Upload folder using huggingface_hub (part 64)

.gitattributes

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data/UPB_00000836/annotations/object.json

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+{
+    "object_name": "Sliding-Door TV Console with Drawers",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        180.0,
+        40.0,
+        50.0
+    ],
+    "mass": 34.0
+}

data/UPB_00000836/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000836",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left slatted sliding door",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Rectangular ribbed wood panel (about 45*35*1.8 cm) used as the left sliding door of the TV console.",
+        "functional_description": "Covers either the left compartment or the center opening to hide contents and provide a finished look.",
+        "movement_description": "Translates horizontally along upper/lower tracks fixed to the cabinet body; travel roughly the width of one door.",
+        "grasp_description": "Typically slid using its knob or by pinching an edge."
+    },
+    "basic_info": {
+        "material": "wood/Solid_Wood_Oak_Veneer",
+        "density": 0.68,
+        "young": 11.0,
+        "hardness": 40,
+        "poisson": 0.33,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                7
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+            "C": {
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+    }
+}

data/UPB_00000836/annotations/part_10.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000836",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Front outer face frame/sleeve",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Long rectangular ring-like frame (~170*20*1.5 cm) that trims the open shelf area.",
+        "functional_description": "Decorative and stiffening face frame that hides tracks and edges and increases rigidity of the opening.",
+        "movement_description": "Rigidly fixed to the main cabinet body; no relative motion.",
+        "grasp_description": "Not intended for grasping; occasionally touched when cleaning."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Veneered",
+        "density": 0.6,
+        "young": 6.0,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.45
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+            "D"
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+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000836",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Right slatted sliding door",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Matching ribbed wood panel (about 45*35*1.8 cm) for the right sliding door.",
+        "functional_description": "Slides to expose or cover the right/center storage bays.",
+        "movement_description": "Translates laterally on the same track system as the left door.",
+        "grasp_description": "Pulled using its small knob or an edge."
+    },
+    "basic_info": {
+        "material": "wood/Solid_Wood_Oak_Veneer",
+        "density": 0.68,
+        "young": 11.0,
+        "hardness": 40,
+        "poisson": 0.33,
+        "friction": 0.4
+    },
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+            "C"
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+            "dependency": [
+                2,
+                8
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+                    1.0
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+                "damping": 0.03
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+        }
+    }
+}

data/UPB_00000836/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000836",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Left drawer box",
+        "affordance": 7,
+        "graspable": true,
+        "basic_description": "Open-top wooden drawer box (~38*28*12 cm) mounted on runners inside the center bay.",
+        "functional_description": "Stores small items such as remotes and cables.",
+        "movement_description": "Slides in and out along side rails fixed to the carcass; soft-closing friction provides damping.",
+        "grasp_description": "Pulled by the attached knob on its front."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Veneered",
+        "density": 0.6,
+        "young": 6.0,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                5
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+            "B": {
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+                    1.0,
+                    0.0
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+                    0.0
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+                "range": [
+                    -0.25999999046325684,
+                    0.0
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+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00000836/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000836",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Right drawer box",
+        "affordance": 8,
+        "graspable": true,
+        "basic_description": "Second wooden drawer box (~38*28*12 cm) to the right of the left drawer.",
+        "functional_description": "Provides additional enclosed storage in the central area.",
+        "movement_description": "Slides forward and backward on drawer slides attached to the cabinet body.",
+        "grasp_description": "Pulled using its front knob."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Veneered",
+        "density": 0.6,
+        "young": 6.0,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                6
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+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
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+                "pos": [
+                    0.3195590376853943,
+                    -0.17000000178813934,
+                    0.0
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+                "range": [
+                    -0.25999999046325684,
+                    0.0
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+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00000836/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000836",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Left drawer knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Small black metal knob (~3 cm dia) mounted to the left drawer front.",
+        "functional_description": "Provides a grasp point to pull the drawer.",
+        "movement_description": "Rigidly attached; moves exactly with the left drawer.",
+        "grasp_description": "Pinched between fingers to open/close the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Zamak",
+        "density": 6.6,
+        "young": 83.0,
+        "hardness": 120,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000836/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000836",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Right drawer knob",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Black metal knob (~3 cm dia) fastened to the right drawer front.",
+        "functional_description": "Handhold for sliding the right drawer.",
+        "movement_description": "Rigid connection to the right drawer; no independent motion.",
+        "grasp_description": "Pulled with fingertips."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Zamak",
+        "density": 6.6,
+        "young": 83.0,
+        "hardness": 120,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000836/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000836",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Left door knob",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Black metal pull attached to the left sliding door panel.",
+        "functional_description": "Gives the user leverage to slide the left door.",
+        "movement_description": "Rigidly moves with the left door along the guide track.",
+        "grasp_description": "Finger-pinch or hook grip to push/pull the door."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Zamak",
+        "density": 6.6,
+        "young": 83.0,
+        "hardness": 120,
+        "poisson": 0.3,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000836/annotations/part_8.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000836",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Right door knob",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Black metal pull fixed to the right sliding door panel.",
+        "functional_description": "Provides grip to slide the right door.",
+        "movement_description": "No independent motion; follows the right door translation.",
+        "grasp_description": "Thumb-and-finger grasp point."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Zamak",
+        "density": 6.6,
+        "young": 83.0,
+        "hardness": 120,
+        "poisson": 0.3,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000836/annotations/part_9.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000836",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Main cabinet body with legs and shelves",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Large rectangular carcass (~180*40*50 cm overall) with four short legs, side walls, shelves, and drawer runners.",
+        "functional_description": "Provides structural support and storage bays; guides for sliding doors and drawers are fixed to it.",
+        "movement_description": "Stationary reference frame for all translating parts.",
+        "grasp_description": "Usually not grasped directly except when moving the furniture."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Melamine",
+        "density": 0.7,
+        "young": 3.2,
+        "hardness": 18,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000836/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_00000836/meta_data.json

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+{
+    "id": "UPB_00000836",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Sliding-Door TV Console with Drawers"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 10,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000836/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="0.750001 0.750001 0.750001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.750001 0.750001 0.750001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.750001 0.750001 0.750001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.750001 0.750001 0.750001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.750001 0.750001 0.750001"/>
+      </geometry>
+    </visual>
+    <collision>
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