Upload folder using huggingface_hub (part 76)

.gitattributes

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data/UPB_00001400/annotations/object.json

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+{
+    "object_name": "Two-Door Wardrobe with Drawer Base",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        100.0,
+        55.0,
+        185.0
+    ],
+    "mass": 60.0
+}

data/UPB_00001400/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001400",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Lower double-drawer module",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Two side-by-side drawers constructed from MDF with a laminate finish, approx. 90*50*40 cm for the combined module.",
+        "functional_description": "Provides enclosed storage for small items at the wardrobe base. Each drawer rides on slide rails for easy access.",
+        "movement_description": "The drawer module translates along the cabinet depth on slides relative to the main body, from fully closed to fully extended.",
+        "grasp_description": "Users grasp the drawer fronts or integrated pulls to pull the drawers open and push them closed."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.73,
+        "young": 3.2,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
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+            "B"
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+}

data/UPB_00001400/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001400",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Left door panel",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Full-height left door made from MDF, approx. 45*2*160 cm, finished to match the cabinet.",
+        "functional_description": "Covers the left half of the wardrobe opening, providing privacy and dust protection.",
+        "movement_description": "Rotates about a vertical hinge axis attached to the cabinet body; the attached handle moves with the door.",
+        "grasp_description": "Users typically grasp the handle to swing the door open or closed."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.73,
+        "young": 3.2,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
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+}

data/UPB_00001400/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001400",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Right door panel",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Full-height right door made from MDF, approx. 45*2*160 cm.",
+        "functional_description": "Covers the right half of the wardrobe opening and aligns with the left door to fully close the cabinet.",
+        "movement_description": "Rotates about a vertical hinge axis fixed to the cabinet body; handle is rigidly attached.",
+        "grasp_description": "Users grasp the right handle to open or close the door."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.73,
+        "young": 3.2,
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+        "poisson": 0.3,
+        "friction": 0.45
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data/UPB_00001400/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001400",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Left door handle/knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Decorative stainless-steel knob with matte black finish, approx. 5 cm long, 3 cm diameter.",
+        "functional_description": "Provides a comfortable grasping point to operate the left door.",
+        "movement_description": "Rigidly mounted to the left door; no independent motion.",
+        "grasp_description": "Users pinch or wrap fingers around the knob to pull or push the door."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_Black",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 180,
+        "poisson": 0.3,
+        "friction": 0.3
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+    "kinematic_info": {
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+            "D"
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+        "motion_info": {}
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+}

data/UPB_00001400/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001400",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Right door handle/knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Matching stainless-steel knob for the right door, matte black, approx. 5 cm long, 3 cm diameter.",
+        "functional_description": "Primary grasping element for operating the right door.",
+        "movement_description": "Rigidly attached to the right door; moves only as the door moves.",
+        "grasp_description": "Users grasp the knob to open and close the right door."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_Black",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 180,
+        "poisson": 0.3,
+        "friction": 0.3
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+}

data/UPB_00001400/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001400",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Metal base frame with legs",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Rectangular tubular steel frame with four short legs and mounting points, approx. 100*55*10 cm.",
+        "functional_description": "Supports the cabinet, elevating it from the floor and distributing loads.",
+        "movement_description": "Rigidly fixed to the cabinet body; no relative motion during normal use.",
+        "grasp_description": "Rarely touched; may be contacted when cleaning or moving the furniture."
+    },
+    "basic_info": {
+        "material": "metal/Carbon_Steel_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 160,
+        "poisson": 0.29,
+        "friction": 0.55
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+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+    }
+}

data/UPB_00001400/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001400",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Cabinet body/carcass",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Main MDF carcass with an internal mid shelf and lower two compartments, overall size matching the object 100*55*185 cm.",
+        "functional_description": "Provides the structural enclosure, mounting points for doors, drawers, and base, and internal storage volume.",
+        "movement_description": "Acts as the fixed parent for doors and drawers; remains stationary while connected components move relative to it.",
+        "grasp_description": "Typically not grasped directly; users interact through doors and drawers attached to it."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.73,
+        "young": 3.2,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001400/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_00001400/full_model/model.obj

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+version https://git-lfs.github.com/spec/v1
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+size 19980429

data/UPB_00001400/meta_data.json

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+{
+    "id": "UPB_00001400",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Two-Door Wardrobe with Drawer Base"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 7,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001400/model.urdf

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+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="helper_link_2"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.976973 0.976973 0.976973"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.976973 0.976973 0.976973"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
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+      </geometry>
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+  </link>
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+    <visual>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.976973 0.976973 0.976973"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
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+      </geometry>
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+  </link>
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+    <visual>
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+    </visual>
+    <collision>
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+        <mesh filename="parts/part_5.obj" scale="0.976973 0.976973 0.976973"/>
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+    <visual>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
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+      </geometry>
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+  </link>
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+    <visual>
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+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_7"/>
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+    <axis xyz="0.0 1.0 0.0"/>
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+    <origin xyz="-0.000000 -0.000000 -0.000000" rpy="0 0 0"/>
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+    <parent link="link_7"/>
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+    <origin xyz="-0.459770 -0.231855 0.434303" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
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+    <parent link="helper_link_1"/>
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+    <origin xyz="0.459770 0.231855 -0.434303" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="link_7"/>
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+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
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+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

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data/UPB_00001400/parts/wardrobe_YVIOXHJVALF2UPTUKQ888888_R9bBZ.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_696e766c2f71860666d70571
+Kd 0.0471264012 0.0471264012 0.0471264012
+illum 1
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+newmtl MI_696e766c624a173ccfed849e
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+illum 1
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data/UPB_00001400/plys/7.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:5f6a132736bc46df6a714f5863b9996438a05a37a7ce636045e65935c450820b
+size 1005570

data/UPB_00001400/plys/model.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b8dadbfb2fc8cc14c1b280bbecf0350343daf2f3f221070ae1c589faa064f3da
+size 1600243

data/UPB_00001401/annotations/object.json

@@ -0,0 +1,10 @@
+{
+    "object_name": "Wardrobe with Drawers and Mirror Doors",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        160.0,
+        60.0,
+        200.0
+    ],
+    "mass": 110.0
+}

data/UPB_00001401/annotations/part_1.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001401",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Upper Drawer",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "MDF laminate drawer box with a wooden front, about 75*45*18 cm.",
+        "functional_description": "Provides storage for folded clothes or accessories in the upper position of the drawer stack.",
+        "movement_description": "Slides in and out on runners relative to the cabinet carcass (part 15), translating along the cabinet depth.",
+        "grasp_description": "Pulled primarily via the attached knob (part 12) with a hand grip; the front panel can also be pushed to close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.7,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                12
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.4348934590816498,
+                    -0.3181619644165039,
+                    -0.7310957908630371
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001401/annotations/part_10.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001401",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Knob for Door 6",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Matte black anodized aluminum knob for the mirror door.",
+        "functional_description": "Provides a safe place to pull the glass door without touching the mirror.",
+        "movement_description": "No independent motion; rigidly fixed to door 6.",
+        "grasp_description": "Fingertips hook or pinch to open the door."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001401/annotations/part_11.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001401",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Knob for Door 7",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Round anodized aluminum knob matched to the right mirror door.",
+        "functional_description": "Handle to operate the right door.",
+        "movement_description": "Rigidly attached and moves with door 7.",
+        "grasp_description": "Pinch or pull with one or two fingers."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001401/annotations/part_12.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001401",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Knob for Upper Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Small aluminum round knob mounted to the upper drawer front.",
+        "functional_description": "Provides the pulling point for the upper drawer.",
+        "movement_description": "Rigid with drawer 1; no independent motion.",
+        "grasp_description": "Pulled with fingertips to slide the drawer out."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.42
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001401/annotations/part_13.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001401",
+        "label": "13"
+    },
+    "part_level": {
+        "part_name": "Knob for Middle Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Aluminum knob attached to the middle drawer front.",
+        "functional_description": "Primary pull for the middle drawer.",
+        "movement_description": "Fixed to drawer 2 without play.",
+        "grasp_description": "Finger pinch grip to pull the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.42
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001401/annotations/part_14.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001401",
+        "label": "14"
+    },
+    "part_level": {
+        "part_name": "Knob for Lower Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Anodized aluminum round pull knob on the lower drawer.",
+        "functional_description": "Allows the user to pull out the lower drawer with minimal effort.",
+        "movement_description": "Rigidly mounted; translates only because the drawer moves.",
+        "grasp_description": "Pinch/pull to operate the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.42
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001401/annotations/part_15.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001401",
+        "label": "15"
+    },
+    "part_level": {
+        "part_name": "Cabinet Carcass",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Main cabinet structure made from laminated particle board: two sides, top, bottom, back, internal partitions and shelves.",
+        "functional_description": "Provides structural support and houses all compartments, hinges and drawer slides.",
+        "movement_description": "Static frame; acts as the parent for all doors (rotational) and drawers (translational).",
+        "grasp_description": "Not typically grasped except when moving the entire furniture piece."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminate",
+        "density": 0.65,
+        "young": 2.8,
+        "hardness": 15,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001401/annotations/part_2.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001401",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Middle Drawer",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "MDF laminate drawer box with wood front, roughly 75*45*18 cm.",
+        "functional_description": "Middle storage drawer for garments and small items.",
+        "movement_description": "Linear translation on slides relative to the carcass.",
+        "grasp_description": "Pulled with the dedicated knob (part 13); pushed by palm to close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.7,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                13
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.26879382133483887,
+                    -0.9596876502037048
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001401/annotations/part_3.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001401",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Lower Drawer",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Bottom MDF laminate drawer, about 75*45*18 cm.",
+        "functional_description": "Lower storage drawer suitable for heavier items like linens.",
+        "movement_description": "Slides in/out along the cabinet\u2019s depth via runners attached to the carcass.",
+        "grasp_description": "Grasp the knob (part 14) to pull; the front can be pushed with the hand or knee to close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.7,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.52
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                14
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.45045754313468933,
+                    -0.3831346035003662,
+                    -1.2001320123672485
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001401/annotations/part_4.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001401",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Left Plain Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Tall MDF laminate door panel, ~38*2*198 cm, mounted on side hinges.",
+        "functional_description": "Closes the left storage bay, providing dust protection and visual cover.",
+        "movement_description": "Rotates about a vertical hinge axis relative to the carcass.",
+        "grasp_description": "Pulled open using the round knob (part 8); pushed on the panel to shut."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.72,
+        "young": 3.2,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                8
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.8802144527435303,
+                    -0.2666093409061432,
+                    0.3918212950229645
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001401/annotations/part_5.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001401",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Inner Left Plain Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Tall MDF laminate hinged door, ~38*2*198 cm.",
+        "functional_description": "Covers an adjacent compartment above the drawers.",
+        "movement_description": "Swings outward around a vertical hinge axis attached to the carcass.",
+        "grasp_description": "Operated via the attached knob (part 9)."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.72,
+        "young": 3.2,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                5,
+                9
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.2714151442050934,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001401/annotations/part_6.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001401",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Inner Right Mirror Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Full-height mirror door with a slim wood frame, approx 38*2*198 cm. Primary panel is mirrored soda-lime glass.",
+        "functional_description": "Provides a reflective surface and closes the compartment.",
+        "movement_description": "Rotates about vertical hinges secured to the carcass.",
+        "grasp_description": "Pulled by the knob (part 10); users avoid pressing hard on the glass surface."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.72,
+        "young": 3.2,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                6,
+                10
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    0.007342121563851833,
+                    -0.2880999743938446,
+                    0.5308682918548584
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001401/annotations/part_7.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001401",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Right Mirror Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Full-height mirrored door with thin frame, ~38*2*198 cm.",
+        "functional_description": "Closes the rightmost bay and acts as a dressing mirror.",
+        "movement_description": "Hinged rotation about a vertical axis relative to the carcass.",
+        "grasp_description": "Opened with the knob (part 11); users hold the edge or knob to swing it."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.72,
+        "young": 3.2,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                7,
+                11
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.8937488794326782,
+                    -0.2811416685581207,
+                    0.2919096350669861
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001401/annotations/part_8.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001401",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Knob for Door 4",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Round anodized aluminum pull knob, ~3.5 cm diameter, 2 cm projection.",
+        "functional_description": "Primary grasp point to open/close the left plain door.",
+        "movement_description": "No independent motion; rigidly fixed to door 4.",
+        "grasp_description": "Pinched or hooked with fingers to pull the door."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001401/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001401",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Knob for Door 5",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Anodized aluminum round knob sized for one-finger pulling.",
+        "functional_description": "Handle for the inner left door.",
+        "movement_description": "Rigidly attached to door 5; moves with it.",
+        "grasp_description": "Pinch and pull to swing the door."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001401/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