diff --git a/.gitattributes b/.gitattributes index a650ef08cdef14be27619ea94d4f2088ff461286..8dbe6296c7a83d411b41b6a5ebcd12f5b1270c3b 100644 --- a/.gitattributes +++ b/.gitattributes @@ -9430,3 +9430,24 @@ data/UPB_00001411/plys/7.ply filter=lfs diff=lfs merge=lfs -text data/UPB_00001411/plys/8.ply filter=lfs diff=lfs merge=lfs -text data/UPB_00001411/plys/9.ply filter=lfs diff=lfs merge=lfs -text data/UPB_00001411/plys/model.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001412/full_model/model.obj filter=lfs diff=lfs merge=lfs -text +data/UPB_00001412/plys/1.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001412/plys/10.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001412/plys/11.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001412/plys/12.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001412/plys/13.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001412/plys/14.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001412/plys/15.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001412/plys/16.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001412/plys/17.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001412/plys/18.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001412/plys/19.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001412/plys/2.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001412/plys/3.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001412/plys/4.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001412/plys/5.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001412/plys/6.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001412/plys/7.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001412/plys/8.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001412/plys/9.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001412/plys/model.ply filter=lfs diff=lfs merge=lfs -text diff --git a/data/UPB_00001412/annotations/part_18.json b/data/UPB_00001412/annotations/part_18.json new file mode 100644 index 0000000000000000000000000000000000000000..fe83ef3f7c9a51c47f3668c06e9f63f377e847ac --- /dev/null +++ b/data/UPB_00001412/annotations/part_18.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001412", + "label": "18" + }, + "part_level": { + "part_name": "Knob for Bottom Drawer", + "affordance": 2, + "graspable": true, + "basic_description": "ABS round pull on the lowest drawer front.", + "functional_description": "Grip point for operating drawer 3.", + "movement_description": "Rigidly attached; translates with the drawer.", + "grasp_description": "Pinch and pull outward." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.05, + "young": 2.1, + "hardness": 15, + "poisson": 0.39, + "friction": 0.52 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001412/annotations/part_19.json b/data/UPB_00001412/annotations/part_19.json new file mode 100644 index 0000000000000000000000000000000000000000..ac3f6a808defa10aee770272ff66e2064997ea91 --- /dev/null +++ b/data/UPB_00001412/annotations/part_19.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001412", + "label": "19" + }, + "part_level": { + "part_name": "Wardrobe Carcass/Frame", + "affordance": 10, + "graspable": false, + "basic_description": "Main MDF structure including side panels, top, bottom, dividers, and shelves; approx 240*60*220 cm.", + "functional_description": "Provides structural support, mounting points for hinges/slides, and the interior organization of the wardrobe.", + "movement_description": "Stationary reference for all doors (rotational joints) and drawers (sliding joints).", + "grasp_description": "Not intended to be grasped during regular use." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.3, + "friction": 0.42 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001412/annotations/part_2.json b/data/UPB_00001412/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..4c99244fdf2195fcc87b2caf34e7081a5035a0d0 --- /dev/null +++ b/data/UPB_00001412/annotations/part_2.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001412", + "label": "2" + }, + "part_level": { + "part_name": "Middle Drawer Box", + "affordance": 4, + "graspable": false, + "basic_description": "MDF drawer box, approx 80*45*18 cm, matching the center drawer bay.", + "functional_description": "Holds folded clothes or accessories in the middle of the stack.", + "movement_description": "Translates out on slides relative to the carcass.", + "grasp_description": "User pulls using the attached knob (part 17)." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 2, + 17 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + 0.44185909628868103, + -0.20436903834342957, + -0.8846192359924316 + ], + "range": [ + -0.30000001192092896, + 0.0 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001412/annotations/part_3.json b/data/UPB_00001412/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..0818cbac83874080d348375f2ff7df56b99d230e --- /dev/null +++ b/data/UPB_00001412/annotations/part_3.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001412", + "label": "3" + }, + "part_level": { + "part_name": "Bottom Drawer Box", + "affordance": 4, + "graspable": false, + "basic_description": "Largest MDF drawer box at the base of the stack; approx 80*45*20 cm.", + "functional_description": "Stores heavier items; deeper capacity.", + "movement_description": "Slides on runners relative to the carcass with light damping.", + "grasp_description": "Pulled by its knob (part 18)." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.3, + "friction": 0.46 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 3, + 18 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + 0.4378301203250885, + -0.21327662467956543, + -1.107065200805664 + ], + "range": [ + -0.30000001192092896, + 0.0 + ], + "damping": 0.06 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001412/annotations/part_4.json b/data/UPB_00001412/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..8af88f9a4aac331d5027b43b97275149fe8da891 --- /dev/null +++ b/data/UPB_00001412/annotations/part_4.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001412", + "label": "4" + }, + "part_level": { + "part_name": "Leftmost Door Panel", + "affordance": 5, + "graspable": false, + "basic_description": "Tall MDF door with decorative curved top edge; approx 40*2*210 cm.", + "functional_description": "Covers the left storage bay to keep contents dust-free.", + "movement_description": "Swings about a vertical hinge axis on the carcass.", + "grasp_description": "User operates it via the attached knob (part 10)." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.3, + "friction": 0.44 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 4, + 10 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -1.3509511947631836, + -0.1912083923816681, + -4.624109095630047e-08 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001412/annotations/part_5.json b/data/UPB_00001412/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..5c3d35b91ec2f7899a515b1a92cd5950946304ee --- /dev/null +++ b/data/UPB_00001412/annotations/part_5.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001412", + "label": "5" + }, + "part_level": { + "part_name": "Left Door Panel", + "affordance": 5, + "graspable": false, + "basic_description": "Tall MDF door, approx 40*2*210 cm, adjacent to the far-left door.", + "functional_description": "Covers an adjacent compartment.", + "movement_description": "Rotates on side hinges relative to the carcass.", + "grasp_description": "Pulled from the front knob (part 11)." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.3, + "friction": 0.44 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 5, + 11 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + -0.45042338967323303, + -0.22054623067378998, + 2.758047272960777e-16 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001412/annotations/part_6.json b/data/UPB_00001412/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..0fd7f4509a3436adf0d8205f81d51cfd5b80c014 --- /dev/null +++ b/data/UPB_00001412/annotations/part_6.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001412", + "label": "6" + }, + "part_level": { + "part_name": "Left-Center Door Panel", + "affordance": 5, + "graspable": false, + "basic_description": "Central-left MDF door; approx 42*2*210 cm.", + "functional_description": "Accesses a vertical bay next to the drawers.", + "movement_description": "Opens by rotating about a vertical hinge on the carcass.", + "grasp_description": "Operated using knob (part 12)." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.3, + "friction": 0.44 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 6, + 12 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.4444993734359741, + -0.20611491799354553, + 1.5214565607379882e-08 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001412/annotations/part_7.json b/data/UPB_00001412/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..c962de1b1f00ea82282c317a8c91a58910a793c7 --- /dev/null +++ b/data/UPB_00001412/annotations/part_7.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001412", + "label": "7" + }, + "part_level": { + "part_name": "Center Door Panel", + "affordance": 5, + "graspable": false, + "basic_description": "Tall central MDF door over the drawer region; approx 42*2*210 cm.", + "functional_description": "Provides access to a central hanging/shelved space.", + "movement_description": "Swings open on hinges attached to the carcass.", + "grasp_description": "Pulled via knob (part 13)." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.3, + "friction": 0.44 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 7, + 13 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -5.788680645935074e-09, + -0.19952736794948578, + 0.16911852359771729 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001412/annotations/part_8.json b/data/UPB_00001412/annotations/part_8.json new file mode 100644 index 0000000000000000000000000000000000000000..4a572ac5e89da44ba070e2020dfda69ac93ff2fe --- /dev/null +++ b/data/UPB_00001412/annotations/part_8.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001412", + "label": "8" + }, + "part_level": { + "part_name": "Right-Center Door Panel", + "affordance": 5, + "graspable": false, + "basic_description": "MDF door to the right of center; approx 42*2*210 cm.", + "functional_description": "Covers a tall storage section.", + "movement_description": "Opens by rotating around a vertical axis on the carcass.", + "grasp_description": "Operated via knob (part 14)." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.3, + "friction": 0.44 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 8, + 14 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.8976355195045471, + -0.22156250476837158, + 2.7871074337326718e-08 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001412/annotations/part_9.json b/data/UPB_00001412/annotations/part_9.json new file mode 100644 index 0000000000000000000000000000000000000000..d6a815ccd7835d0f63614105b39fe009b835ff01 --- /dev/null +++ b/data/UPB_00001412/annotations/part_9.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001412", + "label": "9" + }, + "part_level": { + "part_name": "Rightmost Door Panel", + "affordance": 5, + "graspable": false, + "basic_description": "Tall MDF door at the far right; approx 40*2*210 cm.", + "functional_description": "Closes the rightmost compartment of the wardrobe.", + "movement_description": "Rotates about hinge pins fastened to the carcass.", + "grasp_description": "Pulled using knob (part 15)." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.3, + "friction": 0.44 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 9, + 15 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 1.3712999820709229, + -0.19925658404827118, + -4.6937600473029306e-08 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001412/full_model/material.mtl b/data/UPB_00001412/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00001412/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 \ No newline at end of file diff --git a/data/UPB_00001412/full_model/material_0.png b/data/UPB_00001412/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..d82c10966993d3f1907db5e63a3e3a344704eec3 --- /dev/null +++ b/data/UPB_00001412/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:709aecd4d118a133fd73f14764517b1e97b53cd542d89db107ec8e166fcc0dfc +size 148 diff --git a/data/UPB_00001412/full_model/model.obj b/data/UPB_00001412/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..a46e53da5a46908553c1acc41da01f9c3e285aa4 --- /dev/null +++ b/data/UPB_00001412/full_model/model.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78c9b9b0d2e8faf121a0dd208b54971a0ab972245f2aa78e2706dcd10c70a72c +size 14682476 diff --git a/data/UPB_00001412/meta_data.json b/data/UPB_00001412/meta_data.json new file mode 100644 index 0000000000000000000000000000000000000000..ca051ae860550289fdea016212ac14c154251f41 --- /dev/null +++ b/data/UPB_00001412/meta_data.json @@ -0,0 +1,22 @@ +{ + "id": "UPB_00001412", + "source": [ + { + "dataset": "UniPhys-Bench", + "organization": "Manycore Tech Inc.", + "license_ref": "UniPhys-Bench" + } + ], + "object": { + "category": "Furniture/StorageFurniture", + "object_name": "Six-door Wardrobe with Three Drawers" + }, + "geometry": { + "asset_type": "decomposed_parts", + "num_parts": 19, + "format": "obj" + }, + "annotation": { + "version": "v1.0" + } +} \ No newline at end of file diff --git a/data/UPB_00001412/model.urdf b/data/UPB_00001412/model.urdf new file mode 100644 index 0000000000000000000000000000000000000000..16bc0abfe2ee16ffd0fd433324c6d34b2de0ee22 --- /dev/null +++ b/data/UPB_00001412/model.urdf @@ -0,0 +1,399 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/data/UPB_00001412/parts/4.mtl b/data/UPB_00001412/parts/4.mtl new file mode 100644 index 0000000000000000000000000000000000000000..09452450b9e8e9282ad1a92706e3e1f6ac239875 --- /dev/null +++ b/data/UPB_00001412/parts/4.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 4.png diff --git a/data/UPB_00001412/parts/4.png b/data/UPB_00001412/parts/4.png new file mode 100644 index 0000000000000000000000000000000000000000..0721b48e869d73bb8f0fbc5c9359ac083a3fb480 --- /dev/null +++ b/data/UPB_00001412/parts/4.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc562163ed475ad84ace37aac37244766fbe5dd1f13e64138642250559c7c86e +size 104 diff --git a/data/UPB_00001412/parts/5.mtl b/data/UPB_00001412/parts/5.mtl new file mode 100644 index 0000000000000000000000000000000000000000..d43c57b3f0e98a3e40743b896155cc3aa93ebe6e --- /dev/null +++ b/data/UPB_00001412/parts/5.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 5.png diff --git a/data/UPB_00001412/parts/5.png b/data/UPB_00001412/parts/5.png new file mode 100644 index 0000000000000000000000000000000000000000..0721b48e869d73bb8f0fbc5c9359ac083a3fb480 --- /dev/null +++ b/data/UPB_00001412/parts/5.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc562163ed475ad84ace37aac37244766fbe5dd1f13e64138642250559c7c86e +size 104 diff --git a/data/UPB_00001412/parts/6.mtl b/data/UPB_00001412/parts/6.mtl new file mode 100644 index 0000000000000000000000000000000000000000..9bdd1db9ee7771e097f5aeb7f5c8894b845287d3 --- /dev/null +++ b/data/UPB_00001412/parts/6.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 6.png diff --git a/data/UPB_00001412/parts/6.png b/data/UPB_00001412/parts/6.png new file mode 100644 index 0000000000000000000000000000000000000000..03f8bfff764dd5c624ee6756aad3f6a9e5e42774 --- /dev/null +++ b/data/UPB_00001412/parts/6.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15038b48c275274f82e994554ab8d7519774baa6c3acc707d0bc2725fb42dec7 +size 96 diff --git a/data/UPB_00001412/parts/7.mtl b/data/UPB_00001412/parts/7.mtl new file mode 100644 index 0000000000000000000000000000000000000000..dff8f6f0b5634871fcba48e53c20d8bd728090f2 --- /dev/null +++ b/data/UPB_00001412/parts/7.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 7.png diff --git a/data/UPB_00001412/parts/7.png b/data/UPB_00001412/parts/7.png new file mode 100644 index 0000000000000000000000000000000000000000..03f8bfff764dd5c624ee6756aad3f6a9e5e42774 --- /dev/null +++ b/data/UPB_00001412/parts/7.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15038b48c275274f82e994554ab8d7519774baa6c3acc707d0bc2725fb42dec7 +size 96 diff --git a/data/UPB_00001412/parts/8.mtl b/data/UPB_00001412/parts/8.mtl new file mode 100644 index 0000000000000000000000000000000000000000..f7dfe358d3622611c2f425634d141f0f26989cbc --- /dev/null +++ b/data/UPB_00001412/parts/8.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 8.png diff --git a/data/UPB_00001412/parts/8.png b/data/UPB_00001412/parts/8.png new file mode 100644 index 0000000000000000000000000000000000000000..03f8bfff764dd5c624ee6756aad3f6a9e5e42774 --- /dev/null +++ b/data/UPB_00001412/parts/8.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15038b48c275274f82e994554ab8d7519774baa6c3acc707d0bc2725fb42dec7 +size 96 diff --git a/data/UPB_00001412/parts/9.mtl b/data/UPB_00001412/parts/9.mtl new file mode 100644 index 0000000000000000000000000000000000000000..0059fb715f621e16088af53a3bec599b93f764fc --- /dev/null +++ b/data/UPB_00001412/parts/9.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 9.png diff --git a/data/UPB_00001412/parts/9.png b/data/UPB_00001412/parts/9.png new file mode 100644 index 0000000000000000000000000000000000000000..03f8bfff764dd5c624ee6756aad3f6a9e5e42774 --- /dev/null +++ b/data/UPB_00001412/parts/9.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15038b48c275274f82e994554ab8d7519774baa6c3acc707d0bc2725fb42dec7 +size 96 diff --git a/data/UPB_00001412/parts/part_1.obj b/data/UPB_00001412/parts/part_1.obj new file mode 100644 index 0000000000000000000000000000000000000000..76a06d2c95fb1ce2f462b7966ae275a86d48f691 --- /dev/null +++ b/data/UPB_00001412/parts/part_1.obj @@ -0,0 +1,13359 @@ +mtllib wardrobe_YVIPGARVAJV6OPTUK4888888_kdA1A.mtl +v 0.0279995725 -0.207845107 -0.562632382 +v 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0000000000000000000000000000000000000000..726c0257e5bf8db29da511cf57bbd07c04dbbe54 --- /dev/null +++ b/data/UPB_00001413/annotations/object.json @@ -0,0 +1,10 @@ +{ + "object_name": "Wardrobe Cabinet with Drawers", + "category": "Furniture/StorageFurniture", + "volume": [ + 240.0, + 60.0, + 220.0 + ], + "mass": 180.0 +} \ No newline at end of file diff --git a/data/UPB_00001413/annotations/part_1.json b/data/UPB_00001413/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..69e85dd122b99573d417eed7cd6156bb646b98f8 --- /dev/null +++ b/data/UPB_00001413/annotations/part_1.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001413", + "label": "1" + }, + "part_level": { + "part_name": "Left Drawer 1", + "affordance": 4, + "graspable": false, + "basic_description": "Rectangular wood drawer box with a decorative front panel, approx. 55*45*20 cm, MDF painted finish.", + "functional_description": "Provides enclosed storage; slides in/out of the cabinet bay.", + "movement_description": "Mounted on side runners; translates horizontally relative to the cabinet carcass.", + "grasp_description": "User pulls via the attached knob rather than grasping the drawer box itself." + }, + "basic_info": { + "material": "wood/MDF_Painted", + "density": 0.75, + "young": 3.0, + "hardness": 12, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 1, + 17 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + -1.062530517578125, + -0.2465089112520218, + -0.782508909702301 + ], + "range": [ + -0.30000001192092896, + 0.0 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001413/annotations/part_10.json b/data/UPB_00001413/annotations/part_10.json new file mode 100644 index 0000000000000000000000000000000000000000..ca4e4b11cd2f3dd1d99bfde5a18cd7fb4ce69b45 --- /dev/null +++ b/data/UPB_00001413/annotations/part_10.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001413", + "label": "10" + }, + "part_level": { + "part_name": "Tall Door F (far-right leaf)", + "affordance": 3, + "graspable": false, + "basic_description": "Rightmost full-height door, approx. 50*210*1.8 cm, MDF painted.", + "functional_description": "Closes the far-right vertical wardrobe bay.", + "movement_description": "Rotates open about vertical hinges mounted to the carcass.", + "grasp_description": "Operated by its attached knob." + }, + "basic_info": { + "material": "wood/MDF_Painted", + "density": 0.75, + "young": 3.0, + "hardness": 12, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 10, + 16 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 1.3372677564620972, + -0.2657965421676636, + -4.577272960659684e-08 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001413/annotations/part_11.json b/data/UPB_00001413/annotations/part_11.json new file mode 100644 index 0000000000000000000000000000000000000000..ecac2e797a568e2b2788711389c834bbb230bba1 --- /dev/null +++ b/data/UPB_00001413/annotations/part_11.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001413", + "label": "11" + }, + "part_level": { + "part_name": "Knob for Upper Door A", + "affordance": 1, + "graspable": true, + "basic_description": "Small square pull knob, ~3*3*2 cm, anodized aluminum.", + "functional_description": "Provides a handhold to open/close Upper Door A.", + "movement_description": "Rigidly fixed to the door; moves with the door during rotation.", + "grasp_description": "Pinched between fingers to pull the door open." + }, + "basic_info": { + "material": "metal/Aluminum_Alloy_Anodized_Black", + "density": 2.7, + "young": 69.0, + "hardness": 120, + "poisson": 0.33, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001413/annotations/part_12.json b/data/UPB_00001413/annotations/part_12.json new file mode 100644 index 0000000000000000000000000000000000000000..2d078a7a26d56ee4a4cd245739ece0e4a4eba1b6 --- /dev/null +++ b/data/UPB_00001413/annotations/part_12.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001413", + "label": "12" + }, + "part_level": { + "part_name": "Knob for Upper Door B", + "affordance": 1, + "graspable": true, + "basic_description": "Square metal knob ~3*3*2 cm, black anodized aluminum.", + "functional_description": "Handhold for opening Upper Door B.", + "movement_description": "No independent motion; rigid to Door B.", + "grasp_description": "Gripped by fingers to swing the door." + }, + "basic_info": { + "material": "metal/Aluminum_Alloy_Anodized_Black", + "density": 2.7, + "young": 69.0, + "hardness": 120, + "poisson": 0.33, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001413/annotations/part_13.json b/data/UPB_00001413/annotations/part_13.json new file mode 100644 index 0000000000000000000000000000000000000000..a6edc9e5e1ee3da513499a4da53d3c64ee6fb9dc --- /dev/null +++ b/data/UPB_00001413/annotations/part_13.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001413", + "label": "13" + }, + "part_level": { + "part_name": "Knob for Upper Door C", + "affordance": 1, + "graspable": true, + "basic_description": "Square pull knob, ~3*3*2 cm, anodized aluminum.", + "functional_description": "Interface for opening Upper Door C.", + "movement_description": "Rigid with the door; follows door rotation.", + "grasp_description": "Pinch-pull action to operate the door." + }, + "basic_info": { + "material": "metal/Aluminum_Alloy_Anodized_Black", + "density": 2.7, + "young": 69.0, + "hardness": 120, + "poisson": 0.33, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001413/annotations/part_14.json b/data/UPB_00001413/annotations/part_14.json new file mode 100644 index 0000000000000000000000000000000000000000..63c4d2f981b8b2e46f57d0523db20ea8ac7bf37b --- /dev/null +++ b/data/UPB_00001413/annotations/part_14.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001413", + "label": "14" + }, + "part_level": { + "part_name": "Knob for Upper Door D", + "affordance": 1, + "graspable": true, + "basic_description": "Matte-black metal knob, ~3*3*2 cm.", + "functional_description": "Human interface for the right-most upper door.", + "movement_description": "Rigidly connected to the door panel.", + "grasp_description": "Grab-and-pull with fingertips." + }, + "basic_info": { + "material": "metal/Aluminum_Alloy_Anodized_Black", + "density": 2.7, + "young": 69.0, + "hardness": 120, + "poisson": 0.33, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001413/annotations/part_15.json b/data/UPB_00001413/annotations/part_15.json new file mode 100644 index 0000000000000000000000000000000000000000..962e192f5bd0870a2e1200f8fb448a1d83336f4e --- /dev/null +++ b/data/UPB_00001413/annotations/part_15.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001413", + "label": "15" + }, + "part_level": { + "part_name": "Knob for Tall Door E", + "affordance": 1, + "graspable": true, + "basic_description": "Square aluminum knob, ~3*3*2 cm, black anodized.", + "functional_description": "Primary handhold for the left tall wardrobe door.", + "movement_description": "Rigid with Door E; follows its rotation.", + "grasp_description": "Pulled to swing the full-height door open." + }, + "basic_info": { + "material": "metal/Aluminum_Alloy_Anodized_Black", + "density": 2.7, + "young": 69.0, + "hardness": 120, + "poisson": 0.33, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file