Upload folder using huggingface_hub (part 43)

.gitattributes

@@ -2520,3 +2520,62 @@ data/UPB_00000727/plys/6.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00000727/plys/7.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00000727/plys/8.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00000727/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00000728/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00000728",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Hall Hutch Cabinet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 19,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000728/model.urdf

@@ -0,0 +1,399 @@
+<?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="helper_link_6"/>
+  <link name="helper_link_7"/>
+  <link name="helper_link_8"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_14">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_15">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_16">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_17">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_18">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_18.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_18.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_19">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_19.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_19.obj" scale="0.697709 0.697709 0.697709"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.821573 -0.132565 -0.602445" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.821573 0.132565 0.602445" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_1"/>
+    <origin xyz="-0.009101 -0.132565 -0.656240" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0.009101 0.132565 0.656240" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.006031 -0.132565 -0.567593" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.006031 0.132565 0.567593" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.823221 -0.132565 -0.621068" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="-0.823221 0.132565 0.621068" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_4"/>
+    <origin xyz="-0.823038 -0.132565 0.488566" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_5"/>
+    <origin xyz="0.823038 0.132565 -0.488566" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="prismatic">
+    <parent link="link_19"/>
+    <child link="helper_link_5"/>
+    <origin xyz="-0.617825 -0.134158 -0.207750" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.20931282874620108" upper="0.0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="helper_link_5"/>
+    <child link="link_6"/>
+    <origin xyz="0.617825 0.134158 0.207750" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="prismatic">
+    <parent link="link_19"/>
+    <child link="helper_link_6"/>
+    <origin xyz="-0.203583 -0.132565 -0.215319" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.20931282874620108" upper="0.0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="helper_link_6"/>
+    <child link="link_7"/>
+    <origin xyz="0.203583 0.132565 0.215319" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="prismatic">
+    <parent link="link_19"/>
+    <child link="helper_link_7"/>
+    <origin xyz="0.211765 -0.132565 -0.215556" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.20931282874620108" upper="0.0"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="helper_link_7"/>
+    <child link="link_8"/>
+    <origin xyz="-0.211765 0.132565 0.215556" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_16" type="prismatic">
+    <parent link="link_19"/>
+    <child link="helper_link_8"/>
+    <origin xyz="0.621274 -0.132565 -0.210068" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.20931282874620108" upper="0.0"/>
+  </joint>
+  <joint name="joint_17" type="fixed">
+    <parent link="helper_link_8"/>
+    <child link="link_9"/>
+    <origin xyz="-0.621274 0.132565 0.210068" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_18" type="fixed">
+    <parent link="link_6"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_19" type="fixed">
+    <parent link="link_7"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_20" type="fixed">
+    <parent link="link_8"/>
+    <child link="link_12"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_21" type="fixed">
+    <parent link="link_9"/>
+    <child link="link_13"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_22" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_14"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_23" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_15"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_24" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_16"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_25" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_17"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_26" type="fixed">
+    <parent link="link_5"/>
+    <child link="link_18"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_27" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_19"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00000728/parts/ShoeCabinet_YVJZ3CUTQ3G3SPTUJU888888_DsCrm.mtl

@@ -0,0 +1,18 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_696d2d0682c1fe49a0667159
+Kd 0.0471264012 0.0471264012 0.0471264012
+illum 1
+
+newmtl MI_696d2d0692e71a7b73aa1791
+Kd 0.156900004 0.149000004 0.149000004
+illum 1
+
+newmtl MI_696d2d066e4f3300ff74cb63
+Kd 1 1 1
+illum 1
+map_Kd ./T_696d2d066e4f3300ff74cb63_color.jpg
+bump ./T_696d2d066e4f3300ff74cb63_normal.jpg
+map_bump ./T_696d2d066e4f3300ff74cb63_normal.jpg
+

data/UPB_00000728/parts/part_1.obj

@@ -0,0 +1,1377 @@
+mtllib ShoeCabinet_YVJZ3CUTQ3G3SPTUJU888888_DsCrm.mtl
+v -0.681192875 -0.20134598 -0.539061785
+v -0.681192875 -0.201346919 -1.22468174
+v -0.680096388 -0.202742577 -0.537965298
+v -0.680096388 -0.202742577 -0.537965298
+v -0.681192875 -0.201346919 -1.22468174
+v -0.680096388 -0.202743515 -1.2257781
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+{
+    "object_name": "Multi-Section Cabinet",
+    "category": "Furniture/StorageFurniture",
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+{
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+        "type_name": "default",
+        "entity": "UPB_00000729",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Upper Left Small Door",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Raised-panel square cabinet door made of painted MDF, approx 35*2*35 cm.",
+        "functional_description": "Covers the upper-left small compartment and provides access.",
+        "movement_description": "Rotates about a vertical hinge on the left side relative to the cabinet frame.",
+        "grasp_description": "Usually pulled open via the attached round knob at the right edge."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
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+}

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+        "entity": "UPB_00000729",
+        "label": "10"
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+    "part_level": {
+        "part_name": "Small Drawer Right",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Right small storage drawer, MDF, approx 35*40*15 cm.",
+        "functional_description": "Provides quick access storage; slides on runners.",
+        "movement_description": "Translates outward from the cabinet front and retracts fully.",
+        "grasp_description": "Operated via the round knob on the drawer face."
+    },
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+}

data/UPB_00000729/annotations/part_11.json

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+{
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+        "type_name": "default",
+        "entity": "UPB_00000729",
+        "label": "11"
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+    "part_level": {
+        "part_name": "Wide Drawer",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Full-width shallow drawer, MDF, approx 75*40*15 cm with decorated front.",
+        "functional_description": "Primary drawer for larger utensils or linens.",
+        "movement_description": "Slides in translation on runners relative to the frame.",
+        "grasp_description": "Pulled using the centered knob."
+    },
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data/UPB_00000729/annotations/part_12.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000729",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Knob for Part 1",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Round metal knob, black finished, approx \u00d83*2.5 cm, attached to small left upper door.",
+        "functional_description": "Provides a handhold to operate Part 1.",
+        "movement_description": "Moves rigidly with the door; no independent motion.",
+        "grasp_description": "Pinch or hook with fingers to pull the door open."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Aluminum_Alloy_Zamak",
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+}