Upload folder using huggingface_hub (part 239)

.gitattributes

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data/UPB_00001870/meta_data.json

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+{
+    "id": "UPB_00001870",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Wooden TV Stand with Doors and Drawers"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 10,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001870/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="0.948860 0.948860 0.948860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.948860 0.948860 0.948860"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.948860 0.948860 0.948860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.948860 0.948860 0.948860"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.948860 0.948860 0.948860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.948860 0.948860 0.948860"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.948860 0.948860 0.948860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.948860 0.948860 0.948860"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.948860 0.948860 0.948860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.948860 0.948860 0.948860"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.948860 0.948860 0.948860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.948860 0.948860 0.948860"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.948860 0.948860 0.948860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.948860 0.948860 0.948860"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.948860 0.948860 0.948860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.948860 0.948860 0.948860"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.948860 0.948860 0.948860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.948860 0.948860 0.948860"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.948860 0.948860 0.948860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.948860 0.948860 0.948860"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_9"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.843981 -0.179107 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.843981 0.179107 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_9"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.848431 -0.173797 0.030736" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.848431 0.173797 -0.030736" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_9"/>
+    <child link="helper_link_2"/>
+    <origin xyz="-0.217933 -0.185373 -0.017635" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.28465789667087243" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0.217933 0.185373 0.017635" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="prismatic">
+    <parent link="link_9"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.229162 -0.188337 -0.018276" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.28465789667087243" upper="0.0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="-0.229162 0.188337 0.018276" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001870/parts/1.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl MI_621f159f539e330001429e77
+Ka 0.40000000 0.40000000 0.40000000
+Kd 1.00000000 1.00000000 1.00000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 1.jpeg

data/UPB_00001870/parts/2.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl MI_621f159f539e330001429e77
+Ka 0.40000000 0.40000000 0.40000000
+Kd 1.00000000 1.00000000 1.00000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 2.jpeg

data/UPB_00001870/parts/TvCabinet_ZYQY73ETQVSKAPTULI888888_eqzo3.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_621f159f008ac600015d2214
+Kd 0.590038002 0.488914013 0.349029988
+illum 1
+
+newmtl MI_621f159f539e330001429e77
+Kd 1 1 1
+illum 1
+map_Kd ./T_621f159f539e330001429e77_color.jpg
+
+newmtl MI_621f159fbd035b0001042e3d
+Kd 1 1 1
+illum 1
+map_Kd ./T_621f159fbd035b0001042e3d_color.jpg
+
+newmtl MI_621f159fc3f2bf0001d80ed8
+Kd 1 1 1
+illum 1
+map_Kd ./T_621f159fc3f2bf0001d80ed8_color.jpg
+

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data/UPB_00001871/annotations/object.json

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+{
+    "object_name": "Two-door Wardrobe with Four Drawers",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        120.0,
+        50.0,
+        190.0
+    ],
+    "mass": 80.0
+}

data/UPB_00001871/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001871",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Main carcass (sides, top, bottom, back, legs, lower cubbies)",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Veneered plywood cabinet body with four legs and a full back panel; outer size about 120\u00d750\u00d7190 cm.",
+        "functional_description": "Provides the structural frame to support the doors, drawers, shelves and loads of clothing.",
+        "movement_description": "Stationary reference part. Doors rotate on hinges fixed to it; drawers slide in/out on runners attached to it.",
+        "grasp_description": "Not typically grasped except when moving the furniture."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Veneered",
+        "density": 0.55,
+        "young": 8.0,
+        "hardness": 18,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001871/annotations/part_10.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001871",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Right door drop handle",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Black-oxide steel drop pull for the right door.",
+        "functional_description": "User interface to operate the right door.",
+        "movement_description": "Rotates about its mounting pin relative to the door.",
+        "grasp_description": "Held between fingers to pull or push the door."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Black_Oxide",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001871/annotations/part_11.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001871",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Upper-left drawer ring pull",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Circular steel ring pull attached to the upper-left drawer front.",
+        "functional_description": "Provides grip to pull the drawer outward.",
+        "movement_description": "Pivots freely about a small eye fixed to the drawer front.",
+        "grasp_description": "Fingers hook into the ring to open the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Black_Oxide",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001871/annotations/part_12.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001871",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Upper-right drawer ring pull",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Circular steel ring pull for the upper-right drawer.",
+        "functional_description": "User grip for sliding the drawer open/closed.",
+        "movement_description": "Rotates on its anchor eye to align with the pulling direction.",
+        "grasp_description": "Hook fingers through ring and pull."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Black_Oxide",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001871/annotations/part_13.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001871",
+        "label": "13"
+    },
+    "part_level": {
+        "part_name": "Lower-left drawer ring pull",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Black steel ring pull mounted on the lower-left drawer.",
+        "functional_description": "Provides leverage to operate the drawer.",
+        "movement_description": "Freely pivots about its mounting eye.",
+        "grasp_description": "User grips the ring to pull the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Black_Oxide",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001871/annotations/part_14.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001871",
+        "label": "14"
+    },
+    "part_level": {
+        "part_name": "Lower-right drawer ring pull",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Black steel ring pull mounted on the lower-right drawer.",
+        "functional_description": "Provides a handhold for operating the drawer.",
+        "movement_description": "Pivots to align with pull direction during use.",
+        "grasp_description": "Gripped by fingers to pull the drawer outward."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Black_Oxide",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001871/annotations/part_2.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001871",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Internal front support frame/rails",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Four wooden rails/stiles forming a stiffening face frame just behind the doors; approx. 110\u00d75\u00d72 cm members.",
+        "functional_description": "Stiffens the carcass and serves as door stops and alignment guides for the two doors.",
+        "movement_description": "Rigidly fixed to the main carcass; no independent motion.",
+        "grasp_description": "Not meant to be touched directly in normal use."
+    },
+    "basic_info": {
+        "material": "wood/Softwood_Frame",
+        "density": 0.45,
+        "young": 7.5,
+        "hardness": 12,
+        "poisson": 0.32,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001871/annotations/part_3.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001871",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Left mirrored door",
+        "affordance": 7,
+        "graspable": true,
+        "basic_description": "Tall wooden frame door with a central mirror panel; about 160\u00d745\u00d72.5 cm.",
+        "functional_description": "Closes the left half of the wardrobe and provides a full-length mirror.",
+        "movement_description": "Rotates on side hinges attached to the carcass; swings outward up to about 115\u00b0.",
+        "grasp_description": "Users pull or push the door using the handle; sometimes grasp the edge when closing gently."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_OakFrame",
+        "density": 0.68,
+        "young": 11.0,
+        "hardness": 28,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                9
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.5624508857727051,
+                    -0.21122486889362335,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001871/annotations/part_4.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001871",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Right mirrored door",
+        "affordance": 7,
+        "graspable": true,
+        "basic_description": "Right-hand wooden door with a mirror insert; about 160\u00d745\u00d72.5 cm.",
+        "functional_description": "Closes the right half of the wardrobe and mirrors the user.",
+        "movement_description": "Rotates about its hinge axis on the carcass; opens beyond 90\u00b0 for access.",
+        "grasp_description": "Pulled by the attached handle; edge may be steadied by hand."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_OakFrame",
+        "density": 0.68,
+        "young": 11.0,
+        "hardness": 28,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                10
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.5613469481468201,
+                    -0.20492075383663177,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001871/annotations/part_5.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001871",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Upper-left drawer (body represented by front panel)",
+        "affordance": 8,
+        "graspable": true,
+        "basic_description": "Rectangular drawer with an oak-veneered front panel about 40\u00d735\u00d72 cm.",
+        "functional_description": "Provides small-item storage; slides on runners inside the carcass.",
+        "movement_description": "Translates on rails relative to the carcass; full extension roughly 40 cm.",
+        "grasp_description": "Pulled by the attached ring pull; the front may be pushed to close."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak_Veneer",
+        "density": 0.65,
+        "young": 10.0,
+        "hardness": 26,
+        "poisson": 0.35,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                5,
+                11
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.2846418619155884,
+                    -0.21235819160938263,
+                    -0.5537114143371582
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001871/annotations/part_6.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001871",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Upper-right drawer (body represented by front panel)",
+        "affordance": 8,
+        "graspable": true,
+        "basic_description": "Rectangular drawer with oak-veneered front panel about 40\u00d735\u00d72 cm.",
+        "functional_description": "Upper-right storage drawer for accessories.",
+        "movement_description": "Slides outward from the carcass on runners, max travel ~40 cm.",
+        "grasp_description": "Gripped by the fitted ring pull to open and close."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak_Veneer",
+        "density": 0.65,
+        "young": 10.0,
+        "hardness": 26,
+        "poisson": 0.35,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                6,
+                12
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.2854464650154114,
+                    -0.21115830540657043,
+                    -0.5495932698249817
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001871/annotations/part_7.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001871",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Lower-left drawer (body represented by front panel)",
+        "affordance": 8,
+        "graspable": true,
+        "basic_description": "Lower-left drawer with veneered front panel about 40\u00d735\u00d72 cm.",
+        "functional_description": "Provides additional enclosed storage for clothing or linens.",
+        "movement_description": "Translates outward/inward on slides attached to the carcass.",
+        "grasp_description": "Pulled by a ring pull; the panel can be pushed to close."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak_Veneer",
+        "density": 0.65,
+        "young": 10.0,
+        "hardness": 26,
+        "poisson": 0.35,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                7,
+                13
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.283633828163147,
+                    -0.2076631486415863,
+                    -0.7593344449996948
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001871/annotations/part_8.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001871",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Lower-right drawer (body represented by front panel)",
+        "affordance": 8,
+        "graspable": true,
+        "basic_description": "Lower-right drawer with oak-veneered face about 40\u00d735\u00d72 cm.",
+        "functional_description": "Bottom drawer compartment for heavier items.",
+        "movement_description": "Slides along runners relative to the carcass; approx. 40 cm travel.",
+        "grasp_description": "Grasp the ring pull to open; push on the panel to close."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak_Veneer",
+        "density": 0.65,
+        "young": 10.0,
+        "hardness": 26,
+        "poisson": 0.35,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                8,
+                14
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.28522858023643494,
+                    -0.21048560738563538,
+                    -0.7648055553436279
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001871/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001871",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Left door drop handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Black-oxide steel drop pull for the left door; small pivoting knob and pendant.",
+        "functional_description": "Provides a comfortable point to pull the left door open or push it closed.",
+        "movement_description": "Freely pivots on a small pin fixed to the door face.",
+        "grasp_description": "Pinched between fingers to pull the door."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Black_Oxide",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001871/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_00001871/full_model/model.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb63249c0658a15922597061e5f1243eabb854c3896e66f81ba742f267e0f1b0
+size 39256938