Upload folder using huggingface_hub (part 237)

.gitattributes

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data/UPB_00001858/annotations/object.json

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+{
+    "object_name": "Long TV Console with Drawers and Marble Top",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        180.0,
+        40.0,
+        55.0
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+    "mass": 55.0
+}

data/UPB_00001858/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001858",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Drawer Front",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Painted MDF rectangular panel about 30*18*1.5 cm forming the face of the left drawer.",
+        "functional_description": "Provides the visible front of the drawer and transfers pull forces from the knob to the drawer box.",
+        "movement_description": "Moves in and out along slides relative to the cabinet body as a complete drawer assembly.",
+        "grasp_description": "Usually not grasped directly; users pull via the knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.7,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
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+            "B"
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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001858",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Cabinet Body (Carcass and Legs)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Painted hardwood carcass with central open shelves, drawer bays, and four legs; spans full object footprint (~180*40*55 cm).",
+        "functional_description": "Primary structural frame that supports drawers, shelves, legs, and the top; resists loads from TV and stored items.",
+        "movement_description": "Stationary; serves as the parent reference for drawer sliding motion and bears the fixed top.",
+        "grasp_description": "Occasionally pushed on the sides to reposition the console; generally not a handhold."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Painted",
+        "density": 0.65,
+        "young": 10.0,
+        "hardness": 30,
+        "poisson": 0.33,
+        "friction": 0.55
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+            "D"
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+    }
+}

data/UPB_00001858/annotations/part_11.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001858",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Top Substrate Board",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Long wooden board (~180*40*1.5 cm) acting as the substrate beneath the marble slab.",
+        "functional_description": "Distributes loads from the marble top to the cabinet frame and provides a fastening surface.",
+        "movement_description": "Rigidly attached to the carcass and to the marble; no independent movement.",
+        "grasp_description": "Not user-accessible in normal use."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Painted",
+        "density": 0.55,
+        "young": 8.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.55
+    },
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+            "D"
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+        "motion_info": {}
+    }
+}

data/UPB_00001858/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001858",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Left-Center Drawer Front",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Painted MDF panel, similar size to other drawer faces (~30*18*1.5 cm).",
+        "functional_description": "Front face of the second drawer from the left.",
+        "movement_description": "Slides linearly in and out relative to the cabinet body on runners.",
+        "grasp_description": "Pulled via its knob, not usually by the panel edge."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.7,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
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+    }
+}

data/UPB_00001858/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001858",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Right-Center Drawer Front",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Painted MDF front panel (approx. 30*18*1.5 cm) for the right-center drawer.",
+        "functional_description": "Provides structure and handhold interface via the knob for the third drawer.",
+        "movement_description": "Translates in/out as part of the drawer unit relative to the cabinet carcass.",
+        "grasp_description": "Handled through the attached knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.7,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
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+    }
+}

data/UPB_00001858/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001858",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Right Drawer Front",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Painted MDF panel (approx. 30*18*1.5 cm) for the rightmost drawer.",
+        "functional_description": "Completes the drawer face and accepts the pull knob.",
+        "movement_description": "Slides linearly relative to the cabinet frame on guides.",
+        "grasp_description": "User pulls via the attached knob to open/close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.7,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
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+    "kinematic_info": {
+        "motion_types": [
+            "B"
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+        "motion_info": {
+            "dependency": [
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+                8
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+            "B": {
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+                    0.0
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+        }
+    }
+}

data/UPB_00001858/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001858",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Left Drawer Knob",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Small round metal knob (~3 cm diameter, 2.5 cm projection) mounted to the left drawer front.",
+        "functional_description": "Primary handle for operating the left drawer.",
+        "movement_description": "No independent motion; rigidly fastened to its drawer front.",
+        "grasp_description": "Gripped between fingers to pull or push the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_Brushed",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 160,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001858/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001858",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Left-Center Drawer Knob",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Brushed stainless-steel knob of similar size for the second drawer.",
+        "functional_description": "Handle for opening/closing the left-center drawer.",
+        "movement_description": "Rigidly fixed to its drawer face; translates with the drawer.",
+        "grasp_description": "Finger-pull operation."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_Brushed",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 160,
+        "poisson": 0.3,
+        "friction": 0.35
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+    }
+}

data/UPB_00001858/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001858",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Right-Center Drawer Knob",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Round metal pull knob for the right-center drawer.",
+        "functional_description": "Provides handhold for the third drawer.",
+        "movement_description": "Rigidly attached to the drawer front and moves with it.",
+        "grasp_description": "Commonly grasped with one or two fingers."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_Brushed",
+        "density": 7.9,
+        "young": 200.0,
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+        "poisson": 0.3,
+        "friction": 0.35
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+}

data/UPB_00001858/annotations/part_8.json

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+{
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+        "type_name": "default",
+        "entity": "UPB_00001858",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Right Drawer Knob",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Stainless-steel knob serving the rightmost drawer.",
+        "functional_description": "Hand interface for opening/closing the right drawer.",
+        "movement_description": "Rigidly fixed; no independent motion.",
+        "grasp_description": "Pulled or pushed by hand during drawer use."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_Brushed",
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+        "young": 200.0,
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+}

data/UPB_00001858/full_model/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

data/UPB_00001858/full_model/model.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:dfabc773c13bb3ef23846c84e1a2ba1a4ac2bcba3e108dcc1c874be10f7a755e
+size 13320695

data/UPB_00001858/meta_data.json

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+{
+    "id": "UPB_00001858",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Long TV Console with Drawers and Marble Top"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 10,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001858/model.urdf

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+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="helper_link_2"/>
+  <link name="helper_link_3"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.702940 0.702940 0.702940"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.702940 0.702940 0.702940"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.702940 0.702940 0.702940"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.702940 0.702940 0.702940"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.702940 0.702940 0.702940"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.702940 0.702940 0.702940"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.702940 0.702940 0.702940"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.702940 0.702940 0.702940"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.702940 0.702940 0.702940"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.702940 0.702940 0.702940"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.702940 0.702940 0.702940"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.702940 0.702940 0.702940"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.702940 0.702940 0.702940"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.702940 0.702940 0.702940"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.702940 0.702940 0.702940"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.702940 0.702940 0.702940"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.702940 0.702940 0.702940"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.702940 0.702940 0.702940"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.702940 0.702940 0.702940"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.702940 0.702940 0.702940"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_10"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.651904 -0.131812 0.006465" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.21088202993287225" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.651904 0.131812 -0.006465" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_10"/>
+    <child link="helper_link_1"/>
+    <origin xyz="-0.344448 -0.130413 0.014424" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.21088202993287225" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0.344448 0.130413 -0.014424" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_10"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.347185 -0.125772 0.013319" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.21088202993287225" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.347185 0.125772 -0.013319" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="prismatic">
+    <parent link="link_10"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.654600 -0.122994 0.012305" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.21088202993287225" upper="0.0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="-0.654600 0.122994 -0.012305" 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_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001858/parts/11.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 11.png

data/UPB_00001858/parts/TvCabinet_ZLDJL4BVAJOY4PTUKI888888_iE888.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_66f814ddca5f67000153adef
+Kd 0.710126996 0.710126996 0.710126996
+illum 1
+
+newmtl MI_66f814dd3ed15a0001423d05
+Kd 1 1 1
+illum 1
+map_Kd ./T_66f814dd3ed15a0001423d05_color.jpg
+
+newmtl MI_66f814ddce829a000138597f
+Kd 0.784300029 0.784300029 0.784300029
+illum 1
+
+newmtl MI_66f814dd0ec007000163d398
+Kd 1 1 1
+illum 1
+bump ./T_66f814dd0ec007000163d398_normal.jpg
+map_bump ./T_66f814dd0ec007000163d398_normal.jpg
+

data/UPB_00001858/parts/part_10.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:8597086db0b62501b65cba0f580896db9405855b7853c242a913ef4f09afc1f7
+size 24043860

data/UPB_00001858/parts/part_11.obj

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+# https://github.com/mikedh/trimesh
+mtllib 11.mtl
+usemtl material_0
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