ae8cfd49429204bdb5655f2919cab783ee0068fae425f353e8f9d0 +size 160242 diff --git a/data/UPB_00001413/plys/model.ply b/data/UPB_00001413/plys/model.ply new file mode 100644 index 0000000000000000000000000000000000000000..1a75fc5c6ab8560778edd23b5b7a2363e0416d68 --- /dev/null +++ b/data/UPB_00001413/plys/model.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52d4c4042460308a7ff5328d349c1d2170b39deb87ea5f1ca3ad3b31e6464912 +size 1600243 diff --git a/data/UPB_00001414/annotations/object.json b/data/UPB_00001414/annotations/object.json new file mode 100644 index 0000000000000000000000000000000000000000..e328ef33e2d7229c03488aa8eb9a915a191f464f --- /dev/null +++ b/data/UPB_00001414/annotations/object.json @@ -0,0 +1,10 @@ +{ + "object_name": "Four-door wardrobe with central drawers", + "category": "Furniture/StorageFurniture", + "volume": [ + 200.0, + 60.0, + 220.0 + ], + "mass": 160.0 +} \ No newline at end of file diff --git a/data/UPB_00001414/annotations/part_1.json b/data/UPB_00001414/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..b54e9f992925a46e6be813c9ce4ae03f5ece4e4f --- /dev/null +++ b/data/UPB_00001414/annotations/part_1.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001414", + "label": "1" + }, + "part_level": { + "part_name": "Left-center upper drawer", + "affordance": 2, + "graspable": true, + "basic_description": "Rectangular MDF drawer box with a decorative front panel; part of a wardrobe.", + "functional_description": "Provides storage for folded clothes or accessories in the center bay.", + "movement_description": "Slides in and out on runners fixed to the carcass; limited translation.", + "grasp_description": "Pulled via its knob; can also be supported by the drawer sides while opening." + }, + "basic_info": { + "material": "wood/MDF", + "density": 0.75, + "young": 3.2, + "hardness": 25, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 1, + 21 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + -0.6762324571609497, + -0.2600000202655792, + -0.7398930191993713 + ], + "range": [ + -0.3499999940395355, + 0.0 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001414/annotations/part_10.json b/data/UPB_00001414/annotations/part_10.json new file mode 100644 index 0000000000000000000000000000000000000000..b20bcedf5b78ebb191528c3bffef38530b5dfa2e --- /dev/null +++ b/data/UPB_00001414/annotations/part_10.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001414", + "label": "10" + }, + "part_level": { + "part_name": "Tall door - left inner", + "affordance": 3, + "graspable": true, + "basic_description": "Tall MDF door just left of the center shelving column.", + "functional_description": "Covers a vertical storage bay with shelves or hanging rod.", + "movement_description": "Hinged rotation relative to the cabinet frame.", + "grasp_description": "Operated by pulling on its knob." + }, + "basic_info": { + "material": "wood/MDF", + "density": 0.74, + "young": 3.1, + "hardness": 25, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 10, + 18 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + -0.25505056977272034, + -0.2600000202655792, + 3.597872888505549e-09 + ], + "range": [ + 0.0, + 1.7453292519943295 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001414/annotations/part_11.json b/data/UPB_00001414/annotations/part_11.json new file mode 100644 index 0000000000000000000000000000000000000000..fed184d4430cb6ba90162d24ee2dd76cef4dfe39 --- /dev/null +++ b/data/UPB_00001414/annotations/part_11.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001414", + "label": "11" + }, + "part_level": { + "part_name": "Tall door - right inner", + "affordance": 3, + "graspable": true, + "basic_description": "Tall MDF door just right of the center shelving column.", + "functional_description": "Covers the right inner storage section.", + "movement_description": "Swings about hinges fixed to part 25.", + "grasp_description": "Pulled at the knob to open, then pushed to close." + }, + "basic_info": { + "material": "wood/MDF", + "density": 0.74, + "young": 3.1, + "hardness": 25, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 11, + 19 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + 0.2600509524345398, + -0.2600000202655792, + 8.901166026475948e-09 + ], + "range": [ + 0.0, + 1.7453292519943295 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001414/annotations/part_12.json b/data/UPB_00001414/annotations/part_12.json new file mode 100644 index 0000000000000000000000000000000000000000..897c9ad808a506344fd78331b8411c9330f47525 --- /dev/null +++ b/data/UPB_00001414/annotations/part_12.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001414", + "label": "12" + }, + "part_level": { + "part_name": "Tall door - far right", + "affordance": 3, + "graspable": true, + "basic_description": "Full-height MDF wardrobe door on the far right bay.", + "functional_description": "Closes the large right-hand compartment.", + "movement_description": "Hinged rotation with soft-close damping.", + "grasp_description": "User pulls the front knob to open." + }, + "basic_info": { + "material": "wood/MDF", + "density": 0.74, + "young": 3.1, + "hardness": 25, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 12, + 20 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 1.1417862176895142, + -0.2600000202655792, + 0.0 + ], + "range": [ + 0.0, + 1.7453292519943295 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001414/annotations/part_13.json b/data/UPB_00001414/annotations/part_13.json new file mode 100644 index 0000000000000000000000000000000000000000..45ee52914631aa1c14c808268dec7adec4f4506c --- /dev/null +++ b/data/UPB_00001414/annotations/part_13.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001414", + "label": "13" + }, + "part_level": { + "part_name": "Knob - top small door far left", + "affordance": 1, + "graspable": true, + "basic_description": "Matte black zinc-alloy knob sized for a fingertip grip.", + "functional_description": "Provides a handle for operating the far-left top door.", + "movement_description": "No independent motion; rigidly attached to the door panel.", + "grasp_description": "Pinch with fingers to pull or push the door." + }, + "basic_info": { + "material": "metal/Zinc_Alloy", + "density": 6.6, + "young": 85.0, + "hardness": 110, + "poisson": 0.33, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001414/annotations/part_14.json b/data/UPB_00001414/annotations/part_14.json new file mode 100644 index 0000000000000000000000000000000000000000..4ab3c46bf115777b69ae010dd774caf900342d61 --- /dev/null +++ b/data/UPB_00001414/annotations/part_14.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001414", + "label": "14" + }, + "part_level": { + "part_name": "Knob - top small door left inner", + "affordance": 1, + "graspable": true, + "basic_description": "Small rounded metal knob with powder-coated finish.", + "functional_description": "Actuates the left-inner top cabinet door.", + "movement_description": "Rigidly fixed to the door; follows its motion.", + "grasp_description": "Gripped between thumb and fingers to open/close." + }, + "basic_info": { + "material": "metal/Zinc_Alloy", + "density": 6.6, + "young": 85.0, + "hardness": 110, + "poisson": 0.33, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001414/annotations/part_15.json b/data/UPB_00001414/annotations/part_15.json new file mode 100644 index 0000000000000000000000000000000000000000..d839f31dc17789b94b3520da841a3199b6a0fc54 --- /dev/null +++ b/data/UPB_00001414/annotations/part_15.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001414", + "label": "15" + }, + "part_level": { + "part_name": "Knob - top small door right inner", + "affordance": 1, + "graspable": true, + "basic_description": "Rounded zinc-alloy pull knob for the right-inner top door.", + "functional_description": "Allows convenient opening of the corresponding door.", + "movement_description": "No motion of its own; rigid with the door.", + "grasp_description": "Finger pinch pull." + }, + "basic_info": { + "material": "metal/Zinc_Alloy", + "density": 6.6, + "young": 85.0, + "hardness": 110, + "poisson": 0.33, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001414/annotations/part_16.json b/data/UPB_00001414/annotations/part_16.json new file mode 100644 index 0000000000000000000000000000000000000000..35e6b28fdaa1e5978592620ba7bcc214b5ae104b --- /dev/null +++ b/data/UPB_00001414/annotations/part_16.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001414", + "label": "16" + }, + "part_level": { + "part_name": "Knob - top small door far right", + "affordance": 1, + "graspable": true, + "basic_description": "Black metal knob attached to the far-right overhead door.", + "functional_description": "Provides a tactile pulling point for the small right door.", + "movement_description": "Rigid with door panel; follows its rotation.", + "grasp_description": "Pinched or hooked with fingers to operate." + }, + "basic_info": { + "material": "metal/Zinc_Alloy", + "density": 6.6, + "young": 85.0, + "hardness": 110, + "poisson": 0.33, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001414/annotations/part_17.json b/data/UPB_00001414/annotations/part_17.json new file mode 100644 index 0000000000000000000000000000000000000000..98b006c33e5ccbae2d5115e5aa091893de54b4cc --- /dev/null +++ b/data/UPB_00001414/annotations/part_17.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001414", + "label": "17" + }, + "part_level": { + "part_name": "Knob - tall door far left", + "affordance": 1, + "graspable": true, + "basic_description": "Rounded metal knob for the far-left tall door.", + "functional_description": "Handle to open the left wardrobe door.", + "movement_description": "Rigid connection to door; no independent motion.", + "grasp_description": "Wrapped by fingers or pinched to pull the door." + }, + "basic_info": { + "material": "metal/Zinc_Alloy", + "density": 6.6, + "young": 85.0, + "hardness": 110, + "poisson": 0.33, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001414/annotations/part_18.json b/data/UPB_00001414/annotations/part_18.json new file mode 100644 index 0000000000000000000000000000000000000000..677be11bee2de1baf6ac595fecd1b242895d8fc0 --- /dev/null +++ b/data/UPB_00001414/annotations/part_18.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001414", + "label": "18" + }, + "part_level": { + "part_name": "Knob - tall door left inner", + "affordance": 1, + "graspable": true, + "basic_description": "Black zinc-alloy knob fixed to the left-inner tall door.", + "functional_description": "Primary user interface for opening the door.", + "movement_description": "Does not move independently; follows the door swing.", + "grasp_description": "Pulled by hand to actuate the hinges." + }, + "basic_info": { + "material": "metal/Zinc_Alloy", + "density": 6.6, + "young": 85.0, + "hardness": 110, + "poisson": 0.33, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001414/annotations/part_19.json b/data/UPB_00001414/annotations/part_19.json new file mode 100644 index 0000000000000000000000000000000000000000..97e6fba14705bbd34a84a1ffae09f8fa442a4aab --- /dev/null +++ b/data/UPB_00001414/annotations/part_19.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001414", + "label": "19" + }, + "part_level": { + "part_name": "Knob - tall door right inner", + "affordance": 1, + "graspable": true, + "basic_description": "Small rounded metal knob on the right-inner tall door.", + "functional_description": "Used for pulling the door open and pushing it closed.", + "movement_description": "Rigid to the door panel.", + "grasp_description": "Pinch or wrap fingers to pull." + }, + "basic_info": { + "material": "metal/Zinc_Alloy", + "density": 6.6, + "young": 85.0, + "hardness": 110, + "poisson": 0.33, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001414/annotations/part_2.json b/data/UPB_00001414/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..63e3096c782e47dc967fa9bcbe7bcdc584540248 --- /dev/null +++ b/data/UPB_00001414/annotations/part_2.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001414", + "label": "2" + }, + "part_level": { + "part_name": "Left-center lower drawer", + "affordance": 2, + "graspable": true, + "basic_description": "MDF drawer box with molded front panel matching the wardrobe style.", + "functional_description": "Lower storage drawer for heavier items like linens or shoes.", + "movement_description": "Translates on drawer slides attached to the main cabinet.", + "grasp_description": "User pulls the knob and supports the drawer front if heavily loaded." + }, + "basic_info": { + "material": "wood/MDF", + "density": 0.75, + "young": 3.2, + "hardness": 25, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 2, + 22 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + -0.6816933751106262, + -0.2600000202655792, + -1.0018422603607178 + ], + "range": [ + -0.3499999940395355, + 0.0 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001414/annotations/part_20.json b/data/UPB_00001414/annotations/part_20.json new file mode 100644 index 0000000000000000000000000000000000000000..daffa5c9ed178386348bf462f87cec0b5826956c --- /dev/null +++ b/data/UPB_00001414/annotations/part_20.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001414", + "label": "20" + }, + "part_level": { + "part_name": "Knob - tall door far right", + "affordance": 1, + "graspable": true, + "basic_description": "Metal pull knob mounted on the far-right tall door.", + "functional_description": "Provides purchase to operate the rightmost wardrobe door.", + "movement_description": "Rigidly fixed; follows door rotation.", + "grasp_description": "Finger-pinch or hook-style pull." + }, + "basic_info": { + "material": "metal/Zinc_Alloy", + "density": 6.6, + "young": 85.0, + "hardness": 110, + "poisson": 0.33, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001414/annotations/part_21.json b/data/UPB_00001414/annotations/part_21.json new file mode 100644 index 0000000000000000000000000000000000000000..42a6b640081b6f31e80afee7f28e16bb0e5c6910 --- /dev/null +++ b/data/UPB_00001414/annotations/part_21.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001414", + "label": "21" + }, + "part_level": { + "part_name": "Knob - drawer left-center upper", + "affordance": 1, + "graspable": true, + "basic_description": "Compact metal knob mounted to the upper left-center drawer front.", + "functional_description": "Primary pulling point to translate the drawer.", + "movement_description": "No relative motion; rigid with drawer front.", + "grasp_description": "Pulled straight out with fingers." + }, + "basic_info": { + "material": "metal/Zinc_Alloy", + "density": 6.6, + "young": 85.0, + "hardness": 110, + "poisson": 0.33, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001414/annotations/part_22.json b/data/UPB_00001414/annotations/part_22.json new file mode 100644 index 0000000000000000000000000000000000000000..112956e493fbfccf0b8de30f6f8e834e61b53d36 --- /dev/null +++ b/data/UPB_00001414/annotations/part_22.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001414", + "label": "22" + }, + "part_level": { + "part_name": "Knob - drawer left-center lower", + "affordance": 1, + "graspable": true, + "basic_description": "Metal knob fixed to the lower left-center drawer front.", + "functional_description": "Used to pull the drawer along its slides.", + "movement_description": "Rigid to drawer; translates with part 2.", + "grasp_description": "Pinched by the fingers during operation." + }, + "basic_info": { + "material": "metal/Zinc_Alloy", + "density": 6.6, + "young": 85.0, + "hardness": 110, + "poisson": 0.33, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001414/annotations/part_23.json b/data/UPB_00001414/annotations/part_23.json new file mode 100644 index 0000000000000000000000000000000000000000..74ffdce8642f12c7a843be0d5f456fbae624c32d --- /dev/null +++ b/data/UPB_00001414/annotations/part_23.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001414", + "label": "23" + }, + "part_level": { + "part_name": "Knob - drawer right-center upper", + "affordance": 1, + "graspable": true, + "basic_description": "Metallic knob attached to the upper right-center drawer.", + "functional_description": "Provides leverage to open/close the drawer.", + "movement_description": "Rigid connection; no relative motion.", + "grasp_description": "Finger-pull action." + }, + "basic_info": { + "material": "metal/Zinc_Alloy", + "density": 6.6, + "young": 85.0, + "hardness": 110, + "poisson": 0.33, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001414/annotations/part_24.json b/data/UPB_00001414/annotations/part_24.json new file mode 100644 index 0000000000000000000000000000000000000000..f844bac18588f6e8b136339c841c4c03cc26975b --- /dev/null +++ b/data/UPB_00001414/annotations/part_24.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001414", + "label": "24" + }, + "part_level": { + "part_name": "Knob - drawer right-center lower", + "affordance": 1, + "graspable": true, + "basic_description": "Matte black zinc-alloy knob mounted on the lower right-center drawer.", + "functional_description": "Allows the user to comfortably pull the drawer.", + "movement_description": "Rigidly attached; follows drawer translation.", + "grasp_description": "Gripped by the fingertips." + }, + "basic_info": { + "material": "metal/Zinc_Alloy", + "density": 6.6, + "young": 85.0, + "hardness": 110, + "poisson": 0.33, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001414/annotations/part_25.json b/data/UPB_00001414/annotations/part_25.json new file mode 100644 index 0000000000000000000000000000000000000000..64f74fa9f78175d36ad8f0797fd37d12fc6da35a --- /dev/null +++ b/data/UPB_00001414/annotations/part_25.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001414", + "label": "25" + }, + "part_level": { + "part_name": "Wardrobe carcass and shelves", + "affordance": 10, + "graspable": false, + "basic_description": "Main MDF frame, side panels, back, and fixed shelves forming the wardrobe body.", + "functional_description": "Provides structural support, houses compartments, and anchors all doors and drawers.", + "movement_description": "Static reference structure; acts as the parent for hinges and slides.", + "grasp_description": "Normally not grasped; users interact with attached doors, drawers, and knobs." + }, + "basic_info": { + "material": "wood/MDF", + "density": 0.76, + "young": 3.2, + "hardness": 28, + "poisson": 0.3, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001414/annotations/part_3.json b/data/UPB_00001414/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..f8f53d1ff752eb498acf7bf391f97a43b4406e3b --- /dev/null +++ b/data/UPB_00001414/annotations/part_3.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001414", + "label": "3" + }, + "part_level": { + "part_name": "Right-center upper drawer", + "affordance": 2, + "graspable": true, + "basic_description": "Upper right MDF drawer with decorative frame front.", + "functional_description": "Convenient storage for small garments in the right center bay.", + "movement_description": "Linear sliding motion guided by side runners.", + "grasp_description": "Pulled open by the knob; pushed closed by hand on the front." + }, + "basic_info": { + "material": "wood/MDF", + "density": 0.75, + "young": 3.2, + "hardness": 25, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 3, + 23 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + 0.7257295846939087, + -0.2600000202655792, + -0.7385586500167847 + ], + "range": [ + -0.3499999940395355, + 0.0 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001414/annotations/part_4.json b/data/UPB_00001414/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..dd257b92f259b60d6f19c348058341c87d027d0a --- /dev/null +++ b/data/UPB_00001414/annotations/part_4.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001414", + "label": "4" + }, + "part_level": { + "part_name": "Right-center lower drawer", + "affordance": 2, + "graspable": true, + "basic_description": "Lower right MDF drawer box with same molded front treatment.", + "functional_description": "Stores bulkier items; shares slides with the carcass.", + "movement_description": "Translational motion along runners fixed to part 25.", + "grasp_description": "Grasped at the knob and front edge during use." + }, + "basic_info": { + "material": "wood/MDF", + "density": 0.75, + "young": 3.2, + "hardness": 25, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 4, + 24 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + 0.7195871472358704, + -0.2600000202655792, + -1.0033119916915894 + ], + "range": [ + -0.3499999940395355, + 0.0 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001414/annotations/part_5.json b/data/UPB_00001414/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..9b9c2014ba72ab9e8c8966b5e84170db1dc21b51 --- /dev/null +++ b/data/UPB_00001414/annotations/part_5.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001414", + "label": "5" + }, + "part_level": { + "part_name": "Top small door - far left", + "affordance": 4, + "graspable": true, + "basic_description": "Square MDF cabinet door at the top-left of the wardrobe.", + "functional_description": "Covers a shallow overhead compartment for seldom-used items.", + "movement_description": "Rotates about a vertical hinge line fixed to the carcass.", + "grasp_description": "Pulled by its knob at the front to swing open." + }, + "basic_info": { + "material": "wood/MDF", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 5, + 13 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -1.1456565856933594, + -0.2499999850988388, + 0.9274951815605164 + ], + "range": [ + 0.0, + 1.7453292519943295 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001414/annotations/part_6.json b/data/UPB_00001414/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..6891fcae676dde862ed9d1ace4fadb6149d93fed --- /dev/null +++ b/data/UPB_00001414/annotations/part_6.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001414", + "label": "6" + }, + "part_level": { + "part_name": "Top small door - left inner", + "affordance": 4, + "graspable": true, + "basic_description": "Square MDF door above the left side of the center column.", + "functional_description": "Closes an upper cubby storage area.", + "movement_description": "Hinged rotation relative to the main frame.", + "grasp_description": "Grasp the knob and pull outward to open." + }, + "basic_info": { + "material": "wood/MDF", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 6, + 14 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + -0.251838743686676, + -0.2600000202655792, + 0.9172366261482239 + ], + "range": [ + 0.0, + 1.7453292519943295 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001414/annotations/part_7.json b/data/UPB_00001414/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..c087dc0bbb04ec2d21b2a8b9116016d142b5bd25 --- /dev/null +++ b/data/UPB_00001414/annotations/part_7.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001414", + "label": "7" + }, + "part_level": { + "part_name": "Top small door - right inner", + "affordance": 4, + "graspable": true, + "basic_description": "Square MDF door above the right side of the center column.", + "functional_description": "Closes the upper right cubby compartment.", + "movement_description": "Swings about hinges secured to the carcass.", + "grasp_description": "Pulled open at the knob." + }, + "basic_info": { + "material": "wood/MDF", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 7, + 15 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + 0.2640419006347656, + -0.2499999850988388, + 0.9245667457580566 + ], + "range": [ + 0.0, + 1.7453292519943295 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001414/annotations/part_8.json b/data/UPB_00001414/annotations/part_8.json new file mode 100644 index 0000000000000000000000000000000000000000..249e3516f1f0a456172ac2de894b9c8de6a8231d --- /dev/null +++ b/data/UPB_00001414/annotations/part_8.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001414", + "label": "8" + }, + "part_level": { + "part_name": "Top small door - far right", + "affordance": 4, + "graspable": true, + "basic_description": "Square MDF top-right cabinet door.", + "functional_description": "Covers the rightmost overhead compartment.", + "movement_description": "Hinged rotation relative to frame 25.", + "grasp_description": "Operated by the attached knob." + }, + "basic_info": { + "material": "wood/MDF", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 8, + 16 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 1.1478646993637085, + -0.2499999850988388, + 0.9274705648422241 + ], + "range": [ + 0.0, + 1.7453292519943295 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001414/annotations/part_9.json b/data/UPB_00001414/annotations/part_9.json new file mode 100644 index 0000000000000000000000000000000000000000..6d6741693d55e9bc7cf05e3dce28670ce1ca5ce6 --- /dev/null +++ b/data/UPB_00001414/annotations/part_9.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001414", + "label": "9" + }, + "part_level": { + "part_name": "Tall door - far left", + "affordance": 3, + "graspable": true, + "basic_description": "Full-height MDF wardrobe door on the far left bay.", + "functional_description": "Closes the left hanging/storage section.", + "movement_description": "Rotates about vertical hinges attached to the carcass.", + "grasp_description": "Grasp the knob then pull to swing the door open." + }, + "basic_info": { + "material": "wood/MDF", + "density": 0.74, + "young": 3.1, + "hardness": 25, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 9, + 17 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -1.143940806388855, + -0.2600000202655792, + -3.9155423792180954e-08 + ], + "range": [ + 0.0, + 1.7453292519943295 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001414/full_model/material.mtl b/data/UPB_00001414/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00001414/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 \ No newline at end of file diff --git a/data/UPB_00001414/full_model/material_0.png b/data/UPB_00001414/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e8e8672691d98e661a23d04186e8f841e4617f54 --- /dev/null +++ b/data/UPB_00001414/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82f381de3a786a4546fd3e0c0fd375051530c980233b72c78b91be063e0c6398 +size 24525 diff --git a/data/UPB_00001414/full_model/model.obj b/data/UPB_00001414/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..a4863dedb42d319b6653de959eccae2543eea4dc --- /dev/null +++ b/data/UPB_00001414/full_model/model.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b04b670f49165dbfd67c36389a5973e4cab3545bcde5cc1853688ef82473ff6 +size 15748295 diff --git a/data/UPB_00001414/meta_data.json b/data/UPB_00001414/meta_data.json new file mode 100644 index 0000000000000000000000000000000000000000..2a0d0260826cc37e47d715b8307dc7352426b379 --- /dev/null +++ b/data/UPB_00001414/meta_data.json @@ -0,0 +1,22 @@ +{ + "id": "UPB_00001414", + "source": [ + { + "dataset": "UniPhys-Bench", + "organization": "Manycore Tech Inc.", + "license_ref": "UniPhys-Bench" + } + ], + "object": { + "category": "Furniture/StorageFurniture", + "object_name": "Four-door wardrobe with central drawers" + }, + "geometry": { + "asset_type": "decomposed_parts", + "num_parts": 25, + "format": "obj" + }, + "annotation": { + "version": "v1.0" + } +} \ No newline at end of file diff --git a/data/UPB_00001414/model.urdf b/data/UPB_00001414/model.urdf new file mode 100644 index 0000000000000000000000000000000000000000..68878cd340dfe631da300de1d3c8d9b9a58a3f97 --- /dev/null +++ b/data/UPB_00001414/model.urdf @@ -0,0 +1,525 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/data/UPB_00001414/parts/T_696e7414624a173ccfed847b_color.jpg b/data/UPB_00001414/parts/T_696e7414624a173ccfed847b_color.jpg new file mode 100644 index 0000000000000000000000000000000000000000..88529204f0d117b1e7e6e47d3638a6f7e20352a2 --- /dev/null +++ b/data/UPB_00001414/parts/T_696e7414624a173ccfed847b_color.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d19500603bb14f516be3fc47bc2ea2af5d9fef6a0719c8453bd5027ccf119de +size 18929 diff --git a/data/UPB_00001414/parts/part_1.obj b/data/UPB_00001414/parts/part_1.obj new file mode 100644 index 0000000000000000000000000000000000000000..bdf51956ef0492b6e03da2e3944a70234a5a8865 --- /dev/null +++ b/data/UPB_00001414/parts/part_1.obj @@ -0,0 +1,8084 @@ +mtllib wardrobe_YVIPGARVAJV6OPTUKE888888_fHXtk.mtl +v -1.14557505 -0.259643912 -0.601190686 +v -0.252914727 -0.251210034 -0.601190805 +v -1.14557505 -0.251210034 -0.601190686 +v -0.252914727 -0.251210034 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