Upload folder using huggingface_hub (part 10)

.gitattributes

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data/UPB_00000897/annotations/object.json

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+{
+    "object_name": "Sliding-door TV Console with Drawer",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        180.0,
+        40.0,
+        50.0
+    ],
+    "mass": 32.0
+}

data/UPB_00000897/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000897",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Right perforated door (speaker-style grille)",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Veneered MDF rectangular front door with a circular perforated grille, about 45*30*1.5 cm.",
+        "functional_description": "Covers the right compartment while allowing ventilation/sound through the perforations.",
+        "movement_description": "Hinged to the carcass and rotates about a vertical axis on the right side.",
+        "grasp_description": "Pulled at the recessed pull to swing open or closed."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneered_Oak",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                5
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+}

data/UPB_00000897/annotations/part_10.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000897",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Feet/leg glides",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Set of small black rubber glides fixed to the bottoms of the slim legs, ~2-3 cm diameter each.",
+        "functional_description": "Increase floor grip, prevent scratches, and damp vibration.",
+        "movement_description": "Rigidly attached to the legs; no relative motion.",
+        "grasp_description": "Not intended for grasping; occasionally touched when repositioning the console."
+    },
+    "basic_info": {
+        "material": "rubber/Nitrile_Rubber",
+        "density": 1.1,
+        "young": 0.01,
+        "hardness": 2,
+        "poisson": 0.49,
+        "friction": 0.75
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+    "kinematic_info": {
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+            "D"
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+    }
+}

data/UPB_00000897/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000897",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Left sliding door A",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Textured ABS sliding panel around 40*28*1 cm that rides in tracks on the left front.",
+        "functional_description": "Closes or opens the left storage bay when slid along its track.",
+        "movement_description": "Translates laterally along the front track of the cabinet.",
+        "grasp_description": "Grasp the recessed pull and slide left/right to access the bay."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminated",
+        "density": 0.65,
+        "young": 3.5,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
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+                2,
+                7
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+                    0.0
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+                    0.0
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+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000897/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000897",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Left sliding door B",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Second textured ABS sliding panel, approximately 40*28*1 cm, overlapping door A on parallel tracks.",
+        "functional_description": "Works with door A so either panel can cover or reveal the left bay.",
+        "movement_description": "Slides laterally on its track parallel to door A.",
+        "grasp_description": "Grab its recessed pull and slide to position."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminated",
+        "density": 0.65,
+        "young": 3.5,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
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+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                6
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+            "B": {
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+                    0.0
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+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000897/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000897",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Center drawer box",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Veneered plywood drawer, about 60*32*12 cm, fitted to center slides.",
+        "functional_description": "Provides enclosed storage in the middle section.",
+        "movement_description": "Translates outward/inward on slide rails with moderate damping.",
+        "grasp_description": "Pulled by the recessed pull to open; pushed to close."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Oak_Veneer",
+        "density": 0.6,
+        "young": 6.0,
+        "hardness": 35,
+        "poisson": 0.32,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                8
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
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+                "pos": [
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+                    0.030121276155114174
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+                "range": [
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+                    0.0
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+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00000897/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000897",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Recessed pull for right door",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Round recessed aluminum pull, ~4 cm diameter, black anodized.",
+        "functional_description": "Finger grip for operating the perforated right door.",
+        "movement_description": "No relative motion; fixed to the door face.",
+        "grasp_description": "One or two fingers hook into the recess to swing the door."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063_Anodized_Black",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000897/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000897",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Recessed pull for sliding door A",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Round recessed aluminum pull attached to sliding door A.",
+        "functional_description": "Provides grip to move door A along its track.",
+        "movement_description": "Rigidly fixed; follows the door\u2019s translation.",
+        "grasp_description": "Hook fingers in the recess and slide the panel."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063_Anodized_Black",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000897/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000897",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Recessed pull for sliding door B",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Round recessed aluminum pull mounted on sliding door B.",
+        "functional_description": "Provides grip to move door B.",
+        "movement_description": "Rigidly attached; moves with the door along the track.",
+        "grasp_description": "Finger recess used to slide the panel."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063_Anodized_Black",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000897/annotations/part_8.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000897",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Recessed pull for drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Round recessed aluminum pull fixed to the center drawer front.",
+        "functional_description": "Primary user interface to open/close the drawer.",
+        "movement_description": "No independent motion; follows the drawer translation.",
+        "grasp_description": "Pulled by fingers to slide the drawer out."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063_Anodized_Black",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000897/annotations/part_9.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000897",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Cabinet carcass (frame, shelves and legs)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Main wooden carcass with internal shelves and five slim legs; approx. 180*40*50 cm overall in laminated particle board with oak appearance.",
+        "functional_description": "Provides structure, storage bays, and support for all movable parts and the load from a TV or AV equipment.",
+        "movement_description": "Rigid base to which doors, drawer, and feet are mounted; does not move relative to other parts.",
+        "grasp_description": "Typically touched only when moving the furniture; not a regular grasp point during use."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminated",
+        "density": 0.65,
+        "young": 3.5,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
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+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000897/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_00000897/meta_data.json

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+{
+    "id": "UPB_00000897",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Sliding-door TV Console with Drawer"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 10,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000897/model.urdf

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+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="helper_link_2"/>
+  <link name="helper_link_3"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.326651 1.326651 1.326651"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.326651 1.326651 1.326651"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.326651 1.326651 1.326651"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.326651 1.326651 1.326651"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.326651 1.326651 1.326651"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.326651 1.326651 1.326651"/>
+      </geometry>
+    </collision>
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+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.326651 1.326651 1.326651"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.326651 1.326651 1.326651"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.326651 1.326651 1.326651"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.326651 1.326651 1.326651"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.326651 1.326651 1.326651"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.326651 1.326651 1.326651"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.326651 1.326651 1.326651"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.326651 1.326651 1.326651"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.326651 1.326651 1.326651"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.326651 1.326651 1.326651"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.326651 1.326651 1.326651"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.326651 1.326651 1.326651"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.326651 1.326651 1.326651"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.326651 1.326651 1.326651"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_9"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.872122 -0.160240 0.126299" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.872122 0.160240 -0.126299" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_9"/>
+    <child link="helper_link_1"/>
+    <origin xyz="-0.380867 -0.171957 0.097526" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="-0.2653302004552079" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0.380867 0.171957 -0.097526" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_9"/>
+    <child link="helper_link_2"/>
+    <origin xyz="-0.691607 -0.149328 0.095715" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="-0.0" upper="0.2653302004552079"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0.691607 0.149328 -0.095715" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="prismatic">
+    <parent link="link_9"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.194503 -0.165261 0.039960" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2653302004552079" upper="0.0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="-0.194503 0.165261 -0.039960" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

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