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Datasets:
spatialverse
/
UniPhys-Bench

Modalities:
3D
Languages:
English
Size:
1K<n<10K
ArXiv:
Tags:
3d
physical-grounding
articulation
robotics
simulation
benchmark
License:
Dataset card Files
xet
 Community
breezexian commited on
Commit
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verified ·
1 Parent(s): b417157

Upload folder using huggingface_hub (part 70)

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+ "functional_description": "Provides storage for folded clothes and accessories; supports contents with a rigid box and front panel.",
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+ "movement_description": "Slides in and out along drawer slides fixed to the carcass; translation along depth.",
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+ "grasp_description": "Users pull via the handle attached to its front (part 16)."
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+ "part_name": "Right Narrow Door",
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+ "affordance": 5,
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+ "basic_description": "Tall, narrow MDF door over the right compartments, about 40*160*2 cm.",
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+ "functional_description": "Covers the vertical storage space above the right drawers.",
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+ "movement_description": "Rotates open on hinges attached to the carcass.",
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+ "grasp_description": "Pulled by handle part 15."
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+ "part_level": {
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+ "part_name": "Handle for Left Door",
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+ "affordance": 2,
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+ "basic_description": "Curved black steel pull handle fixed to the left door.",
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+ "functional_description": "Provides a secure grasp point to actuate door rotation.",
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+ "movement_description": "No independent motion; rigidly fixed to door 6.",
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+ "grasp_description": "Gripped by fingers with a pulling action."
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+ "basic_description": "Black steel handle attached to door 7.",
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+ "functional_description": "Allows controlled opening and closing of the door.",
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+ "movement_description": "Rigid with the door; follows door rotation.",
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+ "grasp_description": "Pulled or pushed during operation."
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+ "basic_info": {
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+ "part_level": {
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+ "part_name": "Handle for Center Door",
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+ "basic_description": "Central black steel pull handle mounted to door 8.",
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+ "functional_description": "Primary grasp point for central access.",
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+ "movement_description": "No relative movement to door.",
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+ "grasp_description": "Typically gripped with one hand to open."
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+ },
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+ "part_level": {
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+ "affordance": 2,
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+ "basic_description": "Black steel door handle attached to door 9.",
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+ "functional_description": "Enables user to rotate the door open or closed.",
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+ "movement_description": "Rigidly connected; moves with the door.",
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+ "grasp_description": "Pulled, pushed, or used as a pivot grip."
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+ },
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+ "basic_info": {
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+ "part_level": {
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+ "affordance": 2,
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+ "basic_description": "Narrow-door black steel handle fixed to door 10.",
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+ "functional_description": "Provides leverage for opening the narrow door.",
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+ "movement_description": "Rigid; follows door motion.",
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+ "grasp_description": "Finger pull with wrist rotation."
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+ },
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+ "entity": "UPB_00001390",
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+ "part_level": {
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+ "part_name": "Handle for Upper Wide Drawer",
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+ "affordance": 1,
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+ "graspable": true,
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+ "basic_description": "Curved steel drawer pull fixed to drawer 1.",
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+ "functional_description": "Primary interface to slide the upper wide drawer.",
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+ "movement_description": "Rigidly attached; translates with the drawer.",
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+ "grasp_description": "User pulls outward with fingers to overcome slide resistance."
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+ },
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+ "basic_info": {
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+ "part_level": {
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+ "part_name": "Handle for Lower Wide Drawer",
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+ "affordance": 1,
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+ "graspable": true,
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+ "basic_description": "Steel handle mounted to drawer 2.",
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+ "functional_description": "Provides pulling point for the lower wide drawer.",
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+ "movement_description": "No relative motion; moves with the drawer translation.",
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+ "grasp_description": "Pulled to slide the drawer open or closed."
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+ },
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+ "basic_info": {
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+ "part_level": {
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+ "part_name": "Handle for Right Upper Drawer",
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+ "affordance": 2,
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+ "graspable": true,
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+ "basic_description": "Black steel pull for drawer 3.",
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+ "functional_description": "Enables straightforward operation of the upper right drawer.",
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+ "movement_description": "Rigid to the drawer; translates with it.",
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+ "grasp_description": "Finger pull for short travel."
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+ },
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+ "basic_info": {
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+ "part_level": {
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+ "affordance": 2,
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+ "basic_description": "Black steel handle attached to drawer 4.",
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+ "functional_description": "Pull point for the middle drawer in the right column.",
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+ "movement_description": "Rigid; moves linearly with the drawer.",
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+ "grasp_description": "Used with one hand for opening and closing."
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+ },
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+ "part_level": {
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+ "part_name": "Center Wide Drawer (lower)",
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+ "affordance": 6,
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+ "basic_description": "Lower wide MDF drawer about 90*45*20 cm positioned beneath the upper wide drawer.",
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+ "functional_description": "Additional storage space for garments or linens.",
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+ "movement_description": "Linear translation on slides relative to the carcass.",
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+ "grasp_description": "Pulled using the central handle (part 17)."
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+ },
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+ "part_level": {
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+ "part_name": "Handle for Right Lower Drawer",
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+ "affordance": 2,
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+ "basic_description": "Steel handle for drawer 5.",
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+ "functional_description": "User interface to move the lower small drawer.",
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+ "movement_description": "No independent motion; firmly fixed to drawer 5.",
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+ "grasp_description": "Pulled to slide the drawer through its full range."
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+ },
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+ "basic_info": {
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+ "material": "metal/Steel_PowderCoated",
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+ {
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+ "entity": "UPB_00001390",
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+ "part_level": {
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+ "part_name": "Wardrobe Carcass and Internal Partitions",
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+ "affordance": 10,
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+ "basic_description": "Main structural MDF melamine carcass with vertical partitions and shelves; overall interior framing that supports doors and drawers.",
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+ "functional_description": "Provides load-bearing structure, guides drawer slides, mounts hinges for doors, and partitions interior into bays.",
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+ "movement_description": "Rigid base; other components move relative to it via hinges and slides.",
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+ "grasp_description": "Typically not grasped directly; touched when cleaning or when reaching inside compartments."
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+ },
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+ "basic_info": {
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+ "material": "wood/MDF_Melamine",
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+ "density": 0.75,
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+ {
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+ "part_level": {
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+ "part_name": "Right Column Drawer (upper)",
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+ "affordance": 6,
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+ "graspable": false,
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+ "basic_description": "Small MDF drawer on the right stack, approx 38*40*20 cm.",
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+ "functional_description": "Used for storing small items like socks or accessories.",
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+ "movement_description": "Slides out along short-depth rails attached to the carcass.",
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+ "grasp_description": "Pulled via its dedicated handle (part 18)."
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+ },
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+ "basic_info": {
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+ "material": "wood/MDF_Melamine",
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+ "density": 0.75,
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+ "young": 3.0,
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+ "poisson": 0.3,
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+ }
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+ {
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+ "label": "4"
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+ "part_level": {
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+ "part_name": "Right Column Drawer (middle)",
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+ "affordance": 6,
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+ "graspable": false,
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+ "basic_description": "Middle small MDF drawer in right column, around 38*40*20 cm.",
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+ "functional_description": "General-purpose storage for smaller objects.",
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+ "movement_description": "Translates along drawer slides relative to the carcass.",
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+ "grasp_description": "Handled using the attached handle (part 19)."
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+ },
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+ "basic_info": {
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+ "material": "wood/MDF_Melamine",
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+ }
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+ {
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+ "index": {
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+ "entity": "UPB_00001390",
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+ "label": "5"
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+ },
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+ "part_level": {
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+ "part_name": "Right Column Drawer (lower)",
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+ "affordance": 6,
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+ "graspable": false,
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+ "basic_description": "Lower small MDF drawer in right stack, roughly 38*40*20 cm.",
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+ "functional_description": "Stores heavier or less-used small items.",
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+ "movement_description": "Linear translation on rails connected to the carcass.",
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+ "grasp_description": "Pulled via handle part 20."
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+ },
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+ "basic_info": {
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+ "material": "wood/MDF_Melamine",
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+ "density": 0.75,
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+ "poisson": 0.3,
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+ "motion_types": [
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+ ],
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+ "B": {
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+ {
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+ "entity": "UPB_00001390",
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+ "label": "6"
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+ },
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+ "part_level": {
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+ "part_name": "Left Door",
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+ "affordance": 5,
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+ "graspable": false,
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+ "basic_description": "Tall MDF door panel on the far left, approx 42*160*2 cm.",
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+ "functional_description": "Covers and provides access to the left hanging/storage compartment.",
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+ "movement_description": "Rotates about side hinges relative to the carcass.",
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+ "grasp_description": "Users pull at the attached handle (part 11) to open or close."
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+ },
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+ "basic_info": {
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+ "material": "wood/MDF_Melamine",
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+ "density": 0.75,
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+ "poisson": 0.3,
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+ "motion_types": [
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+ "motion_info": {
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+ ],
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+ "C": {
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+ "pos": [
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+ "range": [
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+ "damping": 0.03
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+ }
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+ }
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+ {
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+ "index": {
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+ "type_name": "default",
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+ "entity": "UPB_00001390",
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+ "label": "7"
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+ },
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+ "part_level": {
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+ "part_name": "Left-Center Door",
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+ "affordance": 5,
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+ "graspable": false,
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+ "basic_description": "Second tall MDF door from the left, around 45*160*2 cm.",
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+ "functional_description": "Provides access to adjacent interior section; helps conceal stored items.",
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+ "movement_description": "Hinged rotation relative to the carcass.",
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+ "grasp_description": "Opened using handle part 12."
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+ },
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+ "basic_info": {
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+ "material": "wood/MDF_Melamine",
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+ "density": 0.75,
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+ "young": 3.2,
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+ "hardness": 26,
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+ "poisson": 0.3,
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+ "friction": 0.45
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+ },
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+ "kinematic_info": {
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+ "motion_types": [
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+ ],
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+ "motion_info": {
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+ "dependency": [
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+ ],
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+ "C": {
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+ ],
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+ "pos": [
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+ ],
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+ "damping": 0.03
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+ }
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+ }
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+ }
data/UPB_00001390/annotations/part_8.json ADDED
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+ {
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+ "index": {
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+ "entity": "UPB_00001390",
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+ "label": "8"
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+ },
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+ "part_level": {
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+ "part_name": "Center Door",
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+ "affordance": 5,
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+ "graspable": false,
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+ "basic_description": "Central tall MDF door, approx 50*160*2 cm.",
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+ "functional_description": "Main access to central wardrobe bay.",
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+ "movement_description": "Rotates on hinges fixed to the carcass.",
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+ "grasp_description": "Pulled by handle part 13."
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+ },
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+ "basic_info": {
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+ "material": "wood/MDF_Melamine",
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+ "density": 0.75,
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+ "young": 3.2,
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+ "hardness": 26,
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+ "poisson": 0.3,
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+ "friction": 0.45
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+ },
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+ "kinematic_info": {
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+ "motion_types": [
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+ ],
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+ "motion_info": {
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+ "dependency": [
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+ ],
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+ "C": {
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+ }
data/UPB_00001390/annotations/part_9.json ADDED
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+ {
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+ "index": {
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+ "entity": "UPB_00001390",
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+ "label": "9"
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+ },
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+ "part_level": {
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+ "part_name": "Right-Center Door",
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+ "affordance": 5,
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+ "graspable": false,
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+ "basic_description": "Tall MDF door just left of the right column, roughly 45*160*2 cm.",
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+ "functional_description": "Access panel for storage bay adjacent to right drawers.",
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+ "movement_description": "Hinged rotation about vertical axis with soft-close damping.",
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+ "grasp_description": "Operated using handle part 14."
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+ },
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+ "basic_info": {
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+ "material": "wood/MDF_Melamine",
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+ "density": 0.75,
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+ "poisson": 0.3,
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+ "kinematic_info": {
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+ }
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+ }
data/UPB_00001390/full_model/material.mtl ADDED
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+ # https://github.com/mikedh/trimesh
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+
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+ newmtl material_0
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+ Ka 0.40000000 0.40000000 0.40000000
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+ Kd 0.40000000 0.40000000 0.40000000
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+ Ks 0.40000000 0.40000000 0.40000000
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+ Ns 1.00000000
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+ map_Kd material_0.png
data/UPB_00001390/full_model/material_0.png ADDED

Git LFS Details

  • SHA256: 82f381de3a786a4546fd3e0c0fd375051530c980233b72c78b91be063e0c6398
  • Pointer size: 130 Bytes
  • Size of remote file: 24.5 kB
data/UPB_00001390/full_model/model.obj ADDED
The diff for this file is too large to render. See raw diff
 
data/UPB_00001390/meta_data.json ADDED
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+ {
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+ "id": "UPB_00001390",
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+ {
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+ "dataset": "UniPhys-Bench",
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+ "organization": "Manycore Tech Inc.",
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+ "license_ref": "UniPhys-Bench"
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+ }
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+ ],
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+ "object": {
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+ "category": "Furniture/StorageFurniture",
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+ "object_name": "Five-door Wardrobe with Drawers"
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+ },
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+ "geometry": {
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+ "version": "v1.0"
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+ }
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+ }