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0000000000000000000000000000000000000000..8400976a823326a984b66e924cb4f2c6b9be3021 --- /dev/null +++ b/data/UPB_00001423/annotations/object.json @@ -0,0 +1,10 @@ +{ + "object_name": "Five-door Wardrobe with Three Drawers", + "category": "Furniture/StorageFurniture", + "volume": [ + 200.0, + 60.0, + 220.0 + ], + "mass": 130.0 +} \ No newline at end of file diff --git a/data/UPB_00001423/annotations/part_1.json b/data/UPB_00001423/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..745db9bc59e125aca62818e45fd36fa7993827a9 --- /dev/null +++ b/data/UPB_00001423/annotations/part_1.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001423", + "label": "1" + }, + "part_level": { + "part_name": "Upper Drawer Box", + "affordance": 3, + "graspable": false, + "basic_description": "Laminated particle-board drawer box (approx. 60*45*18 cm) with a decorative front.", + "functional_description": "Provides enclosed storage; rides on side slides within the wardrobe.", + "movement_description": "Translates in and out along slide rails relative to the carcass.", + "grasp_description": "User pulls via the attached knob; the box itself is not gripped." + }, + "basic_info": { + "material": "wood/Particle_Board_Laminated", + "density": 0.7, + "young": 3.2, + "hardness": 30, + "poisson": 0.3, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 1, + 14 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + 0.6758189797401428, + -0.2800000011920929, + -0.731611967086792 + ], + "range": [ + -0.3499999940395355, + 0.0 + ], + "damping": 0.06 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001423/annotations/part_10.json b/data/UPB_00001423/annotations/part_10.json new file mode 100644 index 0000000000000000000000000000000000000000..5ef80ccd6bdb0341fa539cd292df659c85400505 --- /dev/null +++ b/data/UPB_00001423/annotations/part_10.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001423", + "label": "10" + }, + "part_level": { + "part_name": "Door Knob - Second Door", + "affordance": 1, + "graspable": true, + "basic_description": "ABS plastic knob (approx. 3*3*2 cm).", + "functional_description": "Grip to operate the second door from the left.", + "movement_description": "Rigidly joined; no independent motion.", + "grasp_description": "Pulled or pushed with fingertips." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.05, + "young": 2.3, + "hardness": 15, + "poisson": 0.35, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001423/annotations/part_11.json b/data/UPB_00001423/annotations/part_11.json new file mode 100644 index 0000000000000000000000000000000000000000..3ac8b38a53ea925bcd043fd767aa182eae33a702 --- /dev/null +++ b/data/UPB_00001423/annotations/part_11.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001423", + "label": "11" + }, + "part_level": { + "part_name": "Door Knob - Center Door", + "affordance": 1, + "graspable": true, + "basic_description": "ABS knob (approx. 3*3*2 cm), rounded-square shape.", + "functional_description": "Handle for the central door.", + "movement_description": "Rigid attachment to door panel.", + "grasp_description": "Common pinch grip; surface comfortable to touch." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.05, + "young": 2.3, + "hardness": 15, + "poisson": 0.35, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001423/annotations/part_12.json b/data/UPB_00001423/annotations/part_12.json new file mode 100644 index 0000000000000000000000000000000000000000..89e790022a01abd84cc95a0aab63a3e787ec4621 --- /dev/null +++ b/data/UPB_00001423/annotations/part_12.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001423", + "label": "12" + }, + "part_level": { + "part_name": "Door Knob - Fourth Door", + "affordance": 1, + "graspable": true, + "basic_description": "ABS plastic knob (approx. 3*3*2 cm).", + "functional_description": "Grip point for the fourth door.", + "movement_description": "No relative motion; fixed by screw to the door.", + "grasp_description": "Pulled by fingers to swing the door." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.05, + "young": 2.3, + "hardness": 15, + "poisson": 0.35, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001423/annotations/part_13.json b/data/UPB_00001423/annotations/part_13.json new file mode 100644 index 0000000000000000000000000000000000000000..4e41a96ec990551d0e088cc45277778f504374c0 --- /dev/null +++ b/data/UPB_00001423/annotations/part_13.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001423", + "label": "13" + }, + "part_level": { + "part_name": "Door Knob - Rightmost Door", + "affordance": 1, + "graspable": true, + "basic_description": "Matte ABS knob (approx. 3*3*2 cm).", + "functional_description": "Handle for the rightmost door.", + "movement_description": "Rigidly attached; no movement.", + "grasp_description": "Pinch grip; comfortable rounded edges." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.05, + "young": 2.3, + "hardness": 15, + "poisson": 0.35, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001423/annotations/part_14.json b/data/UPB_00001423/annotations/part_14.json new file mode 100644 index 0000000000000000000000000000000000000000..d5e7049a417ac4d525d88b3074f729f317275bb7 --- /dev/null +++ b/data/UPB_00001423/annotations/part_14.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001423", + "label": "14" + }, + "part_level": { + "part_name": "Drawer Knob - Upper Drawer", + "affordance": 1, + "graspable": true, + "basic_description": "ABS knob sized about 3*3*2 cm for the top drawer.", + "functional_description": "Provides the pull point to translate the upper drawer.", + "movement_description": "Rigid connection to the drawer front; transmits pulling force.", + "grasp_description": "Hook or pinch grip by hand." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.05, + "young": 2.3, + "hardness": 15, + "poisson": 0.35, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001423/annotations/part_15.json b/data/UPB_00001423/annotations/part_15.json new file mode 100644 index 0000000000000000000000000000000000000000..8f0ae8cf22a9ea2428faae956b96fc1d27fdb6de --- /dev/null +++ b/data/UPB_00001423/annotations/part_15.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001423", + "label": "15" + }, + "part_level": { + "part_name": "Drawer Knob - Middle Drawer", + "affordance": 1, + "graspable": true, + "basic_description": "ABS drawer knob (approx. 3*3*2 cm).", + "functional_description": "Handle for extending/retracting the middle drawer.", + "movement_description": "Rigidly fixed; no relative motion.", + "grasp_description": "Pulled with fingers; provides leverage on slides." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.05, + "young": 2.3, + "hardness": 15, + "poisson": 0.35, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001423/annotations/part_16.json b/data/UPB_00001423/annotations/part_16.json new file mode 100644 index 0000000000000000000000000000000000000000..f00eaf793f0f9e17b0de80aa6ac9272f7d70a732 --- /dev/null +++ b/data/UPB_00001423/annotations/part_16.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001423", + "label": "16" + }, + "part_level": { + "part_name": "Drawer Knob - Lower Drawer", + "affordance": 1, + "graspable": true, + "basic_description": "ABS knob (approx. 3*3*2 cm) for the lowest drawer.", + "functional_description": "Allows the heavy lower drawer to be pulled out safely.", + "movement_description": "Rigidly fixed; transmits pull force to the drawer slides.", + "grasp_description": "Common pinch or full-hand grasp depending on load." + }, + "basic_info": { + "material": "metal", + "density": 7.095321614455091, + "young": 162.66640479230088, + "hardness": 160.52450162034765, + "poisson": 0.3059805558283549, + "friction": 0.4258902091721515 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001423/annotations/part_17.json b/data/UPB_00001423/annotations/part_17.json new file mode 100644 index 0000000000000000000000000000000000000000..9b97b724ae9e0b12e0b15c92019156179434f33a --- /dev/null +++ b/data/UPB_00001423/annotations/part_17.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001423", + "label": "17" + }, + "part_level": { + "part_name": "Wardrobe Carcass and Internal Partitions", + "affordance": 6, + "graspable": false, + "basic_description": "Main wardrobe structure with back panel, side panels, top/bottom, shelves, and vertical partitions; laminated particle board, overall envelope 200*60*220 cm.", + "functional_description": "Provides rigidity and support, houses hinges and drawer slides, and defines storage compartments.", + "movement_description": "Static reference body for all doors and drawers; does not move.", + "grasp_description": "Rarely grasped directly; touched when cleaning or moving the furniture." + }, + "basic_info": { + "material": "wood/Particle_Board_Laminated", + "density": 0.7, + "young": 3.2, + "hardness": 30, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001423/annotations/part_2.json b/data/UPB_00001423/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..e289876de74304d3a2ca3089004bd0c56567fa10 --- /dev/null +++ b/data/UPB_00001423/annotations/part_2.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001423", + "label": "2" + }, + "part_level": { + "part_name": "Middle Drawer Box", + "affordance": 3, + "graspable": false, + "basic_description": "Laminated particle-board drawer box (approx. 60*45*18 cm).", + "functional_description": "Provides mid-level storage in the drawer stack.", + "movement_description": "Slides outward/inward on rails relative to the carcass.", + "grasp_description": "Pulled by its knob for access." + }, + "basic_info": { + "material": "wood/Particle_Board_Laminated", + "density": 0.7, + "young": 3.2, + "hardness": 30, + "poisson": 0.3, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 2, + 15 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + 0.676849901676178, + -0.2800000011920929, + -0.9352903962135315 + ], + "range": [ + -0.3499999940395355, + 0.0 + ], + "damping": 0.06 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001423/annotations/part_3.json b/data/UPB_00001423/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..4081d120406de530a30a8f41c52bd424f69ccee6 --- /dev/null +++ b/data/UPB_00001423/annotations/part_3.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001423", + "label": "3" + }, + "part_level": { + "part_name": "Lower Drawer Box", + "affordance": 3, + "graspable": false, + "basic_description": "Lowest laminated particle-board drawer (approx. 60*45*20 cm).", + "functional_description": "Deep drawer for bulkier items.", + "movement_description": "Translates along slides; slightly higher damping due to weight.", + "grasp_description": "User pulls by its knob; the front face is rarely grabbed directly." + }, + "basic_info": { + "material": "wood/Particle_Board_Laminated", + "density": 0.7, + "young": 3.2, + "hardness": 30, + "poisson": 0.3, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 3, + 16 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + 0.6804673671722412, + -0.2800000011920929, + -1.1631419658660889 + ], + "range": [ + -0.3499999940395355, + 0.0 + ], + "damping": 0.07 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001423/annotations/part_4.json b/data/UPB_00001423/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..95b82032bed2899a2075286c0955efbed8265a14 --- /dev/null +++ b/data/UPB_00001423/annotations/part_4.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001423", + "label": "4" + }, + "part_level": { + "part_name": "Leftmost Narrow Door", + "affordance": 4, + "graspable": false, + "basic_description": "Tall laminated MDF door panel (approx. 35*2*210 cm).", + "functional_description": "Covers the left compartment; attaches to hinges.", + "movement_description": "Rotates about a vertical hinge axis relative to the carcass.", + "grasp_description": "Opened by pulling the knob; the panel edge may be touched but not firmly grasped." + }, + "basic_info": { + "material": "wood/MDF_Laminated", + "density": 0.75, + "young": 3.5, + "hardness": 35, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 4, + 9 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -1.1329056024551392, + -0.2800000011920929, + -3.87777134847056e-08 + ], + "range": [ + 0.0, + 1.7453292519943295 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001423/annotations/part_5.json b/data/UPB_00001423/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..188b54e624f241e9db7ceae6a828a800d9a9288d --- /dev/null +++ b/data/UPB_00001423/annotations/part_5.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001423", + "label": "5" + }, + "part_level": { + "part_name": "Second Door from Left", + "affordance": 4, + "graspable": false, + "basic_description": "Tall laminated MDF door panel (approx. 40*2*210 cm).", + "functional_description": "Covers an internal hanging/shelf bay.", + "movement_description": "Swings outward around vertical hinges fixed to the carcass.", + "grasp_description": "Pulled via its knob." + }, + "basic_info": { + "material": "wood/MDF_Laminated", + "density": 0.75, + "young": 3.5, + "hardness": 35, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 5, + 10 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.6700000166893005, + -0.2800000011920929, + 2.3115751091040693e-08 + ], + "range": [ + 0.0, + 1.7453292519943295 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001423/annotations/part_6.json b/data/UPB_00001423/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..b87c24b2083bc7017b764f874719ed2f75d0e0e2 --- /dev/null +++ b/data/UPB_00001423/annotations/part_6.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001423", + "label": "6" + }, + "part_level": { + "part_name": "Center Door", + "affordance": 4, + "graspable": false, + "basic_description": "Central laminated MDF door (approx. 45*2*210 cm).", + "functional_description": "Front cover for the central compartment.", + "movement_description": "Rotates about a side hinge; includes magnetic catch at closure.", + "grasp_description": "User engages the knob to open/close." + }, + "basic_info": { + "material": "wood/MDF_Laminated", + "density": 0.75, + "young": 3.5, + "hardness": 35, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 6, + 11 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.2239266186952591, + -0.2800000011920929, + -7.664682222241481e-09 + ], + "range": [ + 0.0, + 1.7453292519943295 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001423/annotations/part_7.json b/data/UPB_00001423/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..23279f1200466a1ffa00eeabcbfe82bc6f18dd29 --- /dev/null +++ b/data/UPB_00001423/annotations/part_7.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001423", + "label": "7" + }, + "part_level": { + "part_name": "Fourth Door", + "affordance": 4, + "graspable": false, + "basic_description": "Laminated MDF door panel (approx. 45*2*210 cm).", + "functional_description": "Covers the compartment adjacent to the drawer stack.", + "movement_description": "Swings outward around a vertical hinge line.", + "grasp_description": "Handled via the rigidly attached knob." + }, + "basic_info": { + "material": "wood/MDF_Laminated", + "density": 0.75, + "young": 3.5, + "hardness": 35, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 7, + 12 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + 0.22921334207057953, + -0.2800000011920929, + 7.845637917114345e-09 + ], + "range": [ + 0.0, + 1.7453292519943295 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001423/annotations/part_8.json b/data/UPB_00001423/annotations/part_8.json new file mode 100644 index 0000000000000000000000000000000000000000..6629a21b85769a009710abe888328ba4014d3e5a --- /dev/null +++ b/data/UPB_00001423/annotations/part_8.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001423", + "label": "8" + }, + "part_level": { + "part_name": "Rightmost Door", + "affordance": 4, + "graspable": false, + "basic_description": "Tall laminated MDF door panel (approx. 35*2*210 cm).", + "functional_description": "Closes the rightmost storage bay.", + "movement_description": "Rotates about a vertical hinge axis fixed to the carcass.", + "grasp_description": "Opened by pulling the knob." + }, + "basic_info": { + "material": "wood/MDF_Laminated", + "density": 0.75, + "young": 3.5, + "hardness": 35, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 8, + 13 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 1.1240427494049072, + -0.2800000011920929, + 0.0 + ], + "range": [ + 0.0, + 1.7453292519943295 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001423/annotations/part_9.json b/data/UPB_00001423/annotations/part_9.json new file mode 100644 index 0000000000000000000000000000000000000000..1582ffcf595e0b3da501f6ff9b30befb452d89ab --- /dev/null +++ b/data/UPB_00001423/annotations/part_9.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001423", + "label": "9" + }, + "part_level": { + "part_name": "Door Knob - Leftmost", + "affordance": 1, + "graspable": true, + "basic_description": "Small ABS knob (approx. 3*3*2 cm), matte black.", + "functional_description": "Provides a grip point to open the leftmost door.", + "movement_description": "Rigidly fixed to the door; transmits human force to hinges.", + "grasp_description": "Pinch or three-finger pull; high-friction surface aids grip." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.05, + "young": 2.3, + "hardness": 15, + "poisson": 0.35, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001423/full_model/material.mtl b/data/UPB_00001423/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00001423/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 \ No newline at end of file diff --git a/data/UPB_00001423/full_model/material_0.png b/data/UPB_00001423/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..cb2c637a4d1a4ea6eb837ee8e4be3539b207a250 --- /dev/null +++ b/data/UPB_00001423/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4234de77e6c5cd76f26bf7a481632347c3099354ca708395785650215a22af9b +size 116 diff --git a/data/UPB_00001423/full_model/model.obj b/data/UPB_00001423/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..5dc11970d2d0059d50a37dba561a536812cf26cd --- /dev/null +++ b/data/UPB_00001423/full_model/model.obj @@ -0,0 +1,265174 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v 1.09123802 -0.27062803 -0.78407502 +v 0.26808822 -0.27062798 -0.63392413 +v 0.26808822 -0.27062786 -0.78407502 +v 1.09123802 -0.27062810 -0.63392413 +v 0.26808831 0.12937203 -0.63392383 +v 1.09123802 0.12937200 -0.78407472 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--git a/data/UPB_00001423/model.urdf b/data/UPB_00001423/model.urdf new file mode 100644 index 0000000000000000000000000000000000000000..e337bffb0b15c53b442e1842d3512adda3897fa8 --- /dev/null +++ b/data/UPB_00001423/model.urdf @@ -0,0 +1,357 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/data/UPB_00001423/parts/4.mtl b/data/UPB_00001423/parts/4.mtl new file mode 100644 index 0000000000000000000000000000000000000000..09452450b9e8e9282ad1a92706e3e1f6ac239875 --- /dev/null +++ b/data/UPB_00001423/parts/4.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 4.png diff --git a/data/UPB_00001423/parts/4.png b/data/UPB_00001423/parts/4.png new file mode 100644 index 0000000000000000000000000000000000000000..86f93f3265275fbdd86acea23dd58329fd3a226b --- /dev/null +++ b/data/UPB_00001423/parts/4.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64b6fc82147a96d179661980dbb813a12aaa40e81e15535ddedacfd06857b33f +size 91 diff --git a/data/UPB_00001423/parts/7.mtl b/data/UPB_00001423/parts/7.mtl new file mode 100644 index 0000000000000000000000000000000000000000..dff8f6f0b5634871fcba48e53c20d8bd728090f2 --- /dev/null +++ b/data/UPB_00001423/parts/7.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 7.png diff --git a/data/UPB_00001423/parts/7.png b/data/UPB_00001423/parts/7.png new file mode 100644 index 0000000000000000000000000000000000000000..86f93f3265275fbdd86acea23dd58329fd3a226b --- /dev/null +++ b/data/UPB_00001423/parts/7.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64b6fc82147a96d179661980dbb813a12aaa40e81e15535ddedacfd06857b33f +size 91 diff --git a/data/UPB_00001423/parts/8.mtl b/data/UPB_00001423/parts/8.mtl new file mode 100644 index 0000000000000000000000000000000000000000..f7dfe358d3622611c2f425634d141f0f26989cbc --- /dev/null +++ b/data/UPB_00001423/parts/8.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 8.png diff --git a/data/UPB_00001423/parts/8.png b/data/UPB_00001423/parts/8.png new file mode 100644 index 0000000000000000000000000000000000000000..86f93f3265275fbdd86acea23dd58329fd3a226b --- /dev/null +++ b/data/UPB_00001423/parts/8.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64b6fc82147a96d179661980dbb813a12aaa40e81e15535ddedacfd06857b33f +size 91 diff --git a/data/UPB_00001423/parts/T_696e73d22c9c1c6b9214b097_normal.jpg b/data/UPB_00001423/parts/T_696e73d22c9c1c6b9214b097_normal.jpg new file mode 100644 index 0000000000000000000000000000000000000000..8b23ad5480f9a7e9648bffe9fe3f3731a7db1636 --- /dev/null +++ b/data/UPB_00001423/parts/T_696e73d22c9c1c6b9214b097_normal.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7cfe9d1e0673ad56bf3840075d74f5b469fc2bc428793fc8317e78db1d330b7 +size 296229 diff --git a/data/UPB_00001423/parts/T_696e73d22c9c1c6b9214b097_roughness.jpg b/data/UPB_00001423/parts/T_696e73d22c9c1c6b9214b097_roughness.jpg new file mode 100644 index 0000000000000000000000000000000000000000..5c37e6d685dad538919128c334b22f7a26836347 --- /dev/null +++ b/data/UPB_00001423/parts/T_696e73d22c9c1c6b9214b097_roughness.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ed99f913d1c5b6da644e83c3698998a00f9f2d0d783eee91a2ffb9d995902a0 +size 302075 diff --git a/data/UPB_00001423/parts/part_1.obj b/data/UPB_00001423/parts/part_1.obj new file mode 100644 index 0000000000000000000000000000000000000000..d7498aa57094b5a6db7f7355e175d701b6a65f1c --- /dev/null +++ b/data/UPB_00001423/parts/part_1.obj @@ -0,0 +1,383 @@ +mtllib wardrobe_YVIPKVBVAIIPGPTUKA888888_SLfmx.mtl +v 1.09123802 -0.270628035 -0.784075022 +v 0.268088222 -0.270627975 -0.633924127 +v 0.268088222 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storage bay; central region.", + "movement_description": "Hinged rotation relative to the main frame.", + "grasp_description": "Pulled at the knob." + }, + "basic_info": { + "material": "wood/MDF_Painted", + "density": 0.7, + "young": 3.5, + "hardness": 25, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 11, + 23 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.44404399394989014, + -0.2600000202655792, + -1.5198978076114145e-08 + ], + "range": [ + 0.0, + 1.7453292519943295 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001424/annotations/part_12.json b/data/UPB_00001424/annotations/part_12.json new file mode 100644 index 0000000000000000000000000000000000000000..8bac17aa3e8fbd785b8fc7bd9c5fddb66db3f7bc --- /dev/null +++ b/data/UPB_00001424/annotations/part_12.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001424", + "label": "12" + }, + "part_level": { + "part_name": "Tall Door 4 (center)", + "affordance": 3, + "graspable": false, + "basic_description": "Full-height door at the center region, ~35*2*180 cm.", + "functional_description": "Closes a central bay above the drawers.", + "movement_description": "Swings outward on hinges attached to the carcass.", + "grasp_description": "Opened/closed using its knob." + }, + "basic_info": { + "material": "wood/MDF_Painted", + "density": 0.7, + "young": 3.5, + "hardness": 25, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 12, + 24 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.4442846477031708, + -0.2600000202655792, + -1.5207216819135283e-08 + ], + "range": [ + 0.0, + 1.7453292519943295 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001424/annotations/part_13.json b/data/UPB_00001424/annotations/part_13.json new file mode 100644 index 0000000000000000000000000000000000000000..72beda87f31d12ab6feac18e9f9687b71e20089e --- /dev/null +++ b/data/UPB_00001424/annotations/part_13.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001424", + "label": "13" + }, + "part_level": { + "part_name": "Tall Door 5", + "affordance": 3, + "graspable": false, + "basic_description": "Full-height door near the right side, ~35*2*180 cm.", + "functional_description": "Covers a tall compartment.", + "movement_description": "Rotational motion around vertical hinges relative to the frame.", + "grasp_description": "Pulled by its knob." + }, + "basic_info": { + "material": "wood/MDF_Painted", + "density": 0.7, + "young": 3.5, + "hardness": 25, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 13, + 25 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + 0.45943528413772583, + -0.2600000202655792, + 1.5725799329402435e-08 + ], + "range": [ + 0.0, + 1.7453292519943295 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001424/annotations/part_14.json b/data/UPB_00001424/annotations/part_14.json new file mode 100644 index 0000000000000000000000000000000000000000..dafda4399ca962e36c602d2d263f0675a5a9a9ec --- /dev/null +++ b/data/UPB_00001424/annotations/part_14.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001424", + "label": "14" + }, + "part_level": { + "part_name": "Tall Door 6 (far right)", + "affordance": 3, + "graspable": false, + "basic_description": "Rightmost full-height door, ~35*2*180 cm.", + "functional_description": "Closes the far-right bay.", + "movement_description": "Hinged rotation relative to the carcass with soft-close feature.", + "grasp_description": "Handled at the knob." + }, + "basic_info": { + "material": "wood/MDF_Painted", + "density": 0.7, + "young": 3.5, + "hardness": 25, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 14, + 26 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 1.3718937635421753, + -0.2600000202655792, + -4.6957925547985724e-08 + ], + "range": [ + 0.0, + 1.7453292519943295 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file