Upload folder using huggingface_hub (part 201)

.gitattributes

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data/UPB_00001611/parts/Desk_Z2X7B5BVAIML6PTUJU888888_HDDCd.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
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+illum 1
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+newmtl MI_62916fd29a130e00015dbcca
+Kd 1 1 1
+illum 1
+map_Kd ./T_62916fd29a130e00015dbcca_color_front.jpg
+bump ./T_62916fd29a130e00015dbcca_normal.jpg
+map_bump ./T_62916fd29a130e00015dbcca_normal.jpg
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data/UPB_00001612/annotations/object.json

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+{
+    "object_name": "Bentwood Desk with Cubby and Sliding Panels",
+    "category": "Furniture/OfficeFurniture",
+    "volume": [
+        140.0,
+        60.0,
+        75.0
+    ],
+    "mass": 24.0
+}

data/UPB_00001612/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001612",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Upper sliding panel",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "A thin rectangular wood panel with rounded corners that sits in the upper track of the left cubby opening.",
+        "functional_description": "Acts as a sliding door to partially cover or reveal the upper portion of the storage cubby.",
+        "movement_description": "Translates horizontally along grooves fixed to the desk carcass; travel roughly the width of the cubby.",
+        "grasp_description": "Users slide this panel by pinching an edge or pushing on its face."
+    },
+    "basic_info": {
+        "material": "wood/White_Oak_Veneered_Plywood",
+        "density": 0.65,
+        "young": 10.5,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
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+                "pos": [
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+                    -0.2747110426425934,
+                    0.2571008801460266
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+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001612/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001612",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Lower sliding panel",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "A second thin wood panel matching the upper panel, located in the lower track of the cubby opening.",
+        "functional_description": "Covers the lower half of the cubby; together with the upper panel allows variable opening positions.",
+        "movement_description": "Slides laterally along the lower groove relative to the desk body.",
+        "grasp_description": "Grasped by its edge or pressed to move side-to-side."
+    },
+    "basic_info": {
+        "material": "wood/White_Oak_Veneered_Plywood",
+        "density": 0.65,
+        "young": 10.5,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
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+            "B": {
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+                    1.0,
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+                "range": [
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+                    0.0
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001612/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001612",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Main bentwood frame and cubby",
+        "affordance": 1,
+        "graspable": false,
+        "basic_description": "A continuous bentwood top forming the desktop and right leg, integrated with a left-side open cubby box.",
+        "functional_description": "Provides the primary work surface, structural support, and the storage cavity for the sliding panels.",
+        "movement_description": "Rigid base structure; serves as the parent body for the sliding panels which translate along built-in tracks.",
+        "grasp_description": "Touched and leaned on extensively as a work surface; edges may be pushed when repositioning the desk."
+    },
+    "basic_info": {
+        "material": "wood/White_Oak_Veneered_Plywood",
+        "density": 0.65,
+        "young": 10.5,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001612/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001612",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Cubby mid-rail/track",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "A narrow wooden strip mounted across the cubby opening, spacing the upper and lower sliding tracks.",
+        "functional_description": "Separates and guides the two sliding panels; adds stiffness to the cubby opening.",
+        "movement_description": "Rigidly fixed to the main frame; no relative motion.",
+        "grasp_description": "Not intended for grasping, though it may be touched incidentally."
+    },
+    "basic_info": {
+        "material": "wood/White_Oak_Solid",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 32,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001612/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001612",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Front stretcher/apron",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "A long wooden strip running along the inner front edge beneath the desktop, between the cubby and right leg.",
+        "functional_description": "Acts as a stiffener and decorative apron, reducing flex of the desktop span.",
+        "movement_description": "Fixed to the main frame with no motion.",
+        "grasp_description": "Occasionally contacted by knees; not normally grasped."
+    },
+    "basic_info": {
+        "material": "wood/White_Oak_Solid",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 32,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001612/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001612",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Corner caps/plugs",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Small plastic caps fixed at exposed corners and screw points around the desk and cubby.",
+        "functional_description": "Cover hardware, prevent snags, and provide a subtle protective buffer at edges.",
+        "movement_description": "Rigidly attached; no motion.",
+        "grasp_description": "Not handled in typical use."
+    },
+    "basic_info": {
+        "material": "wood/White_Oak_Solid",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 32,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001612/annotations/part_8.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001612",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Cylindrical left leg",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "A dark, powder-coated steel cylinder supporting the cubby end of the desk.",
+        "functional_description": "Provides vertical support and load transfer to the floor on the left side.",
+        "movement_description": "Rigidly fixed to the desk underside; no relative motion.",
+        "grasp_description": "May be touched when sitting nearby but not intended as a handle."
+    },
+    "basic_info": {
+        "material": "plastic",
+        "density": 1.0620871407760706,
+        "young": 2.2253158522050236,
+        "hardness": 13.668123427360614,
+        "poisson": 0.3764176930207783,
+        "friction": 0.4458561779896716
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001612/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_00001612/meta_data.json

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+{
+    "id": "UPB_00001612",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/OfficeFurniture",
+        "object_name": "Bentwood Desk with Cubby and Sliding Panels"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 7,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001612/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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.999819 0.999819 0.999819"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.999819 0.999819 0.999819"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.999819 0.999819 0.999819"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.999819 0.999819 0.999819"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.999819 0.999819 0.999819"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.999819 0.999819 0.999819"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.999819 0.999819 0.999819"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.999819 0.999819 0.999819"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.999819 0.999819 0.999819"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.999819 0.999819 0.999819"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.999819 0.999819 0.999819"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.999819 0.999819 0.999819"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_3"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.452941 -0.274661 0.257054" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2999455906499488" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.452941 0.274661 -0.257054" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_3"/>
+    <child link="helper_link_1"/>
+    <origin xyz="-0.452941 -0.274661 0.041223" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2999455906499488" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0.452941 0.274661 -0.041223" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001612/parts/8.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 8.png

data/UPB_00001612/parts/Desk_ZHQX4FJVALHRMPTULU888888_yXjAA.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_65dfe5572311e10001064f3d
+Kd 1 1 1
+illum 1
+map_Kd ./T_65dfe5572311e10001064f3d_color.jpg
+bump ./T_65dfe5572311e10001064f3d_normal.jpg
+map_bump ./T_65dfe5572311e10001064f3d_normal.jpg
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+illum 1
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+map_Kd ./T_65dfe557849c9c0001d423db_color.jpg
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+
+newmtl MI_65dfe557f2492100011f4a1c
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+map_Kd ./T_65dfe557f2492100011f4a1c_color.jpg
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+newmtl MI_65dfe5570c3ee20001b4cb9e
+Kd 1 1 1
+illum 1
+map_Kd ./T_65dfe5570c3ee20001b4cb9e_color.jpg
+bump ./T_65dfe5570c3ee20001b4cb9e_normal.jpg
+map_bump ./T_65dfe5570c3ee20001b4cb9e_normal.jpg
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+newmtl MI_65dfe5578750c80001ef81b0
+Kd 1 1 1
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+map_Kd ./T_65dfe5578750c80001ef81b0_color.jpg
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data/UPB_00001612/plys/1.ply

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