Upload folder using huggingface_hub (part 49)

.gitattributes

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data/UPB_00000753/annotations/object.json

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+{
+    "object_name": "Two-door Sideboard Cabinet with Marble Top",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        120.0,
+        40.0,
+        55.0
+    ],
+    "mass": 60.0
+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000753",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Door Panel",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Rectangular birch-veneer wood door panel, about 35*1.6*45 cm.",
+        "functional_description": "Provides the left closure of the cabinet; aesthetically matches the body shell.",
+        "movement_description": "Rotates about a vertical axis at the left side relative to the body via concealed hinges; typical swing range up to about 110\u00b0 with light damping.",
+        "grasp_description": "Users pull this door by the handle to open and close the cabinet."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Birch_Veneer",
+        "density": 0.65,
+        "young": 12.0,
+        "hardness": 18,
+        "poisson": 0.35,
+        "friction": 0.5
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+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000753",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Side Vertical Trim Strips (pairs)",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Two slender vertical wooden trims at the far left and right edges, ~40 cm long, ~1.2 cm wide.",
+        "functional_description": "Finish and protect the door openings; serve as stops for the doors.",
+        "movement_description": "Rigidly fixed to the body shell.",
+        "grasp_description": "Not intended for grasping."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Birch",
+        "density": 0.65,
+        "young": 12.0,
+        "hardness": 18,
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+        "friction": 0.5
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+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000753",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Top Slab",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Rectangular-rounded marble top, approx. 120*40*2 cm, grey veined surface.",
+        "functional_description": "Primary load-bearing and decorative top for placing objects.",
+        "movement_description": "Rigidly attached or seated on the body shell.",
+        "grasp_description": "Users place items on it; typically not grasped."
+    },
+    "basic_info": {
+        "material": "stone/Marble",
+        "density": 2.7,
+        "young": 70.0,
+        "hardness": 150,
+        "poisson": 0.25,
+        "friction": 0.6
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+}

data/UPB_00000753/annotations/part_12.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000753",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Internal Panels (Top Liner and Bottom Base)",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Two rounded-rectangle boards (~115*35*1.8 cm each) acting as an interior top liner and a bottom base panel, finished in matte black.",
+        "functional_description": "Provide a clean interior surface and structural base; support stored items.",
+        "movement_description": "Fixed to the body shell; no relative movement.",
+        "grasp_description": "Occasionally touched when placing or retrieving items, but not a primary handhold."
+    },
+    "basic_info": {
+        "material": "plastic",
+        "density": 1.0620871407760706,
+        "young": 2.2253158522050236,
+        "hardness": 13.668123427360614,
+        "poisson": 0.3764176930207783,
+        "friction": 0.4458561779896716
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+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000753",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Right Door Panel",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Rectangular birch-veneer wood door panel, about 35*1.6*45 cm.",
+        "functional_description": "Right-side closure panel of the cabinet.",
+        "movement_description": "Rotates outward about a vertical axis at the right side relative to the body; similar travel and damping to the left door.",
+        "grasp_description": "Pulled by the right handle for access to the storage space."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Birch_Veneer",
+        "density": 0.65,
+        "young": 12.0,
+        "hardness": 18,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
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+                2,
+                6,
+                8
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+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000753",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Left Door Catch Plate",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Slim steel strike/catch plate mounted at the meeting edge, approx. 20*1.2*0.2 cm.",
+        "functional_description": "Provides a contact surface (often magnetic) to keep the left door closed and aligned.",
+        "movement_description": "Fixed to the body; no independent movement.",
+        "grasp_description": "Not intended to be touched by users."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Mild",
+        "density": 7.85,
+        "young": 210.0,
+        "hardness": 140,
+        "poisson": 0.3,
+        "friction": 0.45
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+    "kinematic_info": {
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+            "D"
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+}

data/UPB_00000753/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000753",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Left Door Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Slim cylindrical pull handle, ~10 cm long and 1.5 cm diameter, matte black aluminum.",
+        "functional_description": "Provides ergonomic grip to operate the left door.",
+        "movement_description": "Rigidly attached to the left door; moves with the door as it swings.",
+        "grasp_description": "Users grasp this bar to open/close the left door."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061_PowderCoated",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+    }
+}

data/UPB_00000753/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000753",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Right Door Catch Plate",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Slim steel strike/catch plate at the right meeting edge, approx. 20*1.2*0.2 cm.",
+        "functional_description": "Works with a magnet or spring latch to hold the right door closed.",
+        "movement_description": "Fixed to the body; no movement.",
+        "grasp_description": "Not touched during normal use."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Mild",
+        "density": 7.85,
+        "young": 210.0,
+        "hardness": 140,
+        "poisson": 0.3,
+        "friction": 0.45
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+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+}

data/UPB_00000753/annotations/part_8.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000753",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Right Door Handle",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Slim cylindrical pull handle, ~10 cm long, matte black aluminum.",
+        "functional_description": "Used to operate the right door.",
+        "movement_description": "Rigidly fixed to the right door and travels with it.",
+        "grasp_description": "Primary touchpoint for opening the right door."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061_PowderCoated",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000753/annotations/part_9.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000753",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Body Shell (Sides and Front Frame)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Curved rectangular bent-plywood carcass forming the sides and front frame, approx. 120*40*45 cm with ~1.5 cm wall thickness.",
+        "functional_description": "Provides structure and houses the doors and shelves; supports the top slab.",
+        "movement_description": "Stationary reference for all moving parts; doors rotate relative to this shell.",
+        "grasp_description": "Not usually grasped except when moving the entire cabinet."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Bent_Plywood",
+        "density": 0.62,
+        "young": 11.0,
+        "hardness": 16,
+        "poisson": 0.35,
+        "friction": 0.55
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+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+    }
+}

data/UPB_00000753/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_00000753/meta_data.json

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+{
+    "id": "UPB_00000753",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Two-door Sideboard Cabinet with Marble Top"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 10,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000753/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="link_1">
+    <visual>
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+    <collision>
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+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.710052 0.710052 0.710052"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
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+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
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+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.710052 0.710052 0.710052"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.710052 0.710052 0.710052"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.710052 0.710052 0.710052"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.710052 0.710052 0.710052"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.710052 0.710052 0.710052"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.710052 0.710052 0.710052"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.710052 0.710052 0.710052"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.710052 0.710052 0.710052"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.710052 0.710052 0.710052"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.710052 0.710052 0.710052"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.710052 0.710052 0.710052"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.710052 0.710052 0.710052"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.710052 0.710052 0.710052"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.710052 0.710052 0.710052"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_9"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.388352 -0.163766 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="0.388352 0.163766 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_9"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.388575 -0.163766 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="-0.388575 0.163766 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_12"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00000753/parts/1.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 1.png

data/UPB_00000753/parts/2.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 2.png

data/UPB_00000753/parts/3.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 3.png

data/UPB_00000753/parts/6.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 6.png

data/UPB_00000753/parts/Sideboard_6NVTKOBVAV6MOPTULA888888_XVANW.mtl

@@ -0,0 +1,31 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5f55ae4f23bc8400019f19d6
+Kd 1 1 1
+illum 1
+map_Kd ./T_5f55ae4f23bc8400019f19d6_color.jpg
+
+newmtl MI_5f55ae4f5b896900010386c2
+Kd 0.810000002 0.657000005 0.432000011
+illum 1
+bump ./T_5f55ae4f5b896900010386c2_normal.jpg
+map_bump ./T_5f55ae4f5b896900010386c2_normal.jpg
+
+newmtl MI_5f55ae4fc6ff5a000140e6a5
+Kd 0.949000001 0.694100022 0
+illum 1
+
+newmtl MI_5f55ae4fe113f60001c4dc70
+Kd 0.0338560008 0.0338560008 0.0338560008
+illum 1
+
+newmtl MI_5f55ae4f7d6a630001578a9e
+Kd 1 1 1
+illum 1
+map_Kd ./T_5f55ae4f7d6a630001578a9e_color.jpg
+
+newmtl MI_5f55ae4fb1d8ad0001ad762c
+Kd 0.0307919402 0.0307919402 0.0307919402
+illum 1
+

data/UPB_00000753/plys/1.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a48d7c54321aeafdd8d6079b558d5fec9881c841278a08b438756793a620b464
+size 160242

data/UPB_00000753/plys/10.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b043e99a6de63d0530b24e33210136ce330f27d0611874b03c3432c7de36793b
+size 160242

data/UPB_00000753/plys/11.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e26a71abf569b045e391ea2c633780368078acf07e335fd7a5656aeafe6c3642
+size 225346