Upload folder using huggingface_hub (part 50)

.gitattributes

@@ -8448,3 +8448,17 @@ data/UPB_00001353/plys/6.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001353/plys/7.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001353/plys/8.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001353/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001354/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001354/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001354/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001354/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001354/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001354/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001354/plys/7.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001354/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001355/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001355/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001355/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001355/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001355/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001355/plys/model.ply filter=lfs diff=lfs merge=lfs -text

data/UPB_00001354/annotations/part_1.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001354",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Door",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "A tall rectangular hinged door panel (~42\u00d7205\u00d71.8 cm) finished in melamine over particle board.",
+        "functional_description": "Provides access to the left storage compartment and closes the cabinet opening.",
+        "movement_description": "Rotates about a vertical hinge axis relative to the cabinet carcass (part 6).",
+        "grasp_description": "Grasped at the integrated recessed handle area to pull open/close."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Melamine",
+        "density": 0.68,
+        "young": 3.0,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.42
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.9938188791275024,
+                    -0.28408220410346985,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001354/annotations/part_2.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001354",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Left-Center Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Second door from the left, melamine-faced particle board (~42\u00d7205\u00d71.8 cm).",
+        "functional_description": "Covers a central bay; used frequently for daily storage access.",
+        "movement_description": "Swing door on concealed hinges relative to carcass (part 6).",
+        "grasp_description": "Pulled by the recessed handle to open; pushed to close until latches engage."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Melamine",
+        "density": 0.68,
+        "young": 3.0,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.42
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    -0.20192192494869232,
+                    -0.28408220410346985,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001354/annotations/part_3.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001354",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Center Door",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Central wardrobe door, melamine-laminated particle board (~42\u00d7205\u00d71.8 cm).",
+        "functional_description": "Primary access point to the central compartment, often used most.",
+        "movement_description": "Rotates about a vertical axis on soft-close hinges attached to the carcass (part 6).",
+        "grasp_description": "Regularly grasped at the handle recess to open/close."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Melamine",
+        "density": 0.68,
+        "young": 3.0,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.42
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                3
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.19633693993091583,
+                    -0.28408220410346985,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001354/annotations/part_4.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001354",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Right-Center Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Fourth door from the left, melamine-faced particle board (~42\u00d7205\u00d71.8 cm).",
+        "functional_description": "Closes the right-central storage bay.",
+        "movement_description": "Swings on hinges relative to the carcass (part 6).",
+        "grasp_description": "Hand pulls on the recessed grip; frequently used in daily operation."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Melamine",
+        "density": 0.68,
+        "young": 3.0,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.42
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                4
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    0.20122231543064117,
+                    -0.28408220410346985,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001354/annotations/part_5.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001354",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Right Door",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Rightmost hinged door panel, melamine over particle board (~42\u00d7205\u00d71.8 cm).",
+        "functional_description": "Provides access to the right storage compartment.",
+        "movement_description": "Rotational motion on hinges fixed to carcass (part 6).",
+        "grasp_description": "Gripped at the recessed pull; opens and closes with moderate hinge resistance."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Melamine",
+        "density": 0.68,
+        "young": 3.0,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.42
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                5
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.9932161569595337,
+                    -0.28408220410346985,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001354/annotations/part_6.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001354",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Cabinet Carcass (Frame and Back)",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "The main wardrobe structure: top, bottom, right side, internal uprights/shelves, and back panel assembled from melamine-laminated particle board (typical panels ~18 mm thick; back panel thinner).",
+        "functional_description": "Provides structural support, hinge mounting points, and encloses storage volume for hanging rails and shelves.",
+        "movement_description": "Rigid body; acts as the fixed reference for all door rotations. Rigidly connected to the left end panel (part 7).",
+        "grasp_description": "Normally not grasped directly except during assembly or moving the furniture."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Melamine",
+        "density": 0.68,
+        "young": 3.0,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001354/annotations/part_7.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001354",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Left End Panel with Base Plinth",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "A vertical side/end panel (~210\u00d760\u00d71.8 cm) in the same melamine wood finish, with a small base plinth strip along the bottom front edge.",
+        "functional_description": "Completes the left exterior of the wardrobe and helps transfer loads to the base while covering the side aesthetically.",
+        "movement_description": "Rigidly fixed to the cabinet carcass (part 6) via screws/dowels; no relative motion.",
+        "grasp_description": "Not intended to be grasped during use; touched only during assembly or cleaning."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Melamine",
+        "density": 0.68,
+        "young": 3.0,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001354/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

data/UPB_00001354/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001354",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Five-door Wardrobe"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 7,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001354/model.urdf

@@ -0,0 +1,163 @@
+<?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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.031885 1.031885 1.031885"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.031885 1.031885 1.031885"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.031885 1.031885 1.031885"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.031885 1.031885 1.031885"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.031885 1.031885 1.031885"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.031885 1.031885 1.031885"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.031885 1.031885 1.031885"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.031885 1.031885 1.031885"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.031885 1.031885 1.031885"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.031885 1.031885 1.031885"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.031885 1.031885 1.031885"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.031885 1.031885 1.031885"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.031885 1.031885 1.031885"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.031885 1.031885 1.031885"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_6"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-1.025507 -0.293140 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="1.025507 0.293140 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_6"/>
+    <child link="helper_link_1"/>
+    <origin xyz="-0.208360 -0.293140 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0.208360 0.293140 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="link_6"/>
+    <child link="helper_link_2"/>
+    <origin xyz="-0.202597 -0.293140 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0.202597 0.293140 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="revolute">
+    <parent link="link_6"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.207638 -0.293140 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="-0.207638 0.293140 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="revolute">
+    <parent link="link_6"/>
+    <child link="helper_link_4"/>
+    <origin xyz="1.024885 -0.293140 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_5"/>
+    <origin xyz="-1.024885 0.293140 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001354/parts/1.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl MI_5d07050d44c5ba2f5281fc0d
+Ka 0.40000000 0.40000000 0.40000000
+Kd 1.00000000 1.00000000 1.00000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 1.jpeg

data/UPB_00001354/parts/2.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl MI_5d07050d44c5ba2f5281fc0d
+Ka 0.40000000 0.40000000 0.40000000
+Kd 1.00000000 1.00000000 1.00000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 2.jpeg

data/UPB_00001354/parts/3.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl MI_5d07050d44c5ba2f5281fc0c
+Ka 0.40000000 0.40000000 0.40000000
+Kd 1.00000000 1.00000000 1.00000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 3.jpeg

data/UPB_00001354/parts/4.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl MI_5d07050d44c5ba2f5281fc0d
+Ka 0.40000000 0.40000000 0.40000000
+Kd 1.00000000 1.00000000 1.00000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 4.jpeg

data/UPB_00001354/parts/5.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl MI_5d07050d44c5ba2f5281fc0d
+Ka 0.40000000 0.40000000 0.40000000
+Kd 1.00000000 1.00000000 1.00000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 5.jpeg

data/UPB_00001354/parts/wardrobe_6E4Z4GETD5TGMEJHLY888888_duhx6.mtl

@@ -0,0 +1,18 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5d07050d44c5ba2f5281fc0d
+Kd 1 1 1
+illum 1
+map_Kd ./T_5d07050d44c5ba2f5281fc0d_color.jpg
+
+newmtl MI_5d07050d44c5ba2f5281fc0f
+Kd 1 1 1
+illum 1
+map_Kd ./T_5d07050d44c5ba2f5281fc0f_color.jpg
+
+newmtl MI_5d07050d44c5ba2f5281fc0c
+Kd 1 1 1
+illum 1
+map_Kd ./T_5d07050d44c5ba2f5281fc0c_color.jpg
+

data/UPB_00001354/plys/1.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:443ab7bc5e6ce64242fccef7c327835a9f59916c3908f01bf18fa56a45bc4734
+size 160242

data/UPB_00001354/plys/2.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6263f15cdba5ae0dca9df1f238decffedfda1a61c3cbb6682f1b099111fc4dc2
+size 160242

data/UPB_00001354/plys/3.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001354/plys/model.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001355/annotations/object.json

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+{
+    "object_name": "Glass-Door Bookcase",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        185.0,
+        70.0,
+        32.0
+    ],
+    "mass": 42.0
+}

data/UPB_00001355/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001355",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Glass Door",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Tall left-side door with an oak frame and two glass panes; approx 180*34*2.5 cm.",
+        "functional_description": "Covers the left half of the bookcase front and provides visibility while protecting contents from dust.",
+        "movement_description": "Swings open about a vertical hinge line mounted to the left side panel of the body. Typical soft-close hinges provide slight damping and a maximum opening near 110 degrees.",
+        "grasp_description": "Users pull this door mainly via the attached knob; edges may also be grasped when cleaning or adjusting."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.75,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                3
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.4243387281894684,
+                    -0.12115417420864105,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001355/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001355",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Right Glass Door",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Tall right-side door with oak frame and two glass panes; approx 180*34*2.5 cm.",
+        "functional_description": "Covers the right half of the bookcase and mates with the left door along the center seam when closed.",
+        "movement_description": "Rotates about concealed hinges on the right side panel of the body, opening to roughly 110 degrees with light damping.",
+        "grasp_description": "Pulled by its knob for daily opening and closing."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.75,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                4
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.42418330907821655,
+                    -0.12115417420864105,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001355/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001355",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Left Door Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Small round cabinet knob made from die-cast zinc alloy; approx 2.5*2.5*2.5 cm.",
+        "functional_description": "Provides a convenient grip point to pull the left glass door open or push it closed.",
+        "movement_description": "Rigidly fixed to the left door through a screw; it moves with the door without relative motion.",
+        "grasp_description": "Pinched with fingers or grasped with a small power grip to operate the door."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Zamak",
+        "density": 6.6,
+        "young": 95.0,
+        "hardness": 120,
+        "poisson": 0.27,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001355/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001355",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Right Door Knob",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Matching zinc-alloy knob mounted to the right door; approx 2.5*2.5*2.5 cm.",
+        "functional_description": "Primary handle to operate the right glass door.",
+        "movement_description": "Rigid connection to the right door; no relative movement.",
+        "grasp_description": "Commonly grasped with fingertips; low roughness provides comfortable feel."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Zamak",
+        "density": 6.6,
+        "young": 95.0,
+        "hardness": 120,
+        "poisson": 0.27,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001355/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001355",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Bookcase Body with Shelves",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Main carcass and fixed shelves of the bookcase made from melamine-faced particle board; overall 185*70*32 cm.",
+        "functional_description": "Provides structural support and storage space; side panels serve as hinge mounts for the glass doors.",
+        "movement_description": "Static base structure. Serves as the parent for both doors\u2019 rotational motion via concealed hinges.",
+        "grasp_description": "Rarely grasped directly except during relocation or assembly; users interact mostly with doors and knobs."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Melamine",
+        "density": 0.68,
+        "young": 3.5,
+        "hardness": 15,
+        "poisson": 0.3,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001355/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