Upload folder using huggingface_hub (part 62)

.gitattributes

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+{
+    "object_name": "Six-Drawer Dresser",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        150.0,
+        40.0,
+        50.0
+    ],
+    "mass": 35.0
+}

data/UPB_00000829/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000829",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Top-Left Drawer Box",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Plywood drawer box located at the top-left cubby; approx 46*35*18 cm.",
+        "functional_description": "Stores items; interfaces with the carcass via wooden slides.",
+        "movement_description": "Slides in and out along the depth of the dresser with moderate friction and light damping.",
+        "grasp_description": "Pulled by the attached handle rather than gripping the drawer sides."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.6,
+        "young": 7.5,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.55
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+{
+    "index": {
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+        "entity": "UPB_00000829",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Handle - Bottom Left",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Aluminum handle for the bottom-left drawer; approx 12*2*3 cm.",
+        "functional_description": "Used to pull the bottom-left drawer.",
+        "movement_description": "Moves only with the drawer to which it is fastened.",
+        "grasp_description": "Hand wraps around the curved bar for traction."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.35
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+}

data/UPB_00000829/annotations/part_11.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000829",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Handle - Bottom Center-Left",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Aluminum pull fixed to the bottom center-left drawer.",
+        "functional_description": "Main touch point for operating that drawer.",
+        "movement_description": "Rigidly attached; no independent movement.",
+        "grasp_description": "Pulled straight out or pushed in by hand."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy",
+        "density": 2.7,
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data/UPB_00000829/annotations/part_12.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000829",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Handle - Bottom Right",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Aluminum handle mounted on the bottom-right drawer.",
+        "functional_description": "Enables manual actuation of the drawer.",
+        "movement_description": "Fixed to the drawer via screws; moves with the drawer.",
+        "grasp_description": "Finger pull with smooth metal contact."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 100,
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+        "friction": 0.35
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+}

data/UPB_00000829/annotations/part_13.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000829",
+        "label": "13"
+    },
+    "part_level": {
+        "part_name": "Cabinet Carcass",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Main MDF cabinet body with six cubbies and rounded front edges; approx 150*40*50 cm.",
+        "functional_description": "Provides structural support, houses the drawers, and bears overall loads.",
+        "movement_description": "Stationary reference frame; guides drawer translation along depth via grooves/rails.",
+        "grasp_description": "Not typically grasped except when moving the entire dresser."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.7,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
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+            "D"
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+    }
+}

data/UPB_00000829/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000829",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Top-Center-Left Drawer Box",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Plywood drawer box in the top middle-left position; approx 46*35*18 cm.",
+        "functional_description": "Provides storage in its bay; rigidly carries the attached handle.",
+        "movement_description": "Translates relative to the carcass along linear rails/grooves.",
+        "grasp_description": "Users pull via the handle on its front."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.6,
+        "young": 7.5,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.55
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data/UPB_00000829/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000829",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Top-Right Drawer Box",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Plywood drawer box at the top-right bay; approx 46*35*18 cm.",
+        "functional_description": "Holds contents and moves as a unit with the front handle.",
+        "movement_description": "Linear sliding motion relative to the main carcass.",
+        "grasp_description": "Handled by the attached pull."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.6,
+        "young": 7.5,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.55
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+}

data/UPB_00000829/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000829",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Bottom-Left Drawer Box",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Lower-left plywood drawer box; approx 46*35*18 cm.",
+        "functional_description": "Storage component operating on a sliding track/groove.",
+        "movement_description": "Translates in depth with slight damping due to friction/soft-close.",
+        "grasp_description": "Pulled by its metal handle."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.6,
+        "young": 7.5,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.56
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+}

data/UPB_00000829/annotations/part_5.json

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+{
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+        "entity": "UPB_00000829",
+        "label": "5"
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+    "part_level": {
+        "part_name": "Bottom-Center-Left Drawer Box",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Lower middle-left plywood drawer; approx 46*35*18 cm.",
+        "functional_description": "Holds medium-weight items and supports the handle on its front.",
+        "movement_description": "Wood-on-wood sliding against the carcass guides.",
+        "grasp_description": "Users grasp the front handle to open and close."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.6,
+        "young": 7.5,
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+        "poisson": 0.3,
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+}

data/UPB_00000829/annotations/part_6.json

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+        "entity": "UPB_00000829",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Bottom-Right Drawer Box",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Lower-right plywood drawer box; approx 46*35*18 cm.",
+        "functional_description": "Provides storage and carries its handle hardware.",
+        "movement_description": "Linear translation with light damping along the cabinet depth.",
+        "grasp_description": "Pulled using its front handle."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
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data/UPB_00000829/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000829",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Handle - Top Left",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Curved aluminum pull handle, about 12*2*3 cm, mounted on the top-left drawer front.",
+        "functional_description": "Primary gripping point for operating the drawer.",
+        "movement_description": "Rigidly fixed to its drawer and moves only when the drawer slides.",
+        "grasp_description": "Grasped by fingers; smooth, comfortable contour."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy",
+        "density": 2.7,
+        "young": 69.0,
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+        "friction": 0.35
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+}

data/UPB_00000829/annotations/part_8.json

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+{
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+        "entity": "UPB_00000829",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Handle - Top Center-Left",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Aluminum drawer pull for the top center-left drawer; roughly 12 cm long.",
+        "functional_description": "Provides leverage for opening and closing the drawer.",
+        "movement_description": "Rigid with its drawer; no independent motion.",
+        "grasp_description": "Typically pinched with four fingers under the curve."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy",
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+        "young": 69.0,
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+}

data/UPB_00000829/annotations/part_9.json

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+{
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+        "entity": "UPB_00000829",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Handle - Top Right",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Aluminum pull handle mounted on the top-right drawer.",
+        "functional_description": "User interface for operating the drawer.",
+        "movement_description": "Fixed to the drawer front without play.",
+        "grasp_description": "Gripped centrally to distribute load evenly."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.34
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000829/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_00000829/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00000829",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Six-Drawer Dresser"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 13,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000829/model.urdf

@@ -0,0 +1,273 @@
+<?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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.546647 0.546647 0.546647"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.546647 0.546647 0.546647"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.546647 0.546647 0.546647"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.546647 0.546647 0.546647"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.546647 0.546647 0.546647"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.546647 0.546647 0.546647"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.546647 0.546647 0.546647"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.546647 0.546647 0.546647"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.546647 0.546647 0.546647"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.546647 0.546647 0.546647"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.546647 0.546647 0.546647"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.546647 0.546647 0.546647"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.546647 0.546647 0.546647"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.546647 0.546647 0.546647"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.546647 0.546647 0.546647"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.546647 0.546647 0.546647"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.546647 0.546647 0.546647"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.546647 0.546647 0.546647"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.546647 0.546647 0.546647"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.546647 0.546647 0.546647"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.546647 0.546647 0.546647"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.546647 0.546647 0.546647"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.546647 0.546647 0.546647"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.546647 0.546647 0.546647"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.546647 0.546647 0.546647"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.546647 0.546647 0.546647"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_13"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.474737 -0.158251 0.079947" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.1639941780033384" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.474737 0.158251 -0.079947" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_13"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 -0.153061 0.076707" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.1639941780033384" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 0.153061 -0.076707" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_13"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.481153 -0.153061 0.078626" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.1639941780033384" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.481153 0.153061 -0.078626" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="prismatic">
+    <parent link="link_13"/>
+    <child link="helper_link_3"/>
+    <origin xyz="-0.473291 -0.153061 -0.077445" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.1639941780033384" upper="0.0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="0.473291 0.153061 0.077445" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="prismatic">
+    <parent link="link_13"/>
+    <child link="helper_link_4"/>
+    <origin xyz="0.006688 -0.153061 -0.083173" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.1639941780033384" upper="0.0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_5"/>
+    <origin xyz="-0.006688 0.153061 0.083173" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="prismatic">
+    <parent link="link_13"/>
+    <child link="helper_link_5"/>
+    <origin xyz="0.477466 -0.153061 -0.078753" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.1639941780033384" upper="0.0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="helper_link_5"/>
+    <child link="link_6"/>
+    <origin xyz="-0.477466 0.153061 0.078753" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_16" type="fixed">
+    <parent link="link_5"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_17" type="fixed">
+    <parent link="link_6"/>
+    <child link="link_12"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_18" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_13"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00000829/parts/TvCabinet_YVJ322UTQYR4CPTULQ888888_OrKPe.mtl

@@ -0,0 +1,13 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_696d28946e4f3300ff74cb1b
+Kd 0.235300004 0.235300004 0.235300004
+illum 1
+bump ./T_696d28946e4f3300ff74cb1b_normal.jpg
+map_bump ./T_696d28946e4f3300ff74cb1b_normal.jpg
+
+newmtl MI_696d289486d5e369b8bc35fd
+Kd 0.1402172 0.1402172 0.1402172
+illum 1
+

data/UPB_00000829/plys/1.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a095aa08430755887dd8af1d20e2a125e599333869c52914fd3cc017dc088816
+size 160242

data/UPB_00000829/plys/10.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7eba4d19c1694c67321860bb92d75a21c377d37a51fd9556480f044c84830e50
+size 160242

data/UPB_00000829/plys/11.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5b58a45c60469c8c2d978d05b292c3213900fd40f3947b5d86d452ba70e019b
+size 160242

data/UPB_00000829/plys/12.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dedcde90e7b417ed67c6a6932f0f86ca2f0f12d187e8041cced8f6e191bcc6af
+size 160242