Upload folder using huggingface_hub (part 42)

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+    "object_name": "Tall Pantry Cabinet with Drawer",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        60.0,
+        35.0,
+        210.0
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+    "mass": 45.0
+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000725",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Upper Left Door",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Painted MDF framed panel door, about 100*30*2 cm.",
+        "functional_description": "Covers the left half of the upper storage compartment to protect contents from dust and provide privacy.",
+        "movement_description": "Hinged to the cabinet carcass and swings outward about a vertical axis; fitted with a knob for actuation.",
+        "grasp_description": "Usually pulled via the attached knob; edges can also be used to pull/push."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
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+{
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+        "entity": "UPB_00000725",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Lower Right Door Knob",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Matte-black zinc knob for the lower right louvered door.",
+        "functional_description": "Provides a grip point to open/close the lower right door.",
+        "movement_description": "No independent motion; fixed to the door.",
+        "grasp_description": "Grasped with fingertips to pull the door."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Diecast",
+        "density": 6.6,
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+{
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+        "entity": "UPB_00000725",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Cabinet Carcass and Shelves",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Main structure of the cabinet with top crown, vertical sides, back panel and fixed shelves; roughly 60*35*210 cm MDF painted construction.",
+        "functional_description": "Provides structural support, houses shelves and the compartments for doors and the drawer.",
+        "movement_description": "Rigid reference frame; other parts attach via hinges or slides.",
+        "grasp_description": "Rarely grasped directly; touched when moving the furniture during installation."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
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+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Upper Right Door",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Painted MDF framed panel door, about 100*30*2 cm.",
+        "functional_description": "Covers the right half of the upper storage compartment.",
+        "movement_description": "Rotates on side hinges relative to the carcass; controlled by a knob.",
+        "grasp_description": "Pulled by the knob to open and pushed to close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
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+{
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+    "part_level": {
+        "part_name": "Lower Left Louvered Door",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Painted MDF door with louvered center, approx. 55*28*2 cm.",
+        "functional_description": "Covers the left side of the lower cabinet; louvers allow some ventilation.",
+        "movement_description": "Swings outward about a vertical hinge axis fixed to the carcass.",
+        "grasp_description": "Grasp the knob to pull open; push on the outer face to close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
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+        "entity": "UPB_00000725",
+        "label": "4"
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+    "part_level": {
+        "part_name": "Lower Right Louvered Door",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Painted MDF louvered door, approx. 55*28*2 cm.",
+        "functional_description": "Covers the right side of the lower cabinet area.",
+        "movement_description": "Rotates about a vertical side hinge connected to the carcass.",
+        "grasp_description": "Operated by the attached knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
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+        "friction": 0.52
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+}

data/UPB_00000725/annotations/part_5.json

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+{
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+        "entity": "UPB_00000725",
+        "label": "5"
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+    "part_level": {
+        "part_name": "Center Drawer (box and front)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Birch plywood drawer box with decorative front, about 55*30*12 cm.",
+        "functional_description": "Provides sliding storage for small items between the two cabinet sections.",
+        "movement_description": "Translates in and out along slides/skirts relative to the carcass.",
+        "grasp_description": "Pulled by its knob to open; pushed closed with palm or fingers."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.65,
+        "young": 9.5,
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data/UPB_00000725/annotations/part_6.json

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+{
+    "index": {
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+        "entity": "UPB_00000725",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Drawer Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Matte-black die-cast zinc knob, roughly 3 cm diameter.",
+        "functional_description": "Handhold for actuating the drawer.",
+        "movement_description": "No motion by itself; rigidly fixed to the drawer front.",
+        "grasp_description": "Pinched or hooked with fingers to pull the drawer outward."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Diecast",
+        "density": 6.6,
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+}

data/UPB_00000725/annotations/part_7.json

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+{
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+        "entity": "UPB_00000725",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Upper Left Door Knob",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Small matte-black zinc knob for the upper left door.",
+        "functional_description": "Provides leverage to open/close the left upper door.",
+        "movement_description": "Rigid with door; moves only as the door rotates.",
+        "grasp_description": "Grasped with fingertips to swing the door."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Diecast",
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+}

data/UPB_00000725/annotations/part_8.json

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+        "entity": "UPB_00000725",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Upper Right Door Knob",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Matte-black zinc knob used on the upper right door.",
+        "functional_description": "Allows convenient grasp to operate the right upper door.",
+        "movement_description": "Fixed to the door; follows door rotation.",
+        "grasp_description": "Pinch or hook with fingers to pull the door open."
+    },
+    "basic_info": {
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+}

data/UPB_00000725/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000725",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Lower Left Door Knob",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Matte-black zinc knob for the lower left louvered door.",
+        "functional_description": "Used to pull the lower left door.",
+        "movement_description": "Rigidly attached; translates/rotates only with the door.",
+        "grasp_description": "Pulled with fingers; sometimes pushed to latch."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Diecast",
+        "density": 6.6,
+        "young": 83.0,
+        "hardness": 110,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000725/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_00000725/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00000725",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Tall Pantry Cabinet with Drawer"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 11,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000725/model.urdf

@@ -0,0 +1,231 @@
+<?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="0.793951 0.793951 0.793951"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.793951 0.793951 0.793951"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.793951 0.793951 0.793951"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.793951 0.793951 0.793951"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.793951 0.793951 0.793951"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.793951 0.793951 0.793951"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.793951 0.793951 0.793951"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.793951 0.793951 0.793951"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.793951 0.793951 0.793951"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.793951 0.793951 0.793951"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.793951 0.793951 0.793951"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.793951 0.793951 0.793951"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.793951 0.793951 0.793951"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.793951 0.793951 0.793951"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.793951 0.793951 0.793951"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.793951 0.793951 0.793951"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.793951 0.793951 0.793951"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.793951 0.793951 0.793951"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.793951 0.793951 0.793951"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.793951 0.793951 0.793951"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.793951 0.793951 0.793951"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.793951 0.793951 0.793951"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_11"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.285943 -0.095274 0.417282" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.285943 0.095274 -0.417282" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_11"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.232436 -0.095274 0.370533" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.232436 0.095274 -0.370533" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="link_11"/>
+    <child link="helper_link_2"/>
+    <origin xyz="-0.287708 -0.095274 -0.735346" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0.287708 0.095274 0.735346" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="revolute">
+    <parent link="link_11"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.232492 -0.095274 -0.743278" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="-0.232492 0.095274 0.743278" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="prismatic">
+    <parent link="link_11"/>
+    <child link="helper_link_4"/>
+    <origin xyz="-0.031566 -0.098408 -0.404181" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.19054820134052408" upper="0.0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_5"/>
+    <origin xyz="0.031566 0.098408 0.404181" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="link_5"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00000725/parts/ShoeCabinet_YVJYVRMTQ3FEAPTUKI888888_w67bx.mtl

@@ -0,0 +1,13 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_696d2aa982c1fe49a0667149
+Kd 0.235300004 0.235300004 0.235300004
+illum 1
+bump ./T_696d2aa982c1fe49a0667149_normal.jpg
+map_bump ./T_696d2aa982c1fe49a0667149_normal.jpg
+
+newmtl MI_696d2aa96958b97aeca8fc11
+Kd 0.0471264012 0.0471264012 0.0471264012
+illum 1
+

data/UPB_00000725/parts/part_1.obj

@@ -0,0 +1,156 @@
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