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sha256:e22dff8e3826c28f419218cd8c0e0cdad231ab35cc0d3b1fbfb3b8de420eedd4 +size 160242 diff --git a/data/UPB_00001409/plys/model.ply b/data/UPB_00001409/plys/model.ply new file mode 100644 index 0000000000000000000000000000000000000000..b61450881984bb0a0fef2892fa86c9a5081dd146 --- /dev/null +++ b/data/UPB_00001409/plys/model.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e35fcaf11b4dd60f74c35ccb44f4b1cf92db4b20c900655bdf3792497efc25e +size 1600243 diff --git a/data/UPB_00001410/annotations/object.json b/data/UPB_00001410/annotations/object.json new file mode 100644 index 0000000000000000000000000000000000000000..cde9b1fde9b58e760304041b9c3679ea7ca33aa0 --- /dev/null +++ b/data/UPB_00001410/annotations/object.json @@ -0,0 +1,10 @@ +{ + "object_name": "Large Wardrobe Closet", + "category": "Furniture/StorageFurniture", + "volume": [ + 240.0, + 60.0, + 220.0 + ], + "mass": 160.0 +} \ No newline at end of file diff --git a/data/UPB_00001410/annotations/part_1.json b/data/UPB_00001410/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..d2efd90696092028be9997a15d8561ca07026c19 --- /dev/null +++ b/data/UPB_00001410/annotations/part_1.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001410", + "label": "1" + }, + "part_level": { + "part_name": "Decorative glazing bars", + "affordance": 9, + "graspable": false, + "basic_description": "Slim MDF decorative muntin-style bars attached to a glass-panel door, painted to match the wardrobe. Approx size 5*1.5*180 cm (W*D*H).", + "functional_description": "Provides a decorative grid over the glass door, improving aesthetics without affecting structure.", + "movement_description": "No independent motion; it moves rigidly with the door it is fixed to.", + "grasp_description": "Not intended to be grasped." + }, + "basic_info": { + "material": "wood/MDF_Lacquered", + "density": 0.74, + "young": 3.5, + "hardness": 20, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001410/annotations/part_10.json b/data/UPB_00001410/annotations/part_10.json new file mode 100644 index 0000000000000000000000000000000000000000..4631e9f113ed9758450a48b8fd99ffa99a79ee46 --- /dev/null +++ b/data/UPB_00001410/annotations/part_10.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001410", + "label": "10" + }, + "part_level": { + "part_name": "Right middle door", + "affordance": 7, + "graspable": false, + "basic_description": "Tall MDF panel door adjacent to the open-shelf column; about 30*2.0*210 cm.", + "functional_description": "Protects a cupboard section for folded items.", + "movement_description": "Rotational opening on hinges.", + "grasp_description": "Used via the attached handle." + }, + "basic_info": { + "material": "wood/MDF_Lacquered", + "density": 0.74, + "young": 3.6, + "hardness": 25, + "poisson": 0.3, + "friction": 0.46 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 10, + 17 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.7086135149002075, + -0.19647331535816193, + -1.0186108845289255e-08 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001410/annotations/part_11.json b/data/UPB_00001410/annotations/part_11.json new file mode 100644 index 0000000000000000000000000000000000000000..f5d43fa87967d8b62456f5fa96423f6d18845c7c --- /dev/null +++ b/data/UPB_00001410/annotations/part_11.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001410", + "label": "11" + }, + "part_level": { + "part_name": "Rightmost door", + "affordance": 7, + "graspable": false, + "basic_description": "Tall, narrow MDF door covering the far-right bay; approx 25*2.0*210 cm.", + "functional_description": "Closes the right shelf column.", + "movement_description": "Opens outward on hinges attached to the carcass.", + "grasp_description": "Gripped by its vertical pull." + }, + "basic_info": { + "material": "wood/MDF_Lacquered", + "density": 0.74, + "young": 3.6, + "hardness": 25, + "poisson": 0.3, + "friction": 0.46 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 11, + 18 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 1.3983774185180664, + -0.19070495665073395, + -4.7864421759413744e-08 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001410/annotations/part_12.json b/data/UPB_00001410/annotations/part_12.json new file mode 100644 index 0000000000000000000000000000000000000000..8687d51a8fdb110881d6ce188d38c00e9c00bec2 --- /dev/null +++ b/data/UPB_00001410/annotations/part_12.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001410", + "label": "12" + }, + "part_level": { + "part_name": "Handle for left outer door", + "affordance": 4, + "graspable": true, + "basic_description": "Curved stainless pull, matte black finish; about 16*2.5*3 cm.", + "functional_description": "Primary grasp point to operate the left outer door.", + "movement_description": "No independent motion; moves with the door.", + "grasp_description": "Fingers curl behind the bar; low-slip surface." + }, + "basic_info": { + "material": "metal/Stainless_Steel_Black_Powdercoat", + "density": 7.9, + "young": 200.0, + "hardness": 200, + "poisson": 0.29, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001410/annotations/part_13.json b/data/UPB_00001410/annotations/part_13.json new file mode 100644 index 0000000000000000000000000000000000000000..5cf2e6c546cba8eaa32ad979dbde4d0c8af4438f --- /dev/null +++ b/data/UPB_00001410/annotations/part_13.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001410", + "label": "13" + }, + "part_level": { + "part_name": "Handle for left inner door", + "affordance": 4, + "graspable": true, + "basic_description": "Vertical metal pull sized for a tall door.", + "functional_description": "Allows opening/closing of the left inner door.", + "movement_description": "Rigidly fixed to its door.", + "grasp_description": "Grasped with a hook grip." + }, + "basic_info": { + "material": "metal/Stainless_Steel_Black_Powdercoat", + "density": 7.9, + "young": 200.0, + "hardness": 200, + "poisson": 0.29, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001410/annotations/part_14.json b/data/UPB_00001410/annotations/part_14.json new file mode 100644 index 0000000000000000000000000000000000000000..ac3631833e5e100ae3b236fc86793d486b13c7cd --- /dev/null +++ b/data/UPB_00001410/annotations/part_14.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001410", + "label": "14" + }, + "part_level": { + "part_name": "Handle for glass-panel door (left center)", + "affordance": 3, + "graspable": true, + "basic_description": "Curved pull handle for the left central glass door.", + "functional_description": "User interface to swing the glass door.", + "movement_description": "Rigid to the mounting plate; no relative motion.", + "grasp_description": "Comfortable for repeated use; accommodates full hand." + }, + "basic_info": { + "material": "metal/Stainless_Steel_Black_Powdercoat", + "density": 7.9, + "young": 200.0, + "hardness": 200, + "poisson": 0.29, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001410/annotations/part_15.json b/data/UPB_00001410/annotations/part_15.json new file mode 100644 index 0000000000000000000000000000000000000000..59e768e3bf5a65a2664243a4971e8553a3e7294b --- /dev/null +++ b/data/UPB_00001410/annotations/part_15.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001410", + "label": "15" + }, + "part_level": { + "part_name": "Handle for glass-panel door (right center)", + "affordance": 3, + "graspable": true, + "basic_description": "Vertical metal pull for the right central glass door.", + "functional_description": "Primary grasp surface to open/close the door.", + "movement_description": "Rigidly attached to the door.", + "grasp_description": "Hook or power grip along the curved bar." + }, + "basic_info": { + "material": "metal/Stainless_Steel_Black_Powdercoat", + "density": 7.9, + "young": 200.0, + "hardness": 200, + "poisson": 0.29, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001410/annotations/part_16.json b/data/UPB_00001410/annotations/part_16.json new file mode 100644 index 0000000000000000000000000000000000000000..4aef0aee40d239eca3c07d88b507a526d50b1417 --- /dev/null +++ b/data/UPB_00001410/annotations/part_16.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001410", + "label": "16" + }, + "part_level": { + "part_name": "Handle for right inner door", + "affordance": 4, + "graspable": true, + "basic_description": "Door pull for the narrow right inner door.", + "functional_description": "Provides leverage to operate the door.", + "movement_description": "Moves rigidly with the door.", + "grasp_description": "Typically grasped with three to four fingers." + }, + "basic_info": { + "material": "metal/Stainless_Steel_Black_Powdercoat", + "density": 7.9, + "young": 200.0, + "hardness": 200, + "poisson": 0.29, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001410/annotations/part_17.json b/data/UPB_00001410/annotations/part_17.json new file mode 100644 index 0000000000000000000000000000000000000000..343444c4a6269514ecd24cb6d461a92e284d0422 --- /dev/null +++ b/data/UPB_00001410/annotations/part_17.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001410", + "label": "17" + }, + "part_level": { + "part_name": "Handle for right middle door", + "affordance": 4, + "graspable": true, + "basic_description": "Curved vertical pull for a mid-right cabinet door.", + "functional_description": "Used to swing the door open and closed.", + "movement_description": "No relative movement to the door.", + "grasp_description": "Comfortable one-hand pull." + }, + "basic_info": { + "material": "metal/Stainless_Steel_Black_Powdercoat", + "density": 7.9, + "young": 200.0, + "hardness": 200, + "poisson": 0.29, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001410/annotations/part_18.json b/data/UPB_00001410/annotations/part_18.json new file mode 100644 index 0000000000000000000000000000000000000000..ea19ea609e3d3c978d76524230d8662c7f59daf2 --- /dev/null +++ b/data/UPB_00001410/annotations/part_18.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001410", + "label": "18" + }, + "part_level": { + "part_name": "Handle for rightmost door", + "affordance": 4, + "graspable": true, + "basic_description": "Vertical metal pull for the far-right door.", + "functional_description": "User interface for the rightmost compartment.", + "movement_description": "Rigidly mounted; no independent motion.", + "grasp_description": "Hand wraps around the curved bar." + }, + "basic_info": { + "material": "metal/Stainless_Steel_Black_Powdercoat", + "density": 7.9, + "young": 200.0, + "hardness": 200, + "poisson": 0.29, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001410/annotations/part_19.json b/data/UPB_00001410/annotations/part_19.json new file mode 100644 index 0000000000000000000000000000000000000000..41d9ba08e30c567fdef619cb67aba082d51df5d7 --- /dev/null +++ b/data/UPB_00001410/annotations/part_19.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001410", + "label": "19" + }, + "part_level": { + "part_name": "Top drawer handle", + "affordance": 1, + "graspable": true, + "basic_description": "Horizontal bow-shaped pull for the upper drawer, about 14*2.5*3 cm.", + "functional_description": "Primary grasp point for sliding the upper drawer.", + "movement_description": "Rigidly fixed to the drawer front.", + "grasp_description": "Pulled with a full-hand or fingertip grip." + }, + "basic_info": { + "material": "metal/Stainless_Steel_Black_Powdercoat", + "density": 7.9, + "young": 200.0, + "hardness": 200, + "poisson": 0.29, + "friction": 0.34 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001410/annotations/part_2.json b/data/UPB_00001410/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..a71ce51b3a67baf1922d7bd995284fc43dd466a1 --- /dev/null +++ b/data/UPB_00001410/annotations/part_2.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001410", + "label": "2" + }, + "part_level": { + "part_name": "Upper drawer box", + "affordance": 6, + "graspable": false, + "basic_description": "MDF drawer with front panel, sides and base; about 80*45*18 cm (W*D*H).", + "functional_description": "Stores small garments and accessories and interfaces with slide rails inside the cabinet.", + "movement_description": "Slides in/out on telescopic runners relative to the cabinet carcass with limited damping.", + "grasp_description": "Users pull the attached handle rather than the drawer body." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.74, + "young": 3.4, + "hardness": 22, + "poisson": 0.3, + "friction": 0.48 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 2, + 19 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + -0.4219462275505066, + 0.0, + -0.6084321141242981 + ], + "range": [ + -0.30000001192092896, + 0.0 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001410/annotations/part_20.json b/data/UPB_00001410/annotations/part_20.json new file mode 100644 index 0000000000000000000000000000000000000000..21e7725499f3aba56bd027c2559874d4f57354d0 --- /dev/null +++ b/data/UPB_00001410/annotations/part_20.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001410", + "label": "20" + }, + "part_level": { + "part_name": "Middle drawer handle", + "affordance": 2, + "graspable": true, + "basic_description": "Horizontal handle sized for the middle drawer.", + "functional_description": "Enables pulling and pushing of the middle drawer.", + "movement_description": "Rigid connection to the drawer face.", + "grasp_description": "Commonly grasped with one hand at center." + }, + "basic_info": { + "material": "metal/Stainless_Steel_Black_Powdercoat", + "density": 7.9, + "young": 200.0, + "hardness": 200, + "poisson": 0.29, + "friction": 0.34 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001410/annotations/part_21.json b/data/UPB_00001410/annotations/part_21.json new file mode 100644 index 0000000000000000000000000000000000000000..fb24003ad964e957f9faac61c2c263b3303c2719 --- /dev/null +++ b/data/UPB_00001410/annotations/part_21.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001410", + "label": "21" + }, + "part_level": { + "part_name": "Lower drawer handle", + "affordance": 2, + "graspable": true, + "basic_description": "Horizontal metal pull for the lower drawer.", + "functional_description": "Used to open/close the lowest drawer which may carry heavier loads.", + "movement_description": "Rigidly attached with bolts; no motion.", + "grasp_description": "Pulled upward and outward." + }, + "basic_info": { + "material": "metal/Stainless_Steel_Black_Powdercoat", + "density": 7.9, + "young": 200.0, + "hardness": 200, + "poisson": 0.29, + "friction": 0.34 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001410/annotations/part_22.json b/data/UPB_00001410/annotations/part_22.json new file mode 100644 index 0000000000000000000000000000000000000000..fb7e96728af712f2860d418c892873cc98112f15 --- /dev/null +++ b/data/UPB_00001410/annotations/part_22.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001410", + "label": "22" + }, + "part_level": { + "part_name": "Wardrobe carcass (body with shelves)", + "affordance": 10, + "graspable": false, + "basic_description": "Main structural body of the wardrobe made from laminated particle board with internal dividers, shelves, and drawer slides. Approx 240*60*220 cm overall.", + "functional_description": "Provides structural support and houses compartments, shelves, and slide/hinge mountings for doors and drawers.", + "movement_description": "Stationary reference frame; all doors rotate on hinges and drawers translate on slides relative to it.", + "grasp_description": "Normally not grasped directly, except at edges when moving the furniture." + }, + "basic_info": { + "material": "wood/Particle_Board_Laminated", + "density": 0.65, + "young": 2.5, + "hardness": 15, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001410/annotations/part_3.json b/data/UPB_00001410/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..61056908f015a1aae3e7082c2d522d0b1de87723 --- /dev/null +++ b/data/UPB_00001410/annotations/part_3.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001410", + "label": "3" + }, + "part_level": { + "part_name": "Middle drawer box", + "affordance": 6, + "graspable": false, + "basic_description": "Second MDF drawer, approx 80*45*18 cm.", + "functional_description": "General storage inside the wardrobe.", + "movement_description": "Translates on slides with soft-close behavior.", + "grasp_description": "Pulled by its handle." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.74, + "young": 3.4, + "hardness": 22, + "poisson": 0.3, + "friction": 0.48 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 3, + 20 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + -0.3743443787097931, + 0.0, + -0.7280740737915039 + ], + "range": [ + -0.30000001192092896, + 0.0 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001410/annotations/part_4.json b/data/UPB_00001410/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..35cbd9aa1bdcf7186dc78a8f39767033d5bc1ffc --- /dev/null +++ b/data/UPB_00001410/annotations/part_4.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001410", + "label": "4" + }, + "part_level": { + "part_name": "Lower drawer box", + "affordance": 6, + "graspable": false, + "basic_description": "Third MDF drawer, approx 80*45*18 cm.", + "functional_description": "Storage for bulkier folded items.", + "movement_description": "Slides outward from the cabinet on runners.", + "grasp_description": "Users grasp the horizontal handle." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.74, + "young": 3.4, + "hardness": 22, + "poisson": 0.3, + "friction": 0.48 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 4, + 21 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + -0.3614025115966797, + 0.0, + -0.9612478613853455 + ], + "range": [ + -0.30000001192092896, + 0.0 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001410/annotations/part_5.json b/data/UPB_00001410/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..7ab3963bdeb2d939c111d1d01eb69dab81c1d730 --- /dev/null +++ b/data/UPB_00001410/annotations/part_5.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001410", + "label": "5" + }, + "part_level": { + "part_name": "Left outer door", + "affordance": 7, + "graspable": false, + "basic_description": "Tall hinged MDF door on the far left, about 45*2.0*210 cm (W*D*H).", + "functional_description": "Covers a tall hanging/storage compartment.", + "movement_description": "Rotates about side hinges relative to the cabinet.", + "grasp_description": "Operated by the attached vertical handle." + }, + "basic_info": { + "material": "wood/MDF_Lacquered", + "density": 0.74, + "young": 3.6, + "hardness": 25, + "poisson": 0.3, + "friction": 0.46 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 5, + 12 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -1.3903719186782837, + -0.18553614616394043, + 0.0 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001410/annotations/part_6.json b/data/UPB_00001410/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..2478aa8ddbefc07de58cfdd4c8585c6a5f212811 --- /dev/null +++ b/data/UPB_00001410/annotations/part_6.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001410", + "label": "6" + }, + "part_level": { + "part_name": "Left inner door", + "affordance": 7, + "graspable": false, + "basic_description": "Narrow tall MDF door adjacent to the left side, about 35*2.0*210 cm.", + "functional_description": "Covers a vertical storage bay or shelf column.", + "movement_description": "Hinged rotation about the side.", + "grasp_description": "Pulled via its handle." + }, + "basic_info": { + "material": "wood/MDF_Lacquered", + "density": 0.74, + "young": 3.6, + "hardness": 25, + "poisson": 0.3, + "friction": 0.46 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 6, + 13 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + -0.7205687165260315, + -0.19834035634994507, + 2.4664018383191433e-08 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001410/annotations/part_7.json b/data/UPB_00001410/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..41983069d0a0f520a73b6d694a5a83b7826a97ab --- /dev/null +++ b/data/UPB_00001410/annotations/part_7.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001410", + "label": "7" + }, + "part_level": { + "part_name": "Glass-panel door (left center)", + "affordance": 7, + "graspable": false, + "basic_description": "Framed door with multiple glazed panes and decorative bars; approx 45*2.2*210 cm.", + "functional_description": "Provides visibility into the central section while keeping dust out.", + "movement_description": "Opens on hinges, rotating outwards from the frame.", + "grasp_description": "Operated using the handle; the glass and bars are not for gripping." + }, + "basic_info": { + "material": "wood/MDF_Lacquered", + "density": 0.74, + "young": 3.6, + "hardness": 25, + "poisson": 0.3, + "friction": 0.46 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 7, + 14 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.7056663036346436, + -0.18964485824108124, + 0.47187158465385437 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001410/annotations/part_8.json b/data/UPB_00001410/annotations/part_8.json new file mode 100644 index 0000000000000000000000000000000000000000..0a8193547a4958098a21ba5de17a1fa2ba236e5f --- /dev/null +++ b/data/UPB_00001410/annotations/part_8.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001410", + "label": "8" + }, + "part_level": { + "part_name": "Glass-panel door (right center)", + "affordance": 7, + "graspable": false, + "basic_description": "Framed door with two large glazed panels; approx 45*2.2*210 cm.", + "functional_description": "Covers the adjacent central bay while allowing a partial view.", + "movement_description": "Hinged rotation relative to the carcass.", + "grasp_description": "Pulled by its vertical handle." + }, + "basic_info": { + "material": "wood/MDF_Lacquered", + "density": 0.74, + "young": 3.6, + "hardness": 25, + "poisson": 0.3, + "friction": 0.46 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 8, + 15 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.02649361453950405, + -0.19447001814842224, + 0.24890471994876862 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001410/annotations/part_9.json b/data/UPB_00001410/annotations/part_9.json new file mode 100644 index 0000000000000000000000000000000000000000..2791d6dccffe2b272f92d0cfa1b113933e8c8584 --- /dev/null +++ b/data/UPB_00001410/annotations/part_9.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001410", + "label": "9" + }, + "part_level": { + "part_name": "Right inner door (left of shelving)", + "affordance": 7, + "graspable": false, + "basic_description": "Tall MDF door near the right side; about 35*2.0*210 cm.", + "functional_description": "Covers a narrow vertical compartment.", + "movement_description": "Opens via side hinges.", + "grasp_description": "Handled by the mounted pull." + }, + "basic_info": { + "material": "wood/MDF_Lacquered", + "density": 0.74, + "young": 3.6, + "hardness": 25, + "poisson": 0.3, + "friction": 0.46 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 9, + 16 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + 0.01967800408601761, + -0.20143485069274902, + 6.735498270238338e-10 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001410/full_model/material.mtl b/data/UPB_00001410/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00001410/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_00001410/full_model/material_0.png b/data/UPB_00001410/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b57484620c03e4d9c0fe8e1039ebdad72b9c25a9 --- /dev/null +++ b/data/UPB_00001410/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5288ac63e8e131ecb17177e0a3fcf6113230536150dae567ce52eef327d9670e +size 1380059 diff --git a/data/UPB_00001410/full_model/model.obj b/data/UPB_00001410/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..264535e6a1ba50d68ab8bbf1d5ce5a667b83f6ca --- /dev/null +++ b/data/UPB_00001410/full_model/model.obj @@ -0,0 +1,213650 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v -0.30816489 -0.18396586 0.46402559 +v -0.00810401 -0.19686228 0.46402559 +v -0.00810401 -0.18396586 0.46402559 +v -0.30816489 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b/data/UPB_00001410/parts/8.mtl new file mode 100644 index 0000000000000000000000000000000000000000..f7dfe358d3622611c2f425634d141f0f26989cbc --- /dev/null +++ b/data/UPB_00001410/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_00001410/parts/8.png b/data/UPB_00001410/parts/8.png new file mode 100644 index 0000000000000000000000000000000000000000..8ddf101697e61756b2c175ff075e077508a85174 --- /dev/null +++ b/data/UPB_00001410/parts/8.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b4d2216cd8c8a4c7a35078c9905c8f0abe23a7204a117e0abc6380b1c1a9136 +size 678058 diff --git a/data/UPB_00001410/parts/T_696e727f2d78614781261a78_color.jpg b/data/UPB_00001410/parts/T_696e727f2d78614781261a78_color.jpg new file mode 100644 index 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