Upload folder using huggingface_hub (part 115)

.gitattributes

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data/UPB_00001466/plys/3.ply

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data/UPB_00001467/annotations/object.json

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+{
+    "object_name": "Wardrobe Cabinet with Drawer",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        120.0,
+        50.0,
+        180.0
+    ],
+    "mass": 75.0
+}

data/UPB_00001467/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001467",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Pull-out Drawer Box",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "A laminated particle-board drawer box, approx. 45*40*12 cm, rectangular with a taller front panel.",
+        "functional_description": "Provides storage for small items; slides in and out of the cabinet body on runners.",
+        "movement_description": "Translates along the cabinet depth on telescopic/roller slides with moderate damping and full-extension travel up to ~40 cm.",
+        "grasp_description": "Typically grasped at the front edge or any applied pull to open and close."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminated",
+        "density": 0.65,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
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+        "motion_info": {
+            "dependency": [
+                1
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+            "B": {
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+                "damping": 0.06
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+    }
+}

data/UPB_00001467/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001467",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Left Door Panel",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Narrow laminated particle-board door (~35*2*170 cm) for the left bay.",
+        "functional_description": "Covers the left storage compartment and supports the handle and hinges.",
+        "movement_description": "Rotates on side hinges relative to the cabinet body with soft-close damping.",
+        "grasp_description": "Users pull the attached handle to rotate the door; the panel itself is seldom grasped."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminated",
+        "density": 0.65,
+        "young": 3.0,
+        "hardness": 24,
+        "poisson": 0.3,
+        "friction": 0.48
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+    "kinematic_info": {
+        "motion_types": [
+            "C"
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+        "motion_info": {
+            "dependency": [
+                2,
+                5
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+                "damping": 0.04
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+        }
+    }
+}

data/UPB_00001467/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001467",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Center Door Panel",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Wider central laminated door (~45*2*170 cm).",
+        "functional_description": "Covers the central bay and carries the center handle; swings open on hinges.",
+        "movement_description": "Rotates about a vertical hinge axis relative to the carcass; typical opening up to ~110 degrees.",
+        "grasp_description": "Handled via the center handle to open/close."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminated",
+        "density": 0.65,
+        "young": 3.0,
+        "hardness": 24,
+        "poisson": 0.3,
+        "friction": 0.48
+    },
+    "kinematic_info": {
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+            "C"
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+                "range": [
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+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001467/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001467",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Right Door Panel",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Narrow laminated particle-board door (~35*2*170 cm) serving the right bay.",
+        "functional_description": "Provides access to the right compartment and mounts the right handle.",
+        "movement_description": "Rotates on hinges relative to the cabinet body with soft-close behavior.",
+        "grasp_description": "Operated through the right-side handle."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminated",
+        "density": 0.65,
+        "young": 3.0,
+        "hardness": 24,
+        "poisson": 0.3,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                7
+            ],
+            "C": {
+                "axis": [
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+                    0.0,
+                    1.0
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+                "pos": [
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+                    0.0
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+                "range": [
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+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001467/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001467",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Left Door Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Anodized aluminum bar pull (~35*2*2 cm) mounted vertically on the left door.",
+        "functional_description": "Primary grasp point to open/close the left door.",
+        "movement_description": "Rigidly fixed to the left door; moves exactly as the door rotates.",
+        "grasp_description": "Gripped with fingers or whole hand; surface has moderate friction for a secure hold."
+    },
+    "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_00001467/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001467",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Center Door Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Vertical aluminum handle (~35*2*2 cm) installed on the center door.",
+        "functional_description": "Provides leverage and grip to operate the center door.",
+        "movement_description": "Rigidly attached; follows the center door\u2019s rotation without relative motion.",
+        "grasp_description": "Commonly grasped by the user with a comfortable cylindrical profile."
+    },
+    "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_00001467/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001467",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Right Door Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Vertical anodized aluminum pull (~35*2*2 cm) for the right door.",
+        "functional_description": "Allows users to open and close the right door comfortably.",
+        "movement_description": "Rigid link to the right door with no relative motion.",
+        "grasp_description": "Finger-wrapped pull; smooth matte finish to balance comfort and grip."
+    },
+    "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_00001467/annotations/part_8.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001467",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Hanging Rods (Set of 2)",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Two stainless-steel closet rods, each about 75 cm long and 2.5 cm diameter, mounted inside the cabinet.",
+        "functional_description": "Support clothes hangers and distribute loads to the cabinet side walls.",
+        "movement_description": "Rigidly fixed to the cabinet carcass via end brackets; no intended relative motion.",
+        "grasp_description": "Users touch when hanging or retrieving clothes; smooth low-friction surface eases sliding hangers."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001467/annotations/part_9.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001467",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Cabinet Carcass with Shelves",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Main cabinet body with vertical dividers and shelves, laminated particle board, overall 120*50*180 cm.",
+        "functional_description": "Provides structural support for doors, drawer slides, and hanging rods; contains storage compartments.",
+        "movement_description": "Acts as the fixed frame. All movable parts (doors and drawer) move relative to this carcass.",
+        "grasp_description": "Rarely grasped directly except when repositioning the entire furniture or cleaning interior shelves."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminated",
+        "density": 0.65,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001467/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_00001467/meta_data.json

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+{
+    "id": "UPB_00001467",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Wardrobe Cabinet with Drawer"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 9,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001467/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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.750000 0.750000 0.750000"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.750000 0.750000 0.750000"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.750000 0.750000 0.750000"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.750000 0.750000 0.750000"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.750000 0.750000 0.750000"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.750000 0.750000 0.750000"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.750000 0.750000 0.750000"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.750000 0.750000 0.750000"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.750000 0.750000 0.750000"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.750000 0.750000 0.750000"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.750000 0.750000 0.750000"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.750000 0.750000 0.750000"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.750000 0.750000 0.750000"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
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+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.750000 0.750000 0.750000"/>
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+    </visual>
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+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.750000 0.750000 0.750000"/>
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+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.750000 0.750000 0.750000"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
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+    <origin xyz="0.407832 -0.178473 -0.360322" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
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+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="-0.597597 0.179760 -0.000000" rpy="0 0 0"/>
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+  <joint name="joint_8" type="fixed">
+    <parent link="link_2"/>
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data/UPB_00001467/plys/model.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001468/annotations/object.json

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+{
+    "object_name": "Three-Door Wardrobe Cabinet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        120.0,
+        60.0,
+        200.0
+    ],
+    "mass": 85.0
+}

data/UPB_00001468/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001468",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Door Panel",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Tall rectangular laminated particle-board door, approx. 195\u00d740\u00d71.6 cm, finishing to match the cabinet.",
+        "functional_description": "Provides access to the left section of the wardrobe and visually closes the storage.",
+        "movement_description": "Rotates about a vertical hinge line fixed to the left side panel of the carcass (part 4).",
+        "grasp_description": "Users pull on the edge/handle area to open and push to close."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminate",
+        "density": 0.65,
+        "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": [
+                    -0.7489566206932068,
+                    -0.2963620126247406,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.035
+            }
+        }
+    }
+}

data/UPB_00001468/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001468",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Center Door Panel",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Central laminated particle-board door, approx. 195\u00d740\u00d71.6 cm.",
+        "functional_description": "Main access door to the central compartment of the wardrobe.",
+        "movement_description": "Hinged rotation relative to the carcass (part 4) about a vertical axis.",
+        "grasp_description": "Frequently grasped at the edge/handle to open and close."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminate",
+        "density": 0.65,
+        "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": [
+                    -0.24683447182178497,
+                    -0.2963620126247406,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.035
+            }
+        }
+    }
+}

data/UPB_00001468/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001468",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Right Door Panel",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Right-side laminated particle-board door, approx. 195\u00d740\u00d71.6 cm.",
+        "functional_description": "Closes the right storage bay of the wardrobe.",
+        "movement_description": "Opens by rotating around a right-side vertical hinge attached to the carcass.",
+        "grasp_description": "Grasped on the free edge or handle area during operation."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminate",
+        "density": 0.65,
+        "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": [
+                    0.7506410479545593,
+                    -0.2963620126247406,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.035
+            }
+        }
+    }
+}

data/UPB_00001468/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001468",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Carcass Shell (Sides and Top)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "U-shaped cabinet carcass comprising the two side panels and the top panel, approx. 120\u00d760\u00d7200 cm outer envelope with board thickness around 1.8 cm.",
+        "functional_description": "Provides structural support, hinge mounting points for the three doors, and attachment for top and base boards.",
+        "movement_description": "Stationary reference frame; hosts the rotational joints of parts 1\u20133 and rigidly holds part 5.",
+        "grasp_description": "Not typically grasped; users contact interior surfaces when placing items."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminate",
+        "density": 0.65,
+        "young": 3.0,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.42
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001468/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001468",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Top and Base Boards",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Two flat boards with wood grain finish used as the wardrobe\u2019s top and bottom, each roughly 120\u00d760\u00d71.8 cm.",
+        "functional_description": "The base supports loads and stabilizes the cabinet; the top closes the carcass and can support light items.",
+        "movement_description": "Rigidly fixed to the carcass (part 4); no relative motion.",
+        "grasp_description": "Not grasped as separate parts; users place items on the base and may wipe or clean the top."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch_Laminated",
+        "density": 0.55,
+        "young": 10.0,
+        "hardness": 25,
+        "poisson": 0.28,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001468/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_00001468/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001468",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Three-Door Wardrobe Cabinet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 5,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}