Upload folder using huggingface_hub (part 54)

.gitattributes

@@ -8555,3 +8555,30 @@ data/UPB_00001361/plys/7.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001361/plys/8.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001361/plys/9.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001361/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001362/annotations/part_1.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001362",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Door Panel",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "A tall MDF door panel with an integrated vertical handle; approx. 40*2*195 cm.",
+        "functional_description": "Covers the left compartment of the wardrobe, providing privacy and dust protection.",
+        "movement_description": "Rotates about a vertical hinge line on the cabinet carcass; typical swing up to ~110 degrees with light hinge damping.",
+        "grasp_description": "Users grasp the vertical handle to pull the door open or push it closed."
+    },
+    "basic_info": {
+        "material": "wood/MDF",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    -0.1476006656885147,
+                    -0.2482532411813736,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001362/annotations/part_2.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001362",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Center Door Panel",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Middle MDF door panel with slim vertical pull; approx. 40*2*195 cm.",
+        "functional_description": "Provides access to the central storage section, typically the most frequently used bay.",
+        "movement_description": "Hinged to the carcass along one vertical edge; swings outward with moderate hinge damping.",
+        "grasp_description": "Commonly grasped at the handle lengthwise to open/close the wardrobe."
+    },
+    "basic_info": {
+        "material": "wood/MDF",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.14365558326244354,
+                    -0.2482532411813736,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001362/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001362",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Right Door Panel",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Right-side MDF door with recessed vertical handle; approx. 40*2*195 cm.",
+        "functional_description": "Closes the right storage bay and protects contents.",
+        "movement_description": "Opens by rotating on hinges fixed to the cabinet carcass; limited to roughly 110 degrees.",
+        "grasp_description": "Pulled or pushed via the vertical handle; hand wraps around the recessed grip."
+    },
+    "basic_info": {
+        "material": "wood/MDF",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                3
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.4392077624797821,
+                    -0.2482532411813736,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001362/annotations/part_4.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001362",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Cabinet Carcass (Body with Shelves)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Main MDF cabinet frame with internal shelves; approx. 120*55*200 cm.",
+        "functional_description": "Provides structural support, houses shelves/hanging space, and serves as the hinge mount for all doors.",
+        "movement_description": "Stationary reference structure; doors rotate relative to this body via hinge hardware.",
+        "grasp_description": "Not typically grasped directly; users interact with doors while the carcass remains fixed in place."
+    },
+    "basic_info": {
+        "material": "wood/MDF",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001362/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_00001362/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001362",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Three-door Wardrobe"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 4,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001362/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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.081081 1.081081 1.081081"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.081081 1.081081 1.081081"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.081081 1.081081 1.081081"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.081081 1.081081 1.081081"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.081081 1.081081 1.081081"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.081081 1.081081 1.081081"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.081081 1.081081 1.081081"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.081081 1.081081 1.081081"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.159568 -0.268382 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.159568 0.268382 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.155303 -0.268382 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.155303 0.268382 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.474819 -0.268382 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.474819 0.268382 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001362/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_00001362/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_00001362/parts/3.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 3.png

data/UPB_00001362/parts/wardrobe_6JJL7XRVAV6NAPTULQ888888_ihmzP.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5e6c24c217e93b0001906aa3
+Kd 0.588199973 0.588199973 0.588199973
+illum 1
+
+newmtl MI_5e6c24c2c6ff5a0001a760a3
+Kd 0.076948002 0.076948002 0.076948002
+illum 1
+
+newmtl MI_5e6c24c25b89690001ad2557
+Kd 0.896688998 0.868962824 0.820486128
+illum 1
+
+newmtl MI_5e6c24c27fdaa40001a9b6ae
+Kd 0.731328011 0.731328011 0.731328011
+illum 1
+
+newmtl MI_5e6c24c25974ed0001a5e22d
+Kd 0.341199994 0.882399976 0.341199994
+illum 1
+
+newmtl MI_5e6c24c2e113f60001ddcbab
+Kd 0.496899992 0.496899992 0.496899992
+illum 1
+
+newmtl MI_5e6c24c200e3a30001853923
+Kd 0.341199994 0.882399976 0.341199994
+illum 1
+
+newmtl MI_5e6c24c2b1d8ad000158c4d7
+Kd 0.341199994 0.882399976 0.341199994
+illum 1
+

data/UPB_00001362/plys/1.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:7e4dd998c0b2ebe79e9389c410ab631f1357a51acaac35e6aeb850fe7dabad85
+size 160242

data/UPB_00001362/plys/2.ply

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

data/UPB_00001362/plys/3.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:087e3aaedf5319dc76c074fd25ccb538db8635f5d978a2a5b05c7b0febc48f27
+size 160242

data/UPB_00001362/plys/4.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:152104271dcf8b8104a06933f9e3e8957d056239eabad57930f4c5a702d8c25b
+size 1198146

data/UPB_00001362/plys/model.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b4d8bd9e8f95dbb9d32cb9fb6798ae23d61a07674c5a02cbd52d2ebd66be830c
+size 1600243

data/UPB_00001363/annotations/object.json

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+{
+    "object_name": "Bridge Wardrobe Closet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        220.0,
+        60.0,
+        240.0
+    ],
+    "mass": 180.0
+}

data/UPB_00001363/annotations/part_1.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001363",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Upper Cabinet Door 1 (far left)",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Laminated MDF upper cabinet door, about 33*2*45 cm, rectangular with a small side step for hinge/overlay.",
+        "functional_description": "Covers the far-left upper storage cubby and seals dust out.",
+        "movement_description": "Swings on concealed hinges relative to the carcass; typical opening to ~110\u00b0 with light hinge damping.",
+        "grasp_description": "Users normally pull the attached handle (part 11) rather than the door edge."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                11
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -1.0949407815933228,
+                    -0.2955138087272644,
+                    0.9245814681053162
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001363/annotations/part_10.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001363",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Tall Wardrobe Door 4 (right leg)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Right leg full-height laminated MDF door, about 45*2*210 cm.",
+        "functional_description": "Encloses the tall storage column on the right side.",
+        "movement_description": "Rotates on vertical hinges relative to the main carcass.",
+        "grasp_description": "Operated with long handle part 20."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                10,
+                20
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    1.09731125831604,
+                    -0.2955138087272644,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
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+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001363/annotations/part_11.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001363",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Upper Door Handle 1 (for part 1)",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Short anodized aluminum pull, roughly 10*1.5*1.5 cm, mounted on upper door 1.",
+        "functional_description": "Provides a handhold to open and close door 1.",
+        "movement_description": "No relative motion; rigidly fastened to door 1.",
+        "grasp_description": "Pinch or hook fingers around the bar to pull the door."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.38
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001363/annotations/part_12.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001363",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Upper Door Handle 2 (for part 2)",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Anodized aluminum pull for upper door 2, approx 10*1.5*1.5 cm.",
+        "functional_description": "Handhold for operating door 2.",
+        "movement_description": "Rigidly attached to door 2.",
+        "grasp_description": "Gripped between fingers to pull."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.38
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001363/annotations/part_13.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001363",
+        "label": "13"
+    },
+    "part_level": {
+        "part_name": "Upper Door Handle 3 (for part 3)",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Short anodized aluminum handle for door 3, ~10*1.5*1.5 cm.",
+        "functional_description": "Provides leverage to swing door 3.",
+        "movement_description": "Rigid connection to the door panel.",
+        "grasp_description": "Pinch/pull with fingertips."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.38
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001363/annotations/part_14.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001363",
+        "label": "14"
+    },
+    "part_level": {
+        "part_name": "Upper Door Handle 4 (for part 4)",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Upper cabinet pull for door 4, anodized aluminum, about 10*1.5*1.5 cm.",
+        "functional_description": "Handhold for opening the fourth upper door.",
+        "movement_description": "No motion relative to door 4.",
+        "grasp_description": "Pulled with two or three fingers."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.38
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001363/annotations/part_15.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001363",
+        "label": "15"
+    },
+    "part_level": {
+        "part_name": "Upper Door Handle 5 (for part 5)",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Short aluminum pull for upper door 5, approx 10*1.5*1.5 cm.",
+        "functional_description": "Allows users to pull open door 5.",
+        "movement_description": "Rigidly fixed to its door.",
+        "grasp_description": "Grasp with fingertips and pull."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.38
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001363/annotations/part_16.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001363",
+        "label": "16"
+    },
+    "part_level": {
+        "part_name": "Upper Door Handle 6 (for part 6)",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Anodized aluminum pull for door 6, ~10*1.5*1.5 cm.",
+        "functional_description": "Handhold for the rightmost upper cabinet door.",
+        "movement_description": "Rigidly mounted to door 6.",
+        "grasp_description": "Pinch to open and push to close."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.38
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001363/annotations/part_17.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001363",
+        "label": "17"
+    },
+    "part_level": {
+        "part_name": "Long Handle 1 (for door 7)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Tall vertical aluminum bar handle, about 120*2*2 cm, fixed to tall door 7.",
+        "functional_description": "Primary human interface to open/close the left tall bay.",
+        "movement_description": "No independent motion; rigid with the door.",
+        "grasp_description": "Full-hand wrap grip or fingertip pull along the bar."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001363/annotations/part_18.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001363",
+        "label": "18"
+    },
+    "part_level": {
+        "part_name": "Long Handle 2 (for door 8)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Long anodized aluminum handle for door 8, roughly 120*2*2 cm.",
+        "functional_description": "Provides leverage and reach to swing door 8.",
+        "movement_description": "Rigid to the door panel.",
+        "grasp_description": "Users grasp anywhere along the bar for opening/closing."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001363/annotations/part_19.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001363",
+        "label": "19"
+    },
+    "part_level": {
+        "part_name": "Long Handle 3 (for door 9)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Third long aluminum wardrobe handle, approx 120*2*2 cm, for door 9.",
+        "functional_description": "Main grip for opening the bay next to the central opening.",
+        "movement_description": "Rigidly fastened; follows door rotation.",
+        "grasp_description": "Comfortable wrap grip; works even with gloves."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001363/annotations/part_2.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001363",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Upper Cabinet Door 2",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Second laminated MDF upper door, approx 33*2*45 cm.",
+        "functional_description": "Covers an adjacent small cabinet compartment.",
+        "movement_description": "Side-hinged rotation on the main carcass with soft-close damping.",
+        "grasp_description": "Operated via its handle (part 12)."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                12
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    -0.361099511384964,
+                    -0.2955138087272644,
+                    0.9245814681053162
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001363/annotations/part_20.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001363",
+        "label": "20"
+    },
+    "part_level": {
+        "part_name": "Long Handle 4 (for door 10)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Long anodized aluminum pull for right-leg tall door 10, about 120*2*2 cm.",
+        "functional_description": "Primary human interface for the right column door.",
+        "movement_description": "Rigidly connected to door 10.",
+        "grasp_description": "Full-hand pull or push to operate the door."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001363/annotations/part_21.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001363",
+        "label": "21"
+    },
+    "part_level": {
+        "part_name": "Wardrobe Carcass (Frame and Shelves)",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Main laminated-MDF wardrobe body with vertical columns, overhead bridge and shelves; footprint roughly 220*60*240 cm overall, 18 mm panel thickness.",
+        "functional_description": "Provides structural support, houses storage volumes, and serves as the hinge anchor for all doors.",
+        "movement_description": "Stationary structural frame; all doors rotate relative to this part via hinges.",
+        "grasp_description": "Rarely touched except for cleaning or moving; not intended to be grasped for operation."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001363/annotations/part_3.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001363",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Upper Cabinet Door 3",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Third upper laminated MDF door, ~33*2*45 cm.",
+        "functional_description": "Shields a small storage cube above the opening.",
+        "movement_description": "Rotates on concealed hinges relative to the carcass.",
+        "grasp_description": "Pulled by handle part 13."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                13
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.35746973752975464,
+                    -0.2955138087272644,
+                    0.9245814681053162
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001363/annotations/part_4.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001363",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Upper Cabinet Door 4",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Fourth upper laminated MDF cabinet door, around 33*2*45 cm.",
+        "functional_description": "Covers the next overhead cubby.",
+        "movement_description": "Side-hinged swing relative to the carcass with small damping.",
+        "grasp_description": "Users operate via handle part 14."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                14
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.3694760203361511,
+                    -0.2955138087272644,
+                    0.9245814681053162
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001363/annotations/part_5.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001363",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Upper Cabinet Door 5",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Fifth upper MDF door, approx 33*2*45 cm.",
+        "functional_description": "Closes the second-from-right upper compartment.",
+        "movement_description": "Hinged rotation about a vertical axis on the carcass.",
+        "grasp_description": "Pulled using handle part 15."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                5
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    0.37377917766571045,
+                    -0.2955138087272644,
+                    0.9245814681053162
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001363/annotations/part_6.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001363",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Upper Cabinet Door 6 (far right)",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Rightmost upper laminated MDF door, roughly 33*2*45 cm.",
+        "functional_description": "Covers the far-right overhead cabinet.",
+        "movement_description": "Opens by rotation on hinges fixed to the carcass.",
+        "grasp_description": "Handled via the attached knob/bar (part 16)."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                6,
+                16
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    1.0979835987091064,
+                    -0.2955138087272644,
+                    0.9245814681053162
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001363/annotations/part_7.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001363",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Tall Wardrobe Door 1 (outer left)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Full-height wardrobe door in laminated MDF, about 45*2*210 cm.",
+        "functional_description": "Closes the tall storage bay on the far left.",
+        "movement_description": "Swings on vertical hinges relative to the carcass; wider opening for access.",
+        "grasp_description": "Users grab the long handle (part 17)."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                7,
+                17
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -1.0935240983963013,
+                    -0.2955138087272644,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001363/annotations/part_8.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001363",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Tall Wardrobe Door 2",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Second full-height MDF wardrobe door, ~45*2*210 cm.",
+        "functional_description": "Covers an adjacent tall hanging/shelving bay.",
+        "movement_description": "Vertical-axis rotation on soft-close hinges attached to the carcass.",
+        "grasp_description": "Operated by long handle part 18."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                8,
+                18
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    -0.36084771156311035,
+                    -0.2955138087272644,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001363/annotations/part_9.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001363",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Tall Wardrobe Door 3",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Third tall wardrobe door in laminated MDF, approx 45*2*210 cm.",
+        "functional_description": "Closes the tall bay bordering the central opening.",
+        "movement_description": "Hinged rotation with controlled closing relative to the carcass.",
+        "grasp_description": "Pulled via long handle part 19."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                9,
+                19
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.35610514879226685,
+                    -0.2955138087272644,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001363/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