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b/data/UPB_00001425/plys/4.ply new file mode 100644 index 0000000000000000000000000000000000000000..2b33e350dc6cdc87346d3406ede3736e6f3e5eab --- /dev/null +++ b/data/UPB_00001425/plys/4.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3460cc137416f21e352d24539e3bd2294505fb23c9037775592997bf10a22d8 +size 160242 diff --git a/data/UPB_00001425/plys/5.ply b/data/UPB_00001425/plys/5.ply new file mode 100644 index 0000000000000000000000000000000000000000..57a869c9ea32e182e764226c7bf44f7b5f2d4658 --- /dev/null +++ b/data/UPB_00001425/plys/5.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d80a2896ecf117b740dad4ef042952bfc3a909293177de492496abf3c3c397f5 +size 160242 diff --git a/data/UPB_00001425/plys/6.ply b/data/UPB_00001425/plys/6.ply new file mode 100644 index 0000000000000000000000000000000000000000..07bb8cc1eabce858088980f54be8b31c980ea948 --- /dev/null +++ b/data/UPB_00001425/plys/6.ply @@ -0,0 +1,3 @@ +version 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0000000000000000000000000000000000000000..127b8845a8d22add1ed2ff9fc5f3623647f1a236 --- /dev/null +++ b/data/UPB_00001425/plys/9.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38b7ff23d6d0bbc730b5eec99d95e7bc0b6337854bceeca3f8f9b071c67aa8c5 +size 160242 diff --git a/data/UPB_00001425/plys/model.ply b/data/UPB_00001425/plys/model.ply new file mode 100644 index 0000000000000000000000000000000000000000..3b430b87ac086230e18c0ada3da105e229a9bc60 --- /dev/null +++ b/data/UPB_00001425/plys/model.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f39822875004f8d42eddab35cf28bb95d31ec8674c45c94ae03dd6c152a7d63 +size 1600243 diff --git a/data/UPB_00001426/annotations/object.json b/data/UPB_00001426/annotations/object.json new file mode 100644 index 0000000000000000000000000000000000000000..e3e4e0ccbdcf5da1d18980c722e9198ea652c214 --- /dev/null +++ b/data/UPB_00001426/annotations/object.json @@ -0,0 +1,10 @@ +{ + "object_name": "Four-Door Sideboard with Two Drawers", + "category": "Furniture/StorageFurniture", + "volume": [ + 220.0, + 45.0, + 95.0 + ], + "mass": 70.0 +} \ No newline at end of file diff --git a/data/UPB_00001426/annotations/part_1.json b/data/UPB_00001426/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..568ed7a7d6ea8f21d3a18c159b886356fbcc0426 --- /dev/null +++ b/data/UPB_00001426/annotations/part_1.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001426", + "label": "1" + }, + "part_level": { + "part_name": "Left-module Drawer 1", + "affordance": 4, + "graspable": false, + "basic_description": "Box-style drawer with a decorative front panel, made of painted MDF.", + "functional_description": "Provides enclosed storage in the left side module of the sideboard.", + "movement_description": "Slides in and out along wooden/runner guides relative to the cabinet carcass.", + "grasp_description": "Users pull this drawer using its handle (part 7), not by the drawer body." + }, + "basic_info": { + "material": "wood/MDF_Painted", + "density": 0.75, + "young": 4.0, + "hardness": 25, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 1, + 7 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + -1.0322493314743042, + -0.18837861716747284, + -0.21386654675006866 + ], + "range": [ + -0.30000001192092896, + 0.0 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001426/annotations/part_10.json b/data/UPB_00001426/annotations/part_10.json new file mode 100644 index 0000000000000000000000000000000000000000..9d54cfdbd3308f52dd208751984b037884f4ebff --- /dev/null +++ b/data/UPB_00001426/annotations/part_10.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001426", + "label": "10" + }, + "part_level": { + "part_name": "Left-Center Door Handle", + "affordance": 2, + "graspable": true, + "basic_description": "Vertical zinc-alloy pull for the left-center door.", + "functional_description": "User interface for opening the adjacent door.", + "movement_description": "Rigid with the door panel, no relative movement.", + "grasp_description": "Typical finger pull to rotate the door." + }, + "basic_info": { + "material": "metal/Zinc_Alloy_Zamak", + "density": 6.6, + "young": 83.0, + "hardness": 100, + "poisson": 0.34, + "friction": 0.36 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001426/annotations/part_11.json b/data/UPB_00001426/annotations/part_11.json new file mode 100644 index 0000000000000000000000000000000000000000..18c661716721d1a0635881a7170fe6bdbb3d0210 --- /dev/null +++ b/data/UPB_00001426/annotations/part_11.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001426", + "label": "11" + }, + "part_level": { + "part_name": "Right-Center Door Handle", + "affordance": 2, + "graspable": true, + "basic_description": "Vertical pull for the right-center door, matching the set.", + "functional_description": "Provides leverage to open the right-center door.", + "movement_description": "No independent motion relative to the door.", + "grasp_description": "Grasped by fingers to swing the door." + }, + "basic_info": { + "material": "metal/Zinc_Alloy_Zamak", + "density": 6.6, + "young": 83.0, + "hardness": 100, + "poisson": 0.34, + "friction": 0.36 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001426/annotations/part_12.json b/data/UPB_00001426/annotations/part_12.json new file mode 100644 index 0000000000000000000000000000000000000000..e0bec9f4846b8e51272f1a06c7093d247e0eafd5 --- /dev/null +++ b/data/UPB_00001426/annotations/part_12.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001426", + "label": "12" + }, + "part_level": { + "part_name": "Right Door Handle", + "affordance": 2, + "graspable": true, + "basic_description": "Vertical zinc-alloy pull attached to the rightmost door.", + "functional_description": "Enables operation of the right door.", + "movement_description": "Rigidly fixed; follows the door's rotation.", + "grasp_description": "Pulled by hand to open/close the right door." + }, + "basic_info": { + "material": "metal/Zinc_Alloy_Zamak", + "density": 6.6, + "young": 83.0, + "hardness": 100, + "poisson": 0.34, + "friction": 0.36 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001426/annotations/part_13.json b/data/UPB_00001426/annotations/part_13.json new file mode 100644 index 0000000000000000000000000000000000000000..07a51475e62aeb2de18be785e342fcb867ace735 --- /dev/null +++ b/data/UPB_00001426/annotations/part_13.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001426", + "label": "13" + }, + "part_level": { + "part_name": "Cabinet Carcass and Shelving", + "affordance": 10, + "graspable": false, + "basic_description": "Primary structural body of the sideboard with internal dividers and open shelves; constructed from birch plywood with a painted or veneered finish.", + "functional_description": "Provides structural integrity, supports doors, drawers, and shelves, and bears loads placed on the top surface.", + "movement_description": "Stationary reference frame to which drawers translate on runners and doors rotate on hinges.", + "grasp_description": "Normally not grasped directly; users interact with handles and door edges." + }, + "basic_info": { + "material": "wood/Plywood_Birch_Veneer", + "density": 0.65, + "young": 9.0, + "hardness": 30, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001426/annotations/part_2.json b/data/UPB_00001426/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..93185cbc9d41f915d8efe64849b711119f22cef3 --- /dev/null +++ b/data/UPB_00001426/annotations/part_2.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001426", + "label": "2" + }, + "part_level": { + "part_name": "Left-module Drawer 2", + "affordance": 4, + "graspable": false, + "basic_description": "Second MDF drawer with a paneled front, matching the upper drawer.", + "functional_description": "Adds additional small-item storage on the left side module.", + "movement_description": "Linear translation on runners relative to the carcass.", + "grasp_description": "Pulled via its metal handle (part 8)." + }, + "basic_info": { + "material": "wood/MDF_Painted", + "density": 0.75, + "young": 4.0, + "hardness": 25, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 2, + 8 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + -0.6234121918678284, + 0.0, + -0.25057128071784973 + ], + "range": [ + -0.30000001192092896, + 0.0 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001426/annotations/part_3.json b/data/UPB_00001426/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..f01344ad11fae3d11e3a953631bf019fdce79dff --- /dev/null +++ b/data/UPB_00001426/annotations/part_3.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001426", + "label": "3" + }, + "part_level": { + "part_name": "Left Door", + "affordance": 5, + "graspable": false, + "basic_description": "Paneled MDF cabinet door located at the far left of the main cabinet.", + "functional_description": "Covers and protects the left storage compartment.", + "movement_description": "Rotates on hinges fixed to the carcass; opens outward.", + "grasp_description": "Opened using the attached handle (part 9)." + }, + "basic_info": { + "material": "wood/MDF_Painted", + "density": 0.75, + "young": 4.0, + "hardness": 25, + "poisson": 0.3, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 3, + 9 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.4037400484085083, + -0.1638370305299759, + 0.2780764698982239 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001426/annotations/part_4.json b/data/UPB_00001426/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..1dd4a960c75f1678836be25ac084ca87c94977eb --- /dev/null +++ b/data/UPB_00001426/annotations/part_4.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001426", + "label": "4" + }, + "part_level": { + "part_name": "Left-Center Door", + "affordance": 5, + "graspable": false, + "basic_description": "Second paneled MDF door from the left.", + "functional_description": "Covers the left-center storage bay.", + "movement_description": "Hinged rotation relative to the carcass.", + "grasp_description": "Pulled by its handle (part 10)." + }, + "basic_info": { + "material": "wood/MDF_Painted", + "density": 0.75, + "young": 4.0, + "hardness": 25, + "poisson": 0.3, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 4, + 10 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.3816974461078644, + -0.16002298891544342, + -1.3064948234386975e-08 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001426/annotations/part_5.json b/data/UPB_00001426/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..11e376d2b27985aa7024380a14a9b4ed12c222b8 --- /dev/null +++ b/data/UPB_00001426/annotations/part_5.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001426", + "label": "5" + }, + "part_level": { + "part_name": "Right-Center Door", + "affordance": 5, + "graspable": false, + "basic_description": "Third paneled MDF door, located right of center.", + "functional_description": "Closes the right-center compartment.", + "movement_description": "Swings on hinges attached to the carcass.", + "grasp_description": "Operated via its handle (part 11)." + }, + "basic_info": { + "material": "wood/MDF_Painted", + "density": 0.75, + "young": 4.0, + "hardness": 25, + "poisson": 0.3, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 5, + 11 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + 0.39244022965431213, + -0.15543967485427856, + 0.1937086135149002 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001426/annotations/part_6.json b/data/UPB_00001426/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..1030106ccd870dd9bbf32872aefb562be1695333 --- /dev/null +++ b/data/UPB_00001426/annotations/part_6.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001426", + "label": "6" + }, + "part_level": { + "part_name": "Right Door", + "affordance": 5, + "graspable": false, + "basic_description": "Rightmost paneled MDF cabinet door.", + "functional_description": "Protects the right storage compartment from dust and impact.", + "movement_description": "Rotational opening via side hinges with soft closing resistance.", + "grasp_description": "Grasped by its handle (part 12) during use." + }, + "basic_info": { + "material": "wood/MDF_Painted", + "density": 0.75, + "young": 4.0, + "hardness": 25, + "poisson": 0.3, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 6, + 12 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 1.179588794708252, + -0.1622152477502823, + -9.281114543568947e-09 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001426/annotations/part_7.json b/data/UPB_00001426/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..f41b022bef8b40a23700a99de6a48ab14e2b19b0 --- /dev/null +++ b/data/UPB_00001426/annotations/part_7.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001426", + "label": "7" + }, + "part_level": { + "part_name": "Drawer 1 Handle", + "affordance": 1, + "graspable": true, + "basic_description": "Curved metal pull fixed to Drawer 1 with two screws.", + "functional_description": "Primary interface to pull the upper left-module drawer.", + "movement_description": "No independent motion; rigid with the drawer front.", + "grasp_description": "Pinch or hook fingers underneath to pull the drawer outward." + }, + "basic_info": { + "material": "metal/Zinc_Alloy_Zamak", + "density": 6.6, + "young": 83.0, + "hardness": 100, + "poisson": 0.34, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001426/annotations/part_8.json b/data/UPB_00001426/annotations/part_8.json new file mode 100644 index 0000000000000000000000000000000000000000..69ece520efc3495a5f1ccd4eebfd6d2673b7e542 --- /dev/null +++ b/data/UPB_00001426/annotations/part_8.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001426", + "label": "8" + }, + "part_level": { + "part_name": "Drawer 2 Handle", + "affordance": 1, + "graspable": true, + "basic_description": "Curved zinc-alloy pull matching the other drawer handle.", + "functional_description": "Interface for operating Drawer 2.", + "movement_description": "Rigidly attached to the drawer, no separate motion.", + "grasp_description": "User wraps fingers and pulls to translate the drawer." + }, + "basic_info": { + "material": "metal/Zinc_Alloy_Zamak", + "density": 6.6, + "young": 83.0, + "hardness": 100, + "poisson": 0.34, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001426/annotations/part_9.json b/data/UPB_00001426/annotations/part_9.json new file mode 100644 index 0000000000000000000000000000000000000000..a349d58c289ea316a6ca1a11ca853e2a84320264 --- /dev/null +++ b/data/UPB_00001426/annotations/part_9.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001426", + "label": "9" + }, + "part_level": { + "part_name": "Left Door Handle", + "affordance": 2, + "graspable": true, + "basic_description": "Vertical pull attached to the left door.", + "functional_description": "Allows easy opening and closing of the left door.", + "movement_description": "No independent motion; follows the door.", + "grasp_description": "Gripped by fingers for rotating the door open and closed." + }, + "basic_info": { + "material": "metal/Zinc_Alloy_Zamak", + "density": 6.6, + "young": 83.0, + "hardness": 100, + "poisson": 0.34, + "friction": 0.36 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001426/full_model/material.mtl b/data/UPB_00001426/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00001426/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_00001426/full_model/material_0.png b/data/UPB_00001426/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..9c01da8c2dd96c5f380fa523ccde45c22fcece71 --- /dev/null +++ b/data/UPB_00001426/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ca2108a8574848d87f34016e965ed468eee8b778768dc322bddcf2fcb00ec72 +size 96 diff --git a/data/UPB_00001426/full_model/model.obj b/data/UPB_00001426/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..3ba557e505641742c3f7681e1b2cca7e51e55df8 --- /dev/null +++ b/data/UPB_00001426/full_model/model.obj @@ -0,0 +1,253352 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v -0.81756556 -0.16790289 -0.12466730 +v -0.81756556 -0.16130805 -0.12466712 +v -1.21134114 -0.16130802 -0.12466754 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Cabinet with Glass Doors and Drawers", + "category": "Furniture/StorageFurniture", + "volume": [ + 135.0, + 60.0, + 200.0 + ], + "mass": 95.0 +} \ No newline at end of file diff --git a/data/UPB_00001427/annotations/part_1.json b/data/UPB_00001427/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..78c486c50e2cb96bbdaa36a28200ac5a8aa9a8a6 --- /dev/null +++ b/data/UPB_00001427/annotations/part_1.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001427", + "label": "1" + }, + "part_level": { + "part_name": "Top Drawer Box", + "affordance": 9, + "graspable": false, + "basic_description": "Birch plywood drawer box with decorative front, approx. 80\u00d745\u00d714 cm.", + "functional_description": "Stores small clothing items; box sides carry loads from contents and slides.", + "movement_description": "Translates in and out of the carcass along wooden/metal runners, limited to about 45 cm.", + "grasp_description": "Not grasped directly; users pull via the attached handle." + }, + "basic_info": { + "material": "wood/Plywood_Birch", + "density": 0.6, + "young": 8.0, + "hardness": 30, + "poisson": 0.3, + "friction": 0.48 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 1, + 12 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + 0.33988484740257263, + -0.227815181016922, + -0.49620217084884644 + ], + "range": [ + -0.30000001192092896, + 0.0 + ], + "damping": 0.06 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001427/annotations/part_10.json b/data/UPB_00001427/annotations/part_10.json new file mode 100644 index 0000000000000000000000000000000000000000..7d64cb4c014964cc6c630aa4932912c2d1c8f095 --- /dev/null +++ b/data/UPB_00001427/annotations/part_10.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001427", + "label": "10" + }, + "part_level": { + "part_name": "Handle for Door 6", + "affordance": 3, + "graspable": true, + "basic_description": "Vertical pull handle, about 20\u00d72\u00d74 cm.", + "functional_description": "Provides leverage to swing the glass door open or closed.", + "movement_description": "Rigidly attached to Door 6.", + "grasp_description": "Finger-wrapped grasp; smooth edges avoid discomfort." + }, + "basic_info": { + "material": "metal/Stainless_Steel_304", + "density": 8.0, + "young": 193.0, + "hardness": 155, + "poisson": 0.29, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001427/annotations/part_11.json b/data/UPB_00001427/annotations/part_11.json new file mode 100644 index 0000000000000000000000000000000000000000..f5ba06f368a872436eab242ab161afb7a82c98f2 --- /dev/null +++ b/data/UPB_00001427/annotations/part_11.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001427", + "label": "11" + }, + "part_level": { + "part_name": "Handle for Door 7", + "affordance": 4, + "graspable": true, + "basic_description": "Curved vertical handle similar to others, approx. 20 cm long.", + "functional_description": "User interface for Door 7.", + "movement_description": "No movement relative to the door; fastened with screws.", + "grasp_description": "Gripped with a power or pinch grasp depending on user preference." + }, + "basic_info": { + "material": "metal/Stainless_Steel_304", + "density": 8.0, + "young": 193.0, + "hardness": 155, + "poisson": 0.29, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001427/annotations/part_12.json b/data/UPB_00001427/annotations/part_12.json new file mode 100644 index 0000000000000000000000000000000000000000..701341f4025dd2d61d0c819a55da2ab9b4662629 --- /dev/null +++ b/data/UPB_00001427/annotations/part_12.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001427", + "label": "12" + }, + "part_level": { + "part_name": "Handle for Drawer 1 (Top)", + "affordance": 5, + "graspable": true, + "basic_description": "Horizontal bow-style drawer pull, ~16 cm wide.", + "functional_description": "Allows pulling the top drawer open and pushing it closed.", + "movement_description": "Rigidly screwed to the drawer front.", + "grasp_description": "Hook or pinch grasp; curved profile fits fingers." + }, + "basic_info": { + "material": "metal/Stainless_Steel_304", + "density": 8.0, + "young": 193.0, + "hardness": 155, + "poisson": 0.29, + "friction": 0.42 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001427/annotations/part_13.json b/data/UPB_00001427/annotations/part_13.json new file mode 100644 index 0000000000000000000000000000000000000000..2d7de75aeee494fb9f0c0498ce8907d0e86516cd --- /dev/null +++ b/data/UPB_00001427/annotations/part_13.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001427", + "label": "13" + }, + "part_level": { + "part_name": "Handle for Drawer 2 (Middle)", + "affordance": 6, + "graspable": true, + "basic_description": "Horizontal stainless-steel pull, ~16 cm width.", + "functional_description": "User interface for the middle drawer.", + "movement_description": "Rigidly attached to Drawer 2 front panel.", + "grasp_description": "Pulled with one or two fingers depending on load." + }, + "basic_info": { + "material": "metal/Stainless_Steel_304", + "density": 8.0, + "young": 193.0, + "hardness": 155, + "poisson": 0.29, + "friction": 0.42 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001427/annotations/part_14.json b/data/UPB_00001427/annotations/part_14.json new file mode 100644 index 0000000000000000000000000000000000000000..e6a1a49254982118fb22b3500fda92aeacd3efd4 --- /dev/null +++ b/data/UPB_00001427/annotations/part_14.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001427", + "label": "14" + }, + "part_level": { + "part_name": "Handle for Drawer 3 (Bottom)", + "affordance": 7, + "graspable": true, + "basic_description": "Horizontal drawer pull, ~16 cm wide; same finish as others.", + "functional_description": "Allows the heavy bottom drawer to be pulled out safely.", + "movement_description": "Rigidly fastened; no relative motion to the drawer front.", + "grasp_description": "Often grasped with a stronger power grip to move heavier contents." + }, + "basic_info": { + "material": "metal/Stainless_Steel_304", + "density": 8.0, + "young": 193.0, + "hardness": 155, + "poisson": 0.29, + "friction": 0.42 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001427/annotations/part_15.json b/data/UPB_00001427/annotations/part_15.json new file mode 100644 index 0000000000000000000000000000000000000000..9124ac0186de22d5e768ec1577b11871020d53c0 --- /dev/null +++ b/data/UPB_00001427/annotations/part_15.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001427", + "label": "15" + }, + "part_level": { + "part_name": "Cabinet Carcass", + "affordance": 10, + "graspable": false, + "basic_description": "Melamine-laminated particle-board carcass with vertical partitions and fixed shelves; overall 135\u00d760\u00d7200 cm.", + "functional_description": "Main load-bearing structure that supports shelves, hinges, and drawer slides.", + "movement_description": "Rigid body; serves as the stationary reference frame for all doors and drawers.", + "grasp_description": "Not directly grasped during normal use except when moving the entire furniture piece." + }, + "basic_info": { + "material": "wood/Particle_Board_Melamine", + "density": 0.68, + "young": 3.0, + "hardness": 20, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001427/annotations/part_2.json b/data/UPB_00001427/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..0d5b3e5935949a2284de5af0e6cbb6064f1838e8 --- /dev/null +++ b/data/UPB_00001427/annotations/part_2.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001427", + "label": "2" + }, + "part_level": { + "part_name": "Middle Drawer Box", + "affordance": 9, + "graspable": false, + "basic_description": "Birch plywood drawer box, approx. 80\u00d745\u00d718 cm.", + "functional_description": "Mid drawer for folded garments; supports moderate loads.", + "movement_description": "Slides along guides relative to the carcass with mild damping.", + "grasp_description": "Pulled by its dedicated handle." + }, + "basic_info": { + "material": "wood/Plywood_Birch", + "density": 0.6, + "young": 8.0, + "hardness": 30, + "poisson": 0.3, + "friction": 0.48 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 2, + 13 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + 0.0, + -0.2718091607093811, + -0.7291843295097351 + ], + "range": [ + -0.30000001192092896, + 0.0 + ], + "damping": 0.06 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001427/annotations/part_3.json b/data/UPB_00001427/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..67257b2e6be0b369a395ea118184d1c6d88126e9 --- /dev/null +++ b/data/UPB_00001427/annotations/part_3.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001427", + "label": "3" + }, + "part_level": { + "part_name": "Bottom Drawer Box", + "affordance": 9, + "graspable": false, + "basic_description": "Largest plywood drawer box, approx. 80\u00d745\u00d722 cm.", + "functional_description": "Holds heavier items such as linens or shoes.", + "movement_description": "Extends via translation on runners; damping slightly higher due to weight.", + "grasp_description": "Operated using the attached horizontal handle." + }, + "basic_info": { + "material": "wood/Plywood_Birch", + "density": 0.6, + "young": 8.0, + "hardness": 30, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 3, + 14 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + 0.35501569509506226, + -0.2546849846839905, + -0.9210088849067688 + ], + "range": [ + -0.30000001192092896, + 0.0 + ], + "damping": 0.07 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001427/annotations/part_4.json b/data/UPB_00001427/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..de89fc6e77890c6448bc24bf7b5f33093a884dfa --- /dev/null +++ b/data/UPB_00001427/annotations/part_4.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001427", + "label": "4" + }, + "part_level": { + "part_name": "Solid Door - Left Panel", + "affordance": 8, + "graspable": false, + "basic_description": "Tall veneered MDF door panel, approx. 180\u00d735\u00d72 cm.", + "functional_description": "Covers and protects the left compartment from dust and provides privacy.", + "movement_description": "Rotates about vertical hinges fixed to the carcass side.", + "grasp_description": "Users pull via the rigidly attached handle." + }, + "basic_info": { + "material": "wood/MDF_Veneered", + "density": 0.75, + "young": 3.5, + "hardness": 25, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 4, + 8 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.7115007638931274, + -0.19899329543113708, + -2.4353635552643027e-08 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001427/annotations/part_5.json b/data/UPB_00001427/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..8a65b9a1992eb31be1c40b1172c833bb4c3974f5 --- /dev/null +++ b/data/UPB_00001427/annotations/part_5.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001427", + "label": "5" + }, + "part_level": { + "part_name": "Solid Door - Mid-Left Panel", + "affordance": 8, + "graspable": false, + "basic_description": "Second solid veneered MDF door, approx. 180\u00d735\u00d72 cm.", + "functional_description": "Covers an adjacent storage bay; helps maintain cabinet stiffness when latched.", + "movement_description": "Swings about a vertical hinge axis with soft closing hardware.", + "grasp_description": "Pulled by its handle; panel surface is not typically grasped." + }, + "basic_info": { + "material": "wood/MDF_Veneered", + "density": 0.75, + "young": 3.5, + "hardness": 25, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 5, + 9 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + -0.031297750771045685, + -0.1961386501789093, + 1.0712767339882134e-09 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001427/annotations/part_6.json b/data/UPB_00001427/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..05b2244797cb7982edcf1dabc4b80b17b4e02fe1 --- /dev/null +++ b/data/UPB_00001427/annotations/part_6.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001427", + "label": "6" + }, + "part_level": { + "part_name": "Glass Door - Mid-Right Panel", + "affordance": 8, + "graspable": false, + "basic_description": "Framed door with multiple glass panes, approx. 180\u00d735\u00d72 cm.", + "functional_description": "Provides visibility into the cabinet while shielding contents from dust.", + "movement_description": "Rotates about hinges mounted to the carcass side stile.", + "grasp_description": "Operated by its metal handle; glass area is not meant to be pulled directly." + }, + "basic_info": { + "material": "wood/MDF_Veneered", + "density": 0.75, + "young": 3.5, + "hardness": 25, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 6, + 10 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.027563050389289856, + -0.174632728099823, + 0.40173834562301636 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001427/annotations/part_7.json b/data/UPB_00001427/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..66d87914bfb5c1d916f40cdfb6942799cd08aac6 --- /dev/null +++ b/data/UPB_00001427/annotations/part_7.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001427", + "label": "7" + }, + "part_level": { + "part_name": "Glass Door - Right Panel", + "affordance": 8, + "graspable": false, + "basic_description": "Rightmost framed glass door, approx. 180\u00d735\u00d72 cm.", + "functional_description": "Covers right display/storage space while allowing light and visibility.", + "movement_description": "Swings open about a vertical hinge axis.", + "grasp_description": "Pulled by the attached handle; frame edges may be touched when cleaning." + }, + "basic_info": { + "material": "wood/MDF_Veneered", + "density": 0.75, + "young": 3.5, + "hardness": 25, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 7, + 11 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.7135270833969116, + -0.16972723603248596, + 0.26730430126190186 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001427/annotations/part_8.json b/data/UPB_00001427/annotations/part_8.json new file mode 100644 index 0000000000000000000000000000000000000000..b5ea5ba3fb47b82dbe344df64470be31694888ee --- /dev/null +++ b/data/UPB_00001427/annotations/part_8.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001427", + "label": "8" + }, + "part_level": { + "part_name": "Handle for Door 4", + "affordance": 1, + "graspable": true, + "basic_description": "Curved vertical pull handle, about 20\u00d72\u00d74 cm, black finished stainless steel.", + "functional_description": "Primary interface to open/close Door 4.", + "movement_description": "Rigidly fixed; no motion relative to the door.", + "grasp_description": "Grasped with fingers; curved profile improves grip and comfort." + }, + "basic_info": { + "material": "metal/Stainless_Steel_304", + "density": 8.0, + "young": 193.0, + "hardness": 155, + "poisson": 0.29, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001427/annotations/part_9.json b/data/UPB_00001427/annotations/part_9.json new file mode 100644 index 0000000000000000000000000000000000000000..c3b94869acb56dfeb266f88ce6f2d421676e8496 --- /dev/null +++ b/data/UPB_00001427/annotations/part_9.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001427", + "label": "9" + }, + "part_level": { + "part_name": "Handle for Door 5", + "affordance": 2, + "graspable": true, + "basic_description": "Vertical stainless-steel pull, approx. 20 cm long.", + "functional_description": "User grip for operating Solid Door 5.", + "movement_description": "No relative motion; bolted to the door.", + "grasp_description": "Gripped by hand; lightly textured finish resists slipping." + }, + "basic_info": { + "material": "metal/Stainless_Steel_304", + "density": 8.0, + "young": 193.0, + "hardness": 155, + "poisson": 0.29, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001427/full_model/material.mtl b/data/UPB_00001427/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00001427/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_00001427/full_model/material_0.png b/data/UPB_00001427/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..38b1e38f75d58b3792fd7acd6ce01009d114ed5c --- /dev/null +++ b/data/UPB_00001427/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a97d72163d70d83f75b3adacdcb53d6cf7463fd8f440c1391accce5f9b8d1c16 +size 116 diff --git a/data/UPB_00001427/full_model/model.obj b/data/UPB_00001427/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..a8150425f70c42980d15e7506ee3f3ae526d4e46 --- /dev/null +++ b/data/UPB_00001427/full_model/model.obj @@ -0,0 +1,153106 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v 0.00859533 -0.19283833 -0.41373253 +v 0.67921573 -0.18424016 -0.41373253 +v 0.00859533 -0.18424042 -0.41373253 +v 0.67921573 -0.19283807 -0.41373253 +v 0.00859533 -0.19283833 -0.41373253 +v 0.00859537 -0.18423970 -0.55083436 +v 0.00859537 -0.19283763 -0.55083436 +v 0.00859533 -0.18424042 -0.41373253 +v 0.67921573 -0.18423945 -0.55083436 +v 0.00859537 -0.19283763 -0.55083436 +v 0.00859537 -0.18423970 -0.55083436 +v 0.67921573 -0.19283736 -0.55083436 +v 0.67921573 -0.18424016 -0.41373253 +v 0.67921573 -0.19283736 -0.55083436 +v 0.67921573 -0.18423945 -0.55083436 +v 0.67921573 -0.19283807 -0.41373253 +v 0.67921573 -0.18424016 -0.41373253 +v 0.00859537 -0.18423970 -0.55083436 +v 0.00859533 -0.18424042 -0.41373253 +v 0.67921573 -0.18423945 -0.55083436 +v 0.00859537 -0.19283763 -0.55083436 +v 0.67921573 -0.19283807 -0.41373253 +v 0.00859533 -0.19283833 -0.41373253 +v 0.67921573 -0.19283736 -0.55083436 +v 0.00859534 -0.19713664 -0.41373250 +v 0.67921573 -0.18423981 -0.41373253 +v 0.67921573 -0.19713622 -0.41373250 +v 0.00859533 -0.18424024 -0.41373253 +v 0.67921573 -0.19713622 -0.41373250 +v 0.67921573 -0.18423958 -0.55083436 +v 0.67921573 -0.19713600 -0.55083430 +v 0.67921573 -0.18423981 -0.41373253 +v 0.67921573 -0.18423958 -0.55083436 +v 0.00859539 -0.19713642 -0.55083430 +v 0.67921573 -0.19713600 -0.55083430 +v 0.00859537 -0.18423998 -0.55083436 +v 0.00859533 -0.18424024 -0.41373253 +v 0.00859539 -0.19713642 -0.55083430 +v 0.00859537 -0.18423998 -0.55083436 +v 0.00859534 -0.19713664 -0.41373250 +v 0.00429653 -0.20143549 -0.40943366 +v 0.67921573 -0.19713622 -0.41373250 +v 0.68351454 -0.20143507 -0.40943366 +v 0.00859534 -0.19713664 -0.41373250 +v 0.68351454 -0.20143507 -0.40943366 +v 0.67921573 -0.19713600 -0.55083430 +v 0.68351454 -0.20143484 -0.55513322 +v 0.67921573 -0.19713622 -0.41373250 +v 0.67921573 -0.19713600 -0.55083430 +v 0.00429661 -0.20143525 -0.55513322 +v 0.68351454 -0.20143484 -0.55513322 +v 0.00859539 -0.19713642 -0.55083430 +v 0.00859539 -0.19713642 -0.55083430 +v 0.00429653 -0.20143549 -0.40943366 +v 0.00429661 -0.20143525 -0.55513322 +v 0.00859534 -0.19713664 -0.41373250 +v 0.71188599 -0.20143501 -0.38106215 +v 0.68351454 -0.20143507 -0.40943366 +v 0.68351454 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2105/2105 2102/2102 +f 1380/1380 2102/2102 2105/2105 +f 2105/2105 1381/1381 1380/1380 +f 2106/2106 2103/2103 2099/2099 +f 2099/2099 2097/2097 2106/2106 +f 1295/1295 2106/2106 2097/2097 +f 2097/2097 1296/1296 1295/1295 +f 2106/2106 1295/1295 1302/1302 +f 1302/1302 2107/2107 2106/2106 +f 2103/2103 2106/2106 2107/2107 +f 2107/2107 2104/2104 2103/2103 +f 2108/2108 1312/1312 1313/1313 +f 1313/1313 1628/1628 2108/2108 +f 2109/2109 2108/2108 1628/1628 +f 1628/1628 1632/1632 2109/2109 +f 2108/2108 2109/2109 2104/2104 +f 2104/2104 2107/2107 2108/2108 +f 1312/1312 2108/2108 2107/2107 +f 2107/2107 1302/1302 1312/1312 +f 2110/2110 2109/2109 1632/1632 +f 1632/1632 1644/1644 2110/2110 +f 1384/1384 2110/2110 1644/1644 +f 1644/1644 1385/1385 1384/1384 +f 2110/2110 1384/1384 1381/1381 +f 1381/1381 2105/2105 2110/2110 +f 2109/2109 2110/2110 2105/2105 +f 2105/2105 2104/2104 2109/2109 +f 2111/2111 1528/1528 1527/1527 +f 1527/1527 2112/2112 2111/2111 +f 2113/2113 2111/2111 2112/2112 +f 2112/2112 2114/2114 2113/2113 +f 2111/2111 2113/2113 2115/2115 +f 2115/2115 2116/2116 2111/2111 +f 1528/1528 2111/2111 2116/2116 +f 2116/2116 1530/1530 1528/1528 +f 2117/2117 2113/2113 2114/2114 +f 2114/2114 2118/2118 2117/2117 +f 1960/1960 2117/2117 2118/2118 +f 2118/2118 1338/1338 1960/1960 +f 2117/2117 1960/1960 1958/1958 +f 1958/1958 2119/2119 2117/2117 +f 2113/2113 2117/2117 2119/2119 +f 2119/2119 2115/2115 2113/2113 +f 2120/2120 1956/1956 1955/1955 +f 1955/1955 2121/2121 2120/2120 +f 2122/2122 2120/2120 2121/2121 +f 2121/2121 2123/2123 2122/2122 +f 2120/2120 2122/2122 2115/2115 +f 2115/2115 2119/2119 2120/2120 +f 1956/1956 2120/2120 2119/2119 +f 2119/2119 1958/1958 1956/1956 +f 2124/2124 2122/2122 2123/2123 +f 2123/2123 2125/2125 2124/2124 +f 1532/1532 2124/2124 2125/2125 +f 2125/2125 1534/1534 1532/1532 +f 2124/2124 1532/1532 1530/1530 +f 1530/1530 2116/2116 2124/2124 +f 2122/2122 2124/2124 2116/2116 +f 2116/2116 2115/2115 2122/2122 +f 2126/2126 1639/1639 1250/1250 +f 1250/1250 1249/1249 2126/2126 +f 2127/2127 2126/2126 1249/1249 +f 1249/1249 1246/1246 2127/2127 +f 2126/2126 2127/2127 2128/2128 +f 2128/2128 2129/2129 2126/2126 +f 1639/1639 2126/2126 2129/2129 +f 2129/2129 1641/1641 1639/1639 +f 2130/2130 2127/2127 1246/1246 +f 1246/1246 1244/1244 2130/2130 +f 1591/1591 2130/2130 1244/1244 +f 1244/1244 1245/1245 1591/1591 +f 2130/2130 1591/1591 1586/1586 +f 1586/1586 2131/2131 2130/2130 +f 2127/2127 2130/2130 2131/2131 +f 2131/2131 2128/2128 2127/2127 +f 2132/2132 1584/1584 1392/1392 +f 1392/1392 1390/1390 2132/2132 +f 2133/2133 2132/2132 1390/1390 +f 1390/1390 1388/1388 2133/2133 +f 2132/2132 2133/2133 2128/2128 +f 2128/2128 2131/2131 2132/2132 +f 1584/1584 2132/2132 2131/2131 +f 2131/2131 1586/1586 1584/1584 +f 2134/2134 2133/2133 1388/1388 +f 1388/1388 1386/1386 2134/2134 +f 1643/1643 2134/2134 1386/1386 +f 1386/1386 1385/1385 1643/1643 +f 2134/2134 1643/1643 1641/1641 +f 1641/1641 2129/2129 2134/2134 +f 2133/2133 2134/2134 2129/2129 +f 2129/2129 2128/2128 2133/2133 +f 2135/2135 1940/1940 1939/1939 +f 1939/1939 2136/2136 2135/2135 +f 2137/2137 2135/2135 2136/2136 +f 2136/2136 2138/2138 2137/2137 +f 2135/2135 2137/2137 2139/2139 +f 2139/2139 2140/2140 2135/2135 +f 1940/1940 2135/2135 2140/2140 +f 2140/2140 1942/1942 1940/1940 +f 2141/2141 2137/2137 2138/2138 +f 2138/2138 2142/2142 2141/2141 +f 1556/1556 2141/2141 2142/2142 +f 2142/2142 1558/1558 1556/1556 +f 2141/2141 1556/1556 1554/1554 +f 1554/1554 2143/2143 2141/2141 +f 2137/2137 2141/2141 2143/2143 +f 2143/2143 2139/2139 2137/2137 +f 2144/2144 1552/1552 1551/1551 +f 1551/1551 2070/2070 2144/2144 +f 2145/2145 2144/2144 2070/2070 +f 2070/2070 2066/2066 2145/2145 +f 2144/2144 2145/2145 2139/2139 +f 2139/2139 2143/2143 2144/2144 +f 1552/1552 2144/2144 2143/2143 +f 2143/2143 1554/1554 1552/1552 +f 2146/2146 2145/2145 2066/2066 +f 2066/2066 2064/2064 2146/2146 +f 1944/1944 2146/2146 2064/2064 +f 2064/2064 1225/1225 1944/1944 +f 2146/2146 1944/1944 1942/1942 +f 1942/1942 2140/2140 2146/2146 +f 2145/2145 2146/2146 2140/2140 +f 2140/2140 2139/2139 2145/2145 +f 2147/2147 2013/2013 1257/1257 +f 1257/1257 2089/2089 2147/2147 +f 2148/2148 2147/2147 2089/2089 +f 2089/2089 2087/2087 2148/2148 +f 2147/2147 2148/2148 2149/2149 +f 2149/2149 2150/2150 2147/2147 +f 2013/2013 2147/2147 2150/2150 +f 2150/2150 2015/2015 2013/2013 +f 2151/2151 2148/2148 2087/2087 +f 2087/2087 2085/2085 2151/2151 +f 1315/1315 2151/2151 2085/2085 +f 2085/2085 1316/1316 1315/1315 +f 2151/2151 1315/1315 1322/1322 +f 1322/1322 2152/2152 2151/2151 +f 2148/2148 2151/2151 2152/2152 +f 2152/2152 2149/2149 2148/2148 +f 2153/2153 1337/1337 1338/1338 +f 1338/1338 2118/2118 2153/2153 +f 2154/2154 2153/2153 2118/2118 +f 2118/2118 2114/2114 2154/2154 +f 2153/2153 2154/2154 2149/2149 +f 2149/2149 2152/2152 2153/2153 +f 1337/1337 2153/2153 2152/2152 +f 2152/2152 1322/1322 1337/1337 +f 2155/2155 2154/2154 2114/2114 +f 2114/2114 2112/2112 2155/2155 +f 2017/2017 2155/2155 2112/2112 +f 2112/2112 1527/1527 2017/2017 +f 2155/2155 2017/2017 2015/2015 +f 2015/2015 2150/2150 2155/2155 +f 2154/2154 2155/2155 2150/2150 +f 2150/2150 2149/2149 2154/2154 +f 2156/2156 1288/1288 1155/1155 +f 1155/1155 1748/1748 2156/2156 +f 2157/2157 2156/2156 1748/1748 +f 1748/1748 1752/1752 2157/2157 +f 2156/2156 2157/2157 2158/2158 +f 2158/2158 2159/2159 2156/2156 +f 1288/1288 2156/2156 2159/2159 +f 2159/2159 1289/1289 1288/1288 +f 2160/2160 2157/2157 1752/1752 +f 1752/1752 1758/1758 2160/2160 +f 1198/1198 2160/2160 1758/1758 +f 1758/1758 1200/1200 1198/1198 +f 2160/2160 1198/1198 1193/1193 +f 1193/1193 2161/2161 2160/2160 +f 2157/2157 2160/2160 2161/2161 +f 2161/2161 2158/2158 2157/2157 +f 2162/2162 1191/1191 1190/1190 +f 1190/1190 1292/1292 2162/2162 +f 2159/2159 2162/2162 1292/1292 +f 1292/1292 1289/1289 2159/2159 +f 2162/2162 2159/2159 2158/2158 +f 2158/2158 2161/2161 2162/2162 +f 1191/1191 2162/2162 2161/2161 +f 2161/2161 1193/1193 1191/1191 +f 2163/2163 1760/1760 926/926 +f 926/926 924/924 2163/2163 +f 2164/2164 2163/2163 924/924 +f 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--- /dev/null +++ b/data/UPB_00001427/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 diff --git a/data/UPB_00001427/parts/6.png b/data/UPB_00001427/parts/6.png new file mode 100644 index 0000000000000000000000000000000000000000..e236a5af7427e6ed00b80824c0670b74aa4dac23 --- /dev/null +++ b/data/UPB_00001427/parts/6.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:887361daf71d6eb7766d4ac89cf86026b1d5e2679a27da34956ac2f3197f3988 +size 91 diff --git a/data/UPB_00001427/parts/7.mtl b/data/UPB_00001427/parts/7.mtl new file mode 100644 index 0000000000000000000000000000000000000000..dff8f6f0b5634871fcba48e53c20d8bd728090f2 --- /dev/null +++ b/data/UPB_00001427/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_00001427/parts/7.png b/data/UPB_00001427/parts/7.png new file mode 100644 index 0000000000000000000000000000000000000000..e236a5af7427e6ed00b80824c0670b74aa4dac23 --- /dev/null +++ b/data/UPB_00001427/parts/7.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:887361daf71d6eb7766d4ac89cf86026b1d5e2679a27da34956ac2f3197f3988 +size 91 diff --git a/data/UPB_00001427/parts/part_1.obj b/data/UPB_00001427/parts/part_1.obj new file mode 100644 index 0000000000000000000000000000000000000000..c2e4ed24354c197d5eaf62e33824859032b7fad7 --- /dev/null +++ b/data/UPB_00001427/parts/part_1.obj @@ -0,0 +1,6447 @@ +mtllib wardrobe_YVIPNERVAJQSSPTUK4888888_uwwar.mtl +v 0.00859532692 -0.192838326 -0.413732529 +v 0.679215729 -0.184240162 -0.413732529 +v 0.00859532692 -0.184240416 -0.413732529 +v 0.679215729 -0.184240162 -0.413732529 +v 0.00859532692 -0.192838326 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sha256:3ecf0084bc0ecbe24fb16dbf0074a8d74cd625b29282c6205ebcbd160d85cd2f +size 1600243 diff --git a/data/UPB_00001428/annotations/object.json b/data/UPB_00001428/annotations/object.json new file mode 100644 index 0000000000000000000000000000000000000000..571edcbc72261477a9dffe155742f7f44bfa16b4 --- /dev/null +++ b/data/UPB_00001428/annotations/object.json @@ -0,0 +1,10 @@ +{ + "object_name": "Four-door Wardrobe with Shelves", + "category": "Furniture/StorageFurniture", + "volume": [ + 200.0, + 60.0, + 220.0 + ], + "mass": 95.0 +} \ No newline at end of file diff --git a/data/UPB_00001428/annotations/part_1.json b/data/UPB_00001428/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..edb55155dd34b335bf423042a9ff24e67f71305b --- /dev/null +++ b/data/UPB_00001428/annotations/part_1.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001428", + "label": "1" + }, + "part_level": { + "part_name": "Left Door Panel", + "affordance": 2, + "graspable": false, + "basic_description": "Tall rectangular laminated MDF hinged door panel, approx 45*1.8*210 cm.", + "functional_description": "Closes the left compartment of the wardrobe and provides privacy/dust protection.", + "movement_description": "Rotates about a vertical hinge line attached to the cabinet carcass; typical opening up to ~110 degrees.", + "grasp_description": "Usually operated via its handle; users rarely grasp the panel edge directly." + }, + "basic_info": { + "material": "wood/MDF_Laminated", + "density": 0.75, + "young": 3.5, + "hardness": 18, + "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": [ + -0.7090446352958679, + -0.28598374128341675, + 0.33056703209877014 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001428/annotations/part_2.json b/data/UPB_00001428/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..62e3502e12dc3ee9bb3174181cab7999ca748e71 --- /dev/null +++ b/data/UPB_00001428/annotations/part_2.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001428", + "label": "2" + }, + "part_level": { + "part_name": "Left-Center Door Panel", + "affordance": 2, + "graspable": false, + "basic_description": "Second door from the left, laminated MDF, approx 45*1.8*210 cm.", + "functional_description": "Closes the adjacent interior bay and aligns with surrounding doors for a flush facade.", + "movement_description": "Hinged rotation about a vertical axis mounted to an internal divider of the carcass.", + "grasp_description": "Pulled by its dedicated handle to open/close." + }, + "basic_info": { + "material": "wood/MDF_Laminated", + "density": 0.75, + "young": 3.5, + "hardness": 18, + "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": [ + 0.19173093140125275, + -0.2710457742214203, + -6.562666410303564e-09 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001428/annotations/part_3.json b/data/UPB_00001428/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..628c77cc4d8a58b78b8b87e1246d24536d201a74 --- /dev/null +++ b/data/UPB_00001428/annotations/part_3.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001428", + "label": "3" + }, + "part_level": { + "part_name": "Right-Center Door Panel", + "affordance": 2, + "graspable": false, + "basic_description": "Third door panel from the left, laminated MDF, approx 45*1.8*210 cm.", + "functional_description": "Seals the central right compartment and aligns with adjoining doors.", + "movement_description": "Opens by rotating about a vertical hinge fixed to the carcass divider.", + "grasp_description": "Operated via its handle; panel itself is not a primary grasp surface." + }, + "basic_info": { + "material": "wood/MDF_Laminated", + "density": 0.75, + "young": 3.5, + "hardness": 18, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 3, + 7 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + 0.1995759755373001, + -0.26100048422813416, + 0.4670703411102295 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001428/annotations/part_4.json b/data/UPB_00001428/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..4a8847bcc449dcafdedd5fa410f0279522e05667 --- /dev/null +++ b/data/UPB_00001428/annotations/part_4.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001428", + "label": "4" + }, + "part_level": { + "part_name": "Right Door Panel", + "affordance": 2, + "graspable": false, + "basic_description": "Rightmost hinged door, laminated MDF, approx 45*1.8*210 cm.", + "functional_description": "Closes the right compartment of the wardrobe.", + "movement_description": "Swings around a vertical hinge attached to the right stile of the carcass.", + "grasp_description": "Users pull the handle to open; panel itself is seldom grasped." + }, + "basic_info": { + "material": "wood/MDF_Laminated", + "density": 0.75, + "young": 3.5, + "hardness": 18, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 4, + 8 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 1.1306828260421753, + -0.26990267634391785, + 7.055187545290664e-10 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001428/annotations/part_5.json b/data/UPB_00001428/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..c3e8f2e3278de18553924ae0839207d091f4f522 --- /dev/null +++ b/data/UPB_00001428/annotations/part_5.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001428", + "label": "5" + }, + "part_level": { + "part_name": "Handle for Door 1", + "affordance": 1, + "graspable": true, + "basic_description": "Curved aluminum pull handle, ~14 cm long, black powder-coated.", + "functional_description": "Primary human interface used to open/close the left door.", + "movement_description": "Rigidly fixed to Door 1; moves with the door as it rotates.", + "grasp_description": "Gripped with fingers or whole hand; rounded edges for comfort." + }, + "basic_info": { + "material": "metal/Aluminum_Alloy_6063_PowderCoated", + "density": 2.7, + "young": 69.0, + "hardness": 95, + "poisson": 0.33, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001428/annotations/part_6.json b/data/UPB_00001428/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..596d3a0c397b6b20fa8942d9242e908fb9d5345e --- /dev/null +++ b/data/UPB_00001428/annotations/part_6.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001428", + "label": "6" + }, + "part_level": { + "part_name": "Handle for Door 2", + "affordance": 1, + "graspable": true, + "basic_description": "Aluminum pull handle for the second door, ~14 cm long.", + "functional_description": "Provides leverage to operate the left-center door.", + "movement_description": "No relative motion to Door 2; it is rigidly attached.", + "grasp_description": "Grasped by hand; textured powder coat improves grip." + }, + "basic_info": { + "material": "metal/Aluminum_Alloy_6063_PowderCoated", + "density": 2.7, + "young": 69.0, + "hardness": 95, + "poisson": 0.33, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001428/annotations/part_7.json b/data/UPB_00001428/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..bd8708f9dfa53c600fdca03a895dee2a4616a67d --- /dev/null +++ b/data/UPB_00001428/annotations/part_7.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001428", + "label": "7" + }, + "part_level": { + "part_name": "Handle for Door 3", + "affordance": 1, + "graspable": true, + "basic_description": "Curved aluminum handle attached to the right-center door.", + "functional_description": "Handhold for opening the third door.", + "movement_description": "Rigidly coupled to Door 3; follows the hinge motion.", + "grasp_description": "Common pinch or power grip depending on user preference." + }, + "basic_info": { + "material": "metal/Aluminum_Alloy_6063_PowderCoated", + "density": 2.7, + "young": 69.0, + "hardness": 95, + "poisson": 0.33, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001428/annotations/part_8.json b/data/UPB_00001428/annotations/part_8.json new file mode 100644 index 0000000000000000000000000000000000000000..05b28a3ff3feb20053ad1b3efdaf39f68ffe401a --- /dev/null +++ b/data/UPB_00001428/annotations/part_8.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001428", + "label": "8" + }, + "part_level": { + "part_name": "Handle for Door 4", + "affordance": 1, + "graspable": true, + "basic_description": "Aluminum pull handle mounted on the rightmost door.", + "functional_description": "Interface for opening the right door panel.", + "movement_description": "Moves together with Door 4; no relative motion.", + "grasp_description": "Grasped firmly to pull the door outward." + }, + "basic_info": { + "material": "metal/Aluminum_Alloy_6063_PowderCoated", + "density": 2.7, + "young": 69.0, + "hardness": 95, + "poisson": 0.33, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001428/annotations/part_9.json b/data/UPB_00001428/annotations/part_9.json new file mode 100644 index 0000000000000000000000000000000000000000..b43091ef81481cfd78516c00635b1502a393841c --- /dev/null +++ b/data/UPB_00001428/annotations/part_9.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001428", + "label": "9" + }, + "part_level": { + "part_name": "Wardrobe Carcass and Interior", + "affordance": 7, + "graspable": false, + "basic_description": "Main cabinet body with left open shelves, vertical dividers, and hanging rail; melamine-faced particle board panels.", + "functional_description": "Provides structural support and storage compartments; houses hinges for all four doors.", + "movement_description": "Rigid reference frame for the assembly; doors rotate relative to this carcass.", + "grasp_description": "Not typically grasped except when moving the furniture." + }, + "basic_info": { + "material": "wood/Particle_Board_Melamine", + "density": 0.68, + "young": 2.8, + "hardness": 15, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001428/full_model/material.mtl b/data/UPB_00001428/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00001428/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_00001428/full_model/material_0.png b/data/UPB_00001428/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..36476e8cb993c0df9f02654af11259a7478f335f --- /dev/null +++ b/data/UPB_00001428/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ffb922c659fd5038d20174e2c5ecb63e12d92f014acc5022bbba9a6d9ab7319e +size 96 diff --git a/data/UPB_00001428/full_model/model.obj b/data/UPB_00001428/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..35476f08c929f2cfcc88c67e6a5039c900aa7b1b --- /dev/null +++ b/data/UPB_00001428/full_model/model.obj @@ -0,0 +1,86688 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v -0.29881561 -0.27675295 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"license_ref": "UniPhys-Bench" + } + ], + "object": { + "category": "Furniture/StorageFurniture", + "object_name": "Four-door Wardrobe with Shelves" + }, + "geometry": { + "asset_type": "decomposed_parts", + "num_parts": 9, + "format": "obj" + }, + "annotation": { + "version": "v1.0" + } +} \ No newline at end of file