Upload folder using huggingface_hub (part 13)

.gitattributes

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data/UPB_00000912/annotations/object.json

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+{
+    "object_name": "Sliding Bin Rail Organizer",
+    "category": "ContainersStorage/GeneralContainer",
+    "volume": [
+        60.0,
+        6.0,
+        5.0
+    ],
+    "mass": 0.6
+}

data/UPB_00000912/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000912",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Sliding Bin 1",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "ABS plastic open-top bin, approx 12*5*4 cm, fits inside a long rail channel.",
+        "functional_description": "Holds small items and can be repositioned along the rail for organization.",
+        "movement_description": "Slides linearly along the aluminum rail; motion is limited by rail ends and internal dividers.",
+        "grasp_description": "Users grasp the front or sides of the bin to slide or lift contents."
+    },
+    "basic_info": {
+        "material": "wood",
+        "density": 0.6831475819899716,
+        "young": 10.090554474708158,
+        "hardness": 30.98401889938855,
+        "poisson": 0.336887159533042,
+        "friction": 0.488647859922181
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+    "kinematic_info": {
+        "motion_types": [
+            "B"
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+        "motion_info": {
+            "dependency": [
+                1
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+            "B": {
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+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00000912/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000912",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Sliding Bin 2",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "ABS plastic bin similar to part 1, rides within the rail channel.",
+        "functional_description": "Provides a second movable storage position along the track.",
+        "movement_description": "Translates along the rail; friction and small clearances provide damping.",
+        "grasp_description": "Commonly grasped to access or reposition stored items."
+    },
+    "basic_info": {
+        "material": "wood",
+        "density": 0.6831475819899716,
+        "young": 10.090554474708158,
+        "hardness": 30.98401889938855,
+        "poisson": 0.336887159533042,
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+        "motion_types": [
+            "B"
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+        "motion_info": {
+            "dependency": [
+                2
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+            "B": {
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+    }
+}

data/UPB_00000912/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000912",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Sliding Bin 3",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Third ABS sliding bin; rectangular, open-top.",
+        "functional_description": "Adds adjustable storage capacity within the organizer.",
+        "movement_description": "Slides along the main rail; travel bounded by rail ends/dividers.",
+        "grasp_description": "Grasped by hand to move or access contents."
+    },
+    "basic_info": {
+        "material": "wood",
+        "density": 0.6831475819899716,
+        "young": 10.090554474708158,
+        "hardness": 30.98401889938855,
+        "poisson": 0.336887159533042,
+        "friction": 0.488647859922181
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+            "B"
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+            "dependency": [
+                3
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+            "B": {
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+                    0.0
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+                    0.0
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+                    0.0
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+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00000912/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000912",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Sliding Bin 4",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Fourth ABS sliding bin located toward the far end of the rail.",
+        "functional_description": "Provides an additional movable compartment for sorting and access.",
+        "movement_description": "Linear translation along the rail with frictional damping.",
+        "grasp_description": "Users pull or push it to reposition along the track."
+    },
+    "basic_info": {
+        "material": "wood",
+        "density": 0.6831475819899716,
+        "young": 10.090554474708158,
+        "hardness": 30.98401889938855,
+        "poisson": 0.336887159533042,
+        "friction": 0.488647859922181
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                4
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.933122456073761,
+                    -0.1916247457265854,
+                    0.0
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+                "range": [
+                    -0.2800000011920929,
+                    0.0
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+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00000912/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000912",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Main Rail Channel",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Extruded aluminum long channel (~60 cm) with a front lip and rear mounting holes; houses sliding bins.",
+        "functional_description": "Provides structural support and a guided track for the bins. Mounts to a wall or cabinet.",
+        "movement_description": "Stationary component; defines the linear path for bins and positions of stops.",
+        "grasp_description": "Usually touched only during installation; not intended for regular grasping."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000912/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000912",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Position Dividers/Stops",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Three small ABS plates fixed inside the rail as dividers or stops.",
+        "functional_description": "Segment the rail and limit bin travel so compartments stay organized.",
+        "movement_description": "Rigidly attached to the rail; no motion. Bins may contact them during sliding.",
+        "grasp_description": "Not meant to be grasped; passive separators inside the channel."
+    },
+    "basic_info": {
+        "material": "wood",
+        "density": 0.6831475819899716,
+        "young": 10.090554474708158,
+        "hardness": 30.98401889938855,
+        "poisson": 0.336887159533042,
+        "friction": 0.488647859922181
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000912/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_00000912/meta_data.json

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+{
+    "id": "UPB_00000912",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "ContainersStorage/GeneralContainer",
+        "object_name": "Sliding Bin Rail Organizer"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 6,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000912/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="0.230769 0.230769 0.230769"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.230769 0.230769 0.230769"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.230769 0.230769 0.230769"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.230769 0.230769 0.230769"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.230769 0.230769 0.230769"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.230769 0.230769 0.230769"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.230769 0.230769 0.230769"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.230769 0.230769 0.230769"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.230769 0.230769 0.230769"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.230769 0.230769 0.230769"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.230769 0.230769 0.230769"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.230769 0.230769 0.230769"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_5"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.214525 -0.046272 0.000455" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.06461544055917022" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.214525 0.046272 -0.000455" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
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+    <parent link="helper_link_1"/>
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+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_5"/>
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+    <parent link="helper_link_2"/>
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+    <parent link="link_5"/>
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+    <parent link="helper_link_3"/>
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+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00000912/parts/1.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 1.png

data/UPB_00000912/parts/2.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 2.png

data/UPB_00000912/parts/3.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 3.png

data/UPB_00000912/parts/4.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 4.png

data/UPB_00000912/parts/TvCabinet_ZLIBVEZVAJP3OPTUKM888888_d6cZ2.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_66ee83bc33360e0001e25932
+Kd 1 1 1
+illum 1
+map_Kd ./T_66ee83bc33360e0001e25932_color.jpg
+
+newmtl MI_66ee83bc13a93b0001d4758e
+Kd 0.980400026 0.937300026 0.858799994
+illum 1
+
+newmtl MI_66ee83bc6834b9000162c202
+Kd 0.588199973 0.588199973 0.588199973
+illum 1
+

data/UPB_00000912/plys/1.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:ca61e8f40b5003c86c925ce735ca99c926891338cf0d6bc00ca6bac2431e8d3b
+size 160242

data/UPB_00000912/plys/2.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:7f0456a0119a87bc197a014823bff1b539bffed0c9b0b30e8590302adc482e2e
+size 160242

data/UPB_00000912/plys/3.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3a9f9da23e98b74c6767e1b1d7202309d7499a98616fd07973193f15b0e3e49d
+size 160242

data/UPB_00000912/plys/4.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:1004ca34609a898f73c8daeba30ba2681e729cb5dbe429f8a1f1f9586b87dbae
+size 160242

data/UPB_00000912/plys/5.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:eedf9be7c9b07162609812d03f8b91b01c77d16b5baac450b4c2a122be33cfb6
+size 1108002

data/UPB_00000912/plys/6.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2ec18c09f4c18fc264e924ea3986e3ae26b3690ee5a93b91e2afbcbdf0ea9d2
+size 160242

data/UPB_00000912/plys/model.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:02fb5707759411d8e48de84aab5c14e00601a25cef7b067ef024128e7090ac15
+size 1600243

data/UPB_00000913/annotations/object.json

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+{
+    "object_name": "Four-door Sideboard with Drawers",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        180.0,
+        40.0,
+        55.0
+    ],
+    "mass": 38.0
+}

data/UPB_00000913/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000913",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Leftmost Door Panel",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Arched wooden cabinet door, approx 35*2*45 cm, hardwood veneer on a solid/engineered core.",
+        "functional_description": "Covers the far-left storage bay and provides access while concealing contents.",
+        "movement_description": "Swings outward about a vertical hinge axis fixed to the cabinet body; typical opening range about 110 degrees.",
+        "grasp_description": "Usually pulled by the attached handle; can also be pushed at the panel edge."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak_Veneer",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                5
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.8725591897964478,
+                    -0.181407630443573,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00000913/annotations/part_10.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000913",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Drawer Knobs (pair)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Two round brass knobs, each ~3 cm diameter and ~2.5 cm projection, mounted to the central drawer fronts.",
+        "functional_description": "Provide grip points to pull the drawers open and push them closed.",
+        "movement_description": "Knobs are rigidly attached to the drawers (drawers themselves are part of the carcass assembly in this model).",
+        "grasp_description": "Common pinch grasp using fingertips; low-slip polished brass surface."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 105.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.38
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000913/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000913",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Left-Center Door Panel",
+        "affordance": 7,
+        "graspable": true,
+        "basic_description": "Arched wooden door panel near the center-left bay, approx 35*2*45 cm.",
+        "functional_description": "Covers the storage bay immediately left of the drawers.",
+        "movement_description": "Rotates open about a side hinge attached to the cabinet carcass.",
+        "grasp_description": "Pulled via its handle to open/close the compartment."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak_Veneer",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                6
+            ],
+            "C": {
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+                    0.0,
+                    1.0
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+                "pos": [
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+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
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+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00000913/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000913",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Right-Center Door Panel",
+        "affordance": 8,
+        "graspable": true,
+        "basic_description": "Arched wooden door panel near the center-right bay, approx 35*2*45 cm.",
+        "functional_description": "Covers the storage bay to the right of the drawers.",
+        "movement_description": "Hinged rotation about a vertical axis on the cabinet body.",
+        "grasp_description": "Grasped at the handle to open and close."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak_Veneer",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                7
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    0.29581528902053833,
+                    -0.17760878801345825,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00000913/annotations/part_4.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000913",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Rightmost Door Panel",
+        "affordance": 9,
+        "graspable": true,
+        "basic_description": "Arched wooden cabinet door at the far-right bay, approx 35*2*45 cm.",
+        "functional_description": "Provides access to the rightmost storage area.",
+        "movement_description": "Swings outward around side hinges fixed to the cabinet carcass.",
+        "grasp_description": "Operated via its right-side handle."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak_Veneer",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                8
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.8708493113517761,
+                    -0.17525240778923035,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
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+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00000913/annotations/part_5.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000913",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Handle - Leftmost Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Turned brass pull, ~12 cm long, mounted vertically on the far-left door.",
+        "functional_description": "Provides a comfortable grip to pull the leftmost door open/closed.",
+        "movement_description": "Rigidly fixed to the door; it moves together with the door's rotation.",
+        "grasp_description": "Pinch or wrap grasp with fingers; smooth brass surface."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 105.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.36
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000913/annotations/part_6.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000913",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Handle - Left-Center Door",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Turned brass door pull, ~12 cm long, mounted on the left-center door.",
+        "functional_description": "Used to operate the left-center door.",
+        "movement_description": "Rigid attachment; follows the door's rotation.",
+        "grasp_description": "Hook or pinch grasp, typical polished brass feel."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 105.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.36
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}