Upload folder using huggingface_hub (part 67)

.gitattributes

@@ -8976,3 +8976,32 @@ data/UPB_00001385/plys/7.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001385/plys/8.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001385/plys/9.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001385/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/full_model/model.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/plys/10.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/plys/11.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/plys/12.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/plys/13.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/plys/14.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/plys/15.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/plys/16.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/plys/17.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/plys/18.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/plys/19.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/plys/20.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/plys/21.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/plys/22.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/plys/23.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/plys/24.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/plys/25.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/plys/7.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/plys/8.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/plys/9.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001386/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001387/full_model/model.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001387/parts/part_14.obj filter=lfs diff=lfs merge=lfs -text

data/UPB_00001386/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001386",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Small Drawer 3",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Third small MDF drawer, ~50*45*12 cm.",
+        "functional_description": "Additional compartment for small garments.",
+        "movement_description": "Slides along runners, damped for smooth travel.",
+        "grasp_description": "Grasp the knob and pull; push to close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Melamine",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 18,
+        "poisson": 0.3,
+        "friction": 0.28
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                15
+            ],
+            "B": {
+                "axis": [
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+                    1.0,
+                    0.0
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+                "pos": [
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+                "range": [
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+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001386/annotations/part_4.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001386",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Small Drawer 4",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Bottom-most small MDF drawer, ~50*45*12 cm.",
+        "functional_description": "Stores heavier small items or accessories.",
+        "movement_description": "Linear sliding motion constrained by rails.",
+        "grasp_description": "Pulled by the knob; two-hand use when loaded."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Melamine",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 18,
+        "poisson": 0.3,
+        "friction": 0.28
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                16
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+            "B": {
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+                    0.0
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+                    0.0
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+                "damping": 0.05
+            }
+        }
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+}

data/UPB_00001386/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001386",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Top Cabinet Door 1 (far left)",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Short MDF door panel ~60*40*1.8 cm at the top-left.",
+        "functional_description": "Closes an overhead cubby for infrequently used items.",
+        "movement_description": "Rotates about a vertical hinge attached to the carcass.",
+        "grasp_description": "Pulled open by its knob or the door edge."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Melamine",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 18,
+        "poisson": 0.3,
+        "friction": 0.32
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                5,
+                17
+            ],
+            "C": {
+                "axis": [
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+                    0.0,
+                    -1.0
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+                "pos": [
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+                    -0.25,
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+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001386/annotations/part_6.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001386",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Top Cabinet Door 2 (left-center)",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Short MDF door panel ~60*40*1.8 cm, second from the left on top row.",
+        "functional_description": "Covers upper storage compartment.",
+        "movement_description": "Swings on hinges relative to the carcass.",
+        "grasp_description": "Gripped by the knob to open/close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Melamine",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 18,
+        "poisson": 0.3,
+        "friction": 0.32
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                6,
+                18
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+            "C": {
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+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001386/annotations/part_7.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001386",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Top Cabinet Door 3 (right-center)",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Short MDF door ~60*40*1.8 cm, third from the left on the top row.",
+        "functional_description": "Closes the right-center upper cubby.",
+        "movement_description": "Rotational opening about a vertical hinge.",
+        "grasp_description": "Pulled by the attached knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Melamine",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 18,
+        "poisson": 0.3,
+        "friction": 0.32
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
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+                19
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+                "range": [
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+                "damping": 0.03
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+    }
+}

data/UPB_00001386/annotations/part_8.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001386",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Top Cabinet Door 4 (far right)",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Short MDF door ~60*40*1.8 cm at the top-right.",
+        "functional_description": "Closes the far-right overhead compartment.",
+        "movement_description": "Rotates about a vertical hinge attached to the carcass.",
+        "grasp_description": "Operated via its knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Melamine",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 18,
+        "poisson": 0.3,
+        "friction": 0.32
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                8,
+                20
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+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
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+                ],
+                "range": [
+                    0.0,
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+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001386/annotations/part_9.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001386",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Tall Door 1 (far left)",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Full-height MDF door ~60*200*1.8 cm on the far left.",
+        "functional_description": "Closes the left hanging/storage bay.",
+        "movement_description": "Swing door on concealed hinges.",
+        "grasp_description": "Pulled by the left-side knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Melamine",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 18,
+        "poisson": 0.3,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
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+        "motion_info": {
+            "dependency": [
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+                21
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+                "range": [
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+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001386/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_00001386/full_model/model.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:08b9950fc327bd59c1b26d7d58e7cb29f7c2aba87651fb5a85d7f4cabc9bc840
+size 12997523

data/UPB_00001386/meta_data.json

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+{
+    "id": "UPB_00001386",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Wardrobe Closet with Upper Cabinets, Doors and Drawers"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 25,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001386/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="helper_link_3"/>
+  <link name="helper_link_4"/>
+  <link name="helper_link_5"/>
+  <link name="helper_link_6"/>
+  <link name="helper_link_7"/>
+  <link name="helper_link_8"/>
+  <link name="helper_link_9"/>
+  <link name="helper_link_10"/>
+  <link name="helper_link_11"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.999996 0.999996 0.999996"/>
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+        <mesh filename="parts/part_1.obj" scale="0.999996 0.999996 0.999996"/>
+      </geometry>
+    </collision>
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+    <visual>
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+        <mesh filename="parts/part_2.obj" scale="0.999996 0.999996 0.999996"/>
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+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.999996 0.999996 0.999996"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
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+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.999996 0.999996 0.999996"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
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+    <collision>
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+        <mesh filename="parts/part_4.obj" scale="0.999996 0.999996 0.999996"/>
+      </geometry>
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+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.999996 0.999996 0.999996"/>
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+    <visual>
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+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.999996 0.999996 0.999996"/>
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+  </link>
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+      </geometry>
+    </collision>
+  </link>
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+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.999996 0.999996 0.999996"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.999996 0.999996 0.999996"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
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+  </link>
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+    <visual>
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+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.999996 0.999996 0.999996"/>
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+        <mesh filename="parts/part_11.obj" scale="0.999996 0.999996 0.999996"/>
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+  </link>
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+    <visual>
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+    <collision>
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+  </link>
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+    <visual>
+      <geometry>
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+    <collision>
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+  </link>
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+    <visual>
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+      <geometry>
+        <mesh filename="parts/part_19.obj" scale="0.999996 0.999996 0.999996"/>
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