Upload folder using huggingface_hub (part 63)

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00000831/plys/4.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00000831/plys/5.ply

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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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data/UPB_00000831/plys/7.ply

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+version https://git-lfs.github.com/spec/v1
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+size 160242

data/UPB_00000831/plys/8.ply

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+version https://git-lfs.github.com/spec/v1
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+size 160242

data/UPB_00000831/plys/9.ply

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+version https://git-lfs.github.com/spec/v1
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+size 160242

data/UPB_00000831/plys/model.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:cfea3bd9befa5671fcda82980a5ffe75a7edcad464050f0bc9347c246c01864e
+size 1600243

data/UPB_00000832/annotations/object.json

@@ -0,0 +1,10 @@
+{
+    "object_name": "TV Console Cabinet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        180.0,
+        40.0,
+        55.0
+    ],
+    "mass": 40.0
+}

data/UPB_00000832/annotations/part_1.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000832",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Door Panel",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Rectangular MDF laminated door panel with recessed face, approx 42*35*1.8 cm, for the left compartment.",
+        "functional_description": "Covers and conceals the left storage bay and provides a mounting surface for the knob.",
+        "movement_description": "Rotates about side hinges relative to the cabinet body to open or close; typical swing up to ~110 degrees.",
+        "grasp_description": "Usually pushed or pulled via the attached knob rather than grasped directly."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                5
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -1.0904046297073364,
+                    -0.14693352580070496,
+                    0.08528374880552292
+                ],
+                "range": [
+                    0.0,
+                    1.7453292519943295
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00000832/annotations/part_2.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000832",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Right Door Panel",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "MDF laminated door panel for the right compartment, approx 42*35*1.8 cm with a recessed front detail.",
+        "functional_description": "Closes the right storage bay and supports a knob for access.",
+        "movement_description": "Opens by rotating on hinges relative to the cabinet carcass.",
+        "grasp_description": "Handled via the knob; the panel itself is not typically grasped."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                6
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    1.0850530862808228,
+                    -0.14507155120372772,
+                    0.07672165334224701
+                ],
+                "range": [
+                    0.0,
+                    1.7453292519943295
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00000832/annotations/part_3.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000832",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Left Drawer Box",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "MDF drawer box with integrated decorative front, approx 45*33*17 cm (W*D*H).",
+        "functional_description": "Provides storage in the left central bay and slides on guides within the cabinet.",
+        "movement_description": "Slides in/out along runners relative to the carcass; travel around 30 cm with mild damping.",
+        "grasp_description": "Pulled by its knob; the drawer front is rarely grasped directly."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                7
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.26723790168762207,
+                    -0.15147951245307922,
+                    0.0
+                ],
+                "range": [
+                    -0.25999999046325684,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00000832/annotations/part_4.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000832",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Right Drawer Box",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "MDF drawer box with a recessed-front detail, approx 45*33*17 cm (W*D*H).",
+        "functional_description": "Stores small items in the right central bay and moves on slides.",
+        "movement_description": "Translates horizontally relative to the cabinet body with limited travel and damping.",
+        "grasp_description": "Pulled using the attached knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                8
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.2770189344882965,
+                    -0.15000000596046448,
+                    0.0
+                ],
+                "range": [
+                    -0.25999999046325684,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00000832/annotations/part_5.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000832",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Left Door Knob",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Small black-finished zinc-alloy knob, ~30 mm diameter, 25 mm projection, mounted to the left door.",
+        "functional_description": "Provides a handhold to operate the left door.",
+        "movement_description": "Rigidly fixed to the door; moves only as the door moves.",
+        "grasp_description": "Gripped by fingers to pull the door open or push it closed."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Black",
+        "density": 6.6,
+        "young": 83.0,
+        "hardness": 110,
+        "poisson": 0.33,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000832/annotations/part_6.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000832",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Right Door Knob",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Black zinc-alloy knob, ~30 mm diameter and 25 mm projection, attached to the right door.",
+        "functional_description": "Finger pull for operating the right door.",
+        "movement_description": "Fixed to the door and follows its rotation.",
+        "grasp_description": "Commonly pinched between fingers to open/close the right door."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Black",
+        "density": 6.6,
+        "young": 83.0,
+        "hardness": 110,
+        "poisson": 0.33,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000832/annotations/part_7.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000832",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Left Drawer Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Zinc-alloy knob, ~30 mm diameter, fixed to the left drawer front.",
+        "functional_description": "Primary handhold for sliding the left drawer.",
+        "movement_description": "Rigidly attached to the drawer; translates with it.",
+        "grasp_description": "Pulled by one or two fingers to operate the left drawer."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Black",
+        "density": 6.6,
+        "young": 83.0,
+        "hardness": 110,
+        "poisson": 0.33,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000832/annotations/part_8.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000832",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Right Drawer Knob",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Zinc-alloy knob, ~30 mm diameter, fixed to the right drawer front.",
+        "functional_description": "Provides leverage to slide the right drawer.",
+        "movement_description": "Rigidly connected to the drawer; moves only when the drawer translates.",
+        "grasp_description": "Regularly grasped to open and close the right drawer."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Black",
+        "density": 6.6,
+        "young": 83.0,
+        "hardness": 110,
+        "poisson": 0.33,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000832/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000832",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Cabinet Carcass and Legs",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Main MDF cabinet body with internal shelves and tapered legs, overall envelope about 180*40*55 cm.",
+        "functional_description": "Provides structural support, houses compartments, and bears the load of stored items and a TV.",
+        "movement_description": "Stationary reference frame; acts as the parent for hinge and drawer-slide motions.",
+        "grasp_description": "Not typically grasped; may be touched when moving the whole unit."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000832/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_00000832/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00000832",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "TV Console Cabinet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 9,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000832/model.urdf

@@ -0,0 +1,189 @@
+<?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="0.812007 0.812007 0.812007"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.812007 0.812007 0.812007"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.812007 0.812007 0.812007"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.812007 0.812007 0.812007"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.812007 0.812007 0.812007"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.812007 0.812007 0.812007"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.812007 0.812007 0.812007"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.812007 0.812007 0.812007"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.812007 0.812007 0.812007"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.812007 0.812007 0.812007"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.812007 0.812007 0.812007"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.812007 0.812007 0.812007"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.812007 0.812007 0.812007"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.812007 0.812007 0.812007"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.812007 0.812007 0.812007"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.812007 0.812007 0.812007"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.812007 0.812007 0.812007"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.812007 0.812007 0.812007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_9"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.885417 -0.119311 0.069251" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.885417 0.119311 -0.069251" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_9"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.881071 -0.117799 0.062299" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.881071 0.117799 -0.062299" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_9"/>
+    <child link="helper_link_2"/>
+    <origin xyz="-0.216999 -0.123002 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.21112190547102153" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0.216999 0.123002 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="prismatic">
+    <parent link="link_9"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.224941 -0.121801 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.21112190547102153" upper="0.0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="-0.224941 0.121801 -0.000000" 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_2"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="link_3"/>
+    <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>
+</robot>

data/UPB_00000832/parts/TvCabinet_YVJ35FMTQ3O6KPTULQ888888_EAz8X.mtl

@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_696d2674b44fbb5df51e0857
+Kd 0.0471264012 0.0471264012 0.0471264012
+illum 1
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