Upload folder using huggingface_hub (part 102)

.gitattributes

@@ -9911,3 +9911,22 @@ data/UPB_00001437/plys/7.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001437/plys/8.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001437/plys/9.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001437/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001438/full_model/model.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001438/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001438/plys/10.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001438/plys/11.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001438/plys/12.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001438/plys/13.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001438/plys/14.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001438/plys/15.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001438/plys/16.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001438/plys/17.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001438/plys/18.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001438/plys/19.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001438/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001438/plys/20.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001438/plys/21.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001438/plys/22.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001438/plys/23.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001438/plys/24.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001438/plys/25.ply filter=lfs diff=lfs merge=lfs -text

data/UPB_00001438/annotations/part_18.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001438",
+        "label": "18"
+    },
+    "part_level": {
+        "part_name": "Knob Handle for Door 10",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "ABS knob for the central upper door.",
+        "functional_description": "Provides grip for opening Door 10.",
+        "movement_description": "No motion relative to Door 10.",
+        "grasp_description": "Pulled by hand."
+    },
+    "basic_info": {
+        "material": "metal",
+        "density": 7.095321614455091,
+        "young": 162.66640479230088,
+        "hardness": 160.52450162034765,
+        "poisson": 0.3059805558283549,
+        "friction": 0.4258902091721515
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001438/annotations/part_19.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001438",
+        "label": "19"
+    },
+    "part_level": {
+        "part_name": "Knob Handle for Door 9",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "ABS knob for the right upper door.",
+        "functional_description": "Opening/closing of Door 9.",
+        "movement_description": "Rigid connection to Door 9.",
+        "grasp_description": "Finger-pull handle."
+    },
+    "basic_info": {
+        "material": "metal",
+        "density": 7.095321614455091,
+        "young": 162.66640479230088,
+        "hardness": 160.52450162034765,
+        "poisson": 0.3059805558283549,
+        "friction": 0.4258902091721515
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001438/annotations/part_2.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001438",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Small Drawer 2",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "MDF laminated small drawer box, approx 40*35*12 cm.",
+        "functional_description": "Stores hardware or tools; slides on runners inside the cabinet.",
+        "movement_description": "Linear translation relative to the cabinet carcass.",
+        "grasp_description": "Pulled by its knob handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.7,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.25
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                24
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.5207098722457886,
+                    -0.18767529726028442,
+                    -0.8057572245597839
+                ],
+                "range": [
+                    -0.25,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001438/annotations/part_20.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001438",
+        "label": "20"
+    },
+    "part_level": {
+        "part_name": "Knob Handle for Door 12",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "ABS knob for lower left door.",
+        "functional_description": "Pull point for Door 12.",
+        "movement_description": "Rigid with Door 12.",
+        "grasp_description": "Pinched and pulled to open."
+    },
+    "basic_info": {
+        "material": "metal",
+        "density": 7.095321614455091,
+        "young": 162.66640479230088,
+        "hardness": 160.52450162034765,
+        "poisson": 0.3059805558283549,
+        "friction": 0.4258902091721515
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001438/annotations/part_21.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001438",
+        "label": "21"
+    },
+    "part_level": {
+        "part_name": "Knob Handle for Door 13",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "ABS knob for lower center door.",
+        "functional_description": "Allows opening of Door 13.",
+        "movement_description": "Rigid with Door 13.",
+        "grasp_description": "Finger pull."
+    },
+    "basic_info": {
+        "material": "metal",
+        "density": 7.095321614455091,
+        "young": 162.66640479230088,
+        "hardness": 160.52450162034765,
+        "poisson": 0.3059805558283549,
+        "friction": 0.4258902091721515
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001438/annotations/part_22.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001438",
+        "label": "22"
+    },
+    "part_level": {
+        "part_name": "Knob Handle for Door 14",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "ABS knob for lower right door.",
+        "functional_description": "Pull for Door 14.",
+        "movement_description": "Rigid with Door 14.",
+        "grasp_description": "Pinch and pull."
+    },
+    "basic_info": {
+        "material": "metal",
+        "density": 7.095321614455091,
+        "young": 162.66640479230088,
+        "hardness": 160.52450162034765,
+        "poisson": 0.3059805558283549,
+        "friction": 0.4258902091721515
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001438/annotations/part_23.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001438",
+        "label": "23"
+    },
+    "part_level": {
+        "part_name": "Knob Handle for Drawer 1",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "ABS drawer knob, ~3.5 cm diameter.",
+        "functional_description": "Provides grip to pull Drawer 1.",
+        "movement_description": "Rigid with Drawer 1 face.",
+        "grasp_description": "Hooked with fingers to pull."
+    },
+    "basic_info": {
+        "material": "metal",
+        "density": 7.095321614455091,
+        "young": 162.66640479230088,
+        "hardness": 160.52450162034765,
+        "poisson": 0.3059805558283549,
+        "friction": 0.4258902091721515
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001438/annotations/part_24.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001438",
+        "label": "24"
+    },
+    "part_level": {
+        "part_name": "Knob Handle for Drawer 2",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "ABS drawer knob.",
+        "functional_description": "Grip for Drawer 2.",
+        "movement_description": "Rigid connection to Drawer 2.",
+        "grasp_description": "Pulled by hand."
+    },
+    "basic_info": {
+        "material": "metal",
+        "density": 7.095321614455091,
+        "young": 162.66640479230088,
+        "hardness": 160.52450162034765,
+        "poisson": 0.3059805558283549,
+        "friction": 0.4258902091721515
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001438/annotations/part_25.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001438",
+        "label": "25"
+    },
+    "part_level": {
+        "part_name": "Knob Handle for Drawer 3",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "ABS drawer knob.",
+        "functional_description": "Grip for Drawer 3.",
+        "movement_description": "Rigid with Drawer 3.",
+        "grasp_description": "Used to pull the drawer."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.2,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001438/annotations/part_26.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001438",
+        "label": "26"
+    },
+    "part_level": {
+        "part_name": "Knob Handle for Drawer 4",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "ABS drawer knob.",
+        "functional_description": "Grip for Drawer 4.",
+        "movement_description": "Rigid with Drawer 4.",
+        "grasp_description": "Pulled by fingers."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.2,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001438/annotations/part_27.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001438",
+        "label": "27"
+    },
+    "part_level": {
+        "part_name": "Knob Handle for Drawer 5",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "ABS drawer knob.",
+        "functional_description": "Grip for Drawer 5.",
+        "movement_description": "Rigid with Drawer 5.",
+        "grasp_description": "Used to pull the drawer."
+    },
+    "basic_info": {
+        "material": "metal",
+        "density": 7.095321614455091,
+        "young": 162.66640479230088,
+        "hardness": 160.52450162034765,
+        "poisson": 0.3059805558283549,
+        "friction": 0.4258902091721515
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001438/annotations/part_28.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001438",
+        "label": "28"
+    },
+    "part_level": {
+        "part_name": "Knob Handle for Drawer 6",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "ABS drawer knob.",
+        "functional_description": "Grip for Drawer 6.",
+        "movement_description": "Rigid with Drawer 6.",
+        "grasp_description": "Pulls the drawer open/closed."
+    },
+    "basic_info": {
+        "material": "metal",
+        "density": 7.095321614455091,
+        "young": 162.66640479230088,
+        "hardness": 160.52450162034765,
+        "poisson": 0.3059805558283549,
+        "friction": 0.4258902091721515
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001438/annotations/part_29.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001438",
+        "label": "29"
+    },
+    "part_level": {
+        "part_name": "Cabinet Carcass with Pegboard",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Main MDF carcass with compartments, shelves and a pegboard panel; overall size approx 240*50*220 cm, melamine finish.",
+        "functional_description": "Provides structural support and fixed storage bays for the system; houses hinges, slides and pegboard.",
+        "movement_description": "Rigid reference frame. Doors rotate on hinges and drawers translate on slides relative to this part.",
+        "grasp_description": "Not directly grasped in regular use; users contact doors and knobs instead."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.72,
+        "young": 3.6,
+        "hardness": 27,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001438/annotations/part_3.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001438",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Small Drawer 3",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "MDF small drawer box, approx 40*35*12 cm.",
+        "functional_description": "General storage; supported on slides.",
+        "movement_description": "Slides outward/inward relative to the cabinet.",
+        "grasp_description": "Operated through its knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.7,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.25
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                25
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.934459388256073,
+                    -0.17469532787799835,
+                    -0.9571777582168579
+                ],
+                "range": [
+                    -0.25,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001438/annotations/part_4.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001438",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Small Drawer 4",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "MDF small drawer, approx 40*35*12 cm.",
+        "functional_description": "Holds small items; slides on rails.",
+        "movement_description": "Linear translation with limited stroke.",
+        "grasp_description": "Pulled by attached knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.7,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.25
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                26
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.501920223236084,
+                    0.0,
+                    -0.9562034606933594
+                ],
+                "range": [
+                    -0.25,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001438/annotations/part_5.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001438",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Small Drawer 5",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "MDF small drawer, approx 40*35*12 cm.",
+        "functional_description": "Lower-left bank drawer for tools or parts.",
+        "movement_description": "Slides on telescopic runners.",
+        "grasp_description": "Opened and closed with its knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.7,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.25
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                5,
+                27
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.9937739968299866,
+                    -0.1412074714899063,
+                    -1.1063677072525024
+                ],
+                "range": [
+                    -0.25,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001438/annotations/part_6.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001438",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Small Drawer 6",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "MDF small drawer, approx 40*35*12 cm.",
+        "functional_description": "Storage for miscellaneous items; slides in the carcass.",
+        "movement_description": "Linear pull-out drawer motion.",
+        "grasp_description": "Pulled via attached knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.7,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.25
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                6,
+                28
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    0.0,
+                    -1.123186707496643
+                ],
+                "range": [
+                    -0.25,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001438/annotations/part_7.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001438",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Tall Door A (far left)",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Full-height MDF hinged door, approx 45*200*1.8 cm.",
+        "functional_description": "Covers the tall storage bay on the far left.",
+        "movement_description": "Rotates on side hinges relative to the carcass.",
+        "grasp_description": "Opened via its knob; panel itself is not grasped."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.7,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                7,
+                15
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -1.1619229316711426,
+                    -0.15387700498104095,
+                    0.3617476522922516
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001438/annotations/part_8.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001438",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Tall Door B",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Full-height MDF hinged door, approx 45*200*1.8 cm.",
+        "functional_description": "Covers a tall vertical compartment adjacent to the left bay.",
+        "movement_description": "Rotational motion about a vertical hinge axis.",
+        "grasp_description": "Operated by its knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.7,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                8,
+                16
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    -0.29336264729499817,
+                    -0.14990292489528656,
+                    1.0041374842728601e-08
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001438/annotations/part_9.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001438",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Upper Door C (right above pegboard)",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Mid-height MDF cabinet door, approx 45*100*1.8 cm.",
+        "functional_description": "Closes the right upper storage bay above the pegboard.",
+        "movement_description": "Rotates on hinges relative to the carcass.",
+        "grasp_description": "Pulled at the attached knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.7,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                9,
+                17
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    1.168603777885437,
+                    -0.1551883965730667,
+                    0.48983705043792725
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001438/full_model/material.mtl

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

data/UPB_00001438/full_model/model.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0458176525ff95698aa5e7658a88a993f2920e89fa4ffa3b0ee7cc778cafe5e8
+size 19013847

data/UPB_00001438/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001438",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Modular Garage Storage Cabinet with Pegboard"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 29,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001438/model.urdf

@@ -0,0 +1,609 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="helper_link_2"/>
+  <link name="helper_link_3"/>
+  <link name="helper_link_4"/>
+  <link name="helper_link_5"/>
+  <link name="helper_link_6"/>
+  <link name="helper_link_7"/>
+  <link name="helper_link_8"/>
+  <link name="helper_link_9"/>
+  <link name="helper_link_10"/>
+  <link name="helper_link_11"/>
+  <link name="helper_link_12"/>
+  <link name="helper_link_13"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_14">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_15">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_16">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_17">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_18">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_18.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_18.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_19">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_19.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_19.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_20">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_20.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_20.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_21">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_21.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_21.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_22">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_22.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_22.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_23">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_23.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_23.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_24">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_24.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_24.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_25">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_25.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_25.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_26">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_26.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_26.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_27">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_27.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_27.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_28">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_28.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_28.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_29">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_29.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_29.obj" scale="1.005598 1.005598 1.005598"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_29"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.997620 -0.139483 -0.818825" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.30167938058480975" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.997620 0.139483 0.818825" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_29"/>
+    <child link="helper_link_1"/>
+    <origin xyz="-0.523625 -0.188726 -0.810268" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.25139947383095723" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0.523625 0.188726 0.810268" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_29"/>
+    <child link="helper_link_2"/>
+    <origin xyz="-0.939690 -0.175673 -0.962536" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.25139947383095723" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0.939690 0.175673 0.962536" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="prismatic">
+    <parent link="link_29"/>
+    <child link="helper_link_3"/>
+    <origin xyz="-0.504730 0.000000 -0.961556" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.25139947383095723" upper="0.0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="0.504730 -0.000000 0.961556" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="prismatic">
+    <parent link="link_29"/>
+    <child link="helper_link_4"/>
+    <origin xyz="-0.999337 -0.141998 -1.112561" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.25139947383095723" upper="0.0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_5"/>
+    <origin xyz="0.999337 0.141998 1.112561" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="prismatic">
+    <parent link="link_29"/>
+    <child link="helper_link_5"/>
+    <origin xyz="0.000000 0.000000 -1.129474" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.25139947383095723" upper="0.0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="helper_link_5"/>
+    <child link="link_6"/>
+    <origin xyz="-0.000000 -0.000000 1.129474" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="revolute">
+    <parent link="link_29"/>
+    <child link="helper_link_6"/>
+    <origin xyz="-1.168427 -0.154738 0.363773" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="helper_link_6"/>
+    <child link="link_7"/>
+    <origin xyz="1.168427 0.154738 -0.363773" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="revolute">
+    <parent link="link_29"/>
+    <child link="helper_link_7"/>
+    <origin xyz="-0.295005 -0.150742 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="helper_link_7"/>
+    <child link="link_8"/>
+    <origin xyz="0.295005 0.150742 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_16" type="revolute">
+    <parent link="link_29"/>
+    <child link="helper_link_8"/>
+    <origin xyz="1.175145 -0.156057 0.492579" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_17" type="fixed">
+    <parent link="helper_link_8"/>
+    <child link="link_9"/>
+    <origin xyz="-1.175145 0.156057 -0.492579" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_18" type="revolute">
+    <parent link="link_29"/>
+    <child link="helper_link_9"/>
+    <origin xyz="0.387323 -0.148523 0.917512" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_19" type="fixed">
+    <parent link="helper_link_9"/>
+    <child link="link_10"/>
+    <origin xyz="-0.387323 0.148523 -0.917512" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_20" type="revolute">
+    <parent link="link_29"/>
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+    <origin xyz="0.000200 -0.228478 0.843671" rpy="0 0 0"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
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