Upload folder using huggingface_hub (part 75)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +32 -0
- data/UPB_00001397/parts/part_5.obj +0 -0
- data/UPB_00001397/parts/wardrobe_YVIOWUJVAJOREPTUK4888888_rQiwA.mtl +11 -0
- data/UPB_00001397/plys/1.ply +3 -0
- data/UPB_00001397/plys/11.ply +3 -0
- data/UPB_00001397/plys/2.ply +3 -0
- data/UPB_00001397/plys/3.ply +3 -0
- data/UPB_00001397/plys/4.ply +3 -0
- data/UPB_00001397/plys/5.ply +3 -0
- data/UPB_00001397/plys/model.ply +3 -0
- data/UPB_00001398/annotations/object.json +10 -0
- data/UPB_00001398/annotations/part_1.json +52 -0
- data/UPB_00001398/annotations/part_10.json +30 -0
- data/UPB_00001398/annotations/part_11.json +30 -0
- data/UPB_00001398/annotations/part_12.json +30 -0
- data/UPB_00001398/annotations/part_13.json +30 -0
- data/UPB_00001398/annotations/part_2.json +52 -0
- data/UPB_00001398/annotations/part_3.json +52 -0
- data/UPB_00001398/annotations/part_4.json +52 -0
- data/UPB_00001398/annotations/part_5.json +52 -0
- data/UPB_00001398/annotations/part_6.json +52 -0
- data/UPB_00001398/annotations/part_7.json +30 -0
- data/UPB_00001398/annotations/part_8.json +30 -0
- data/UPB_00001398/annotations/part_9.json +30 -0
- data/UPB_00001398/full_model/material.mtl +8 -0
- data/UPB_00001398/full_model/material_0.png +3 -0
- data/UPB_00001398/full_model/model.obj +0 -0
- data/UPB_00001398/meta_data.json +22 -0
- data/UPB_00001398/model.urdf +273 -0
- data/UPB_00001398/parts/part_1.obj +473 -0
- data/UPB_00001398/parts/part_10.obj +0 -0
- data/UPB_00001398/parts/part_11.obj +0 -0
- data/UPB_00001398/parts/part_12.obj +0 -0
- data/UPB_00001398/parts/part_13.obj +1635 -0
- data/UPB_00001398/parts/part_2.obj +473 -0
- data/UPB_00001398/parts/part_3.obj +309 -0
- data/UPB_00001398/parts/part_4.obj +309 -0
- data/UPB_00001398/parts/part_5.obj +309 -0
- data/UPB_00001398/parts/part_6.obj +309 -0
- data/UPB_00001398/parts/part_7.obj +0 -0
- data/UPB_00001398/parts/part_8.obj +0 -0
- data/UPB_00001398/parts/part_9.obj +0 -0
- data/UPB_00001398/parts/wardrobe_YVIOWUJVAJOREPTUKI888888_ntxKq.mtl +11 -0
- data/UPB_00001398/plys/1.ply +3 -0
- data/UPB_00001398/plys/10.ply +3 -0
- data/UPB_00001398/plys/11.ply +3 -0
- data/UPB_00001398/plys/12.ply +3 -0
- data/UPB_00001398/plys/13.ply +3 -0
- data/UPB_00001398/plys/2.ply +3 -0
- data/UPB_00001398/plys/3.ply +3 -0
.gitattributes
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data/UPB_00001397/parts/part_5.obj
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data/UPB_00001397/parts/wardrobe_YVIOWUJVAJOREPTUK4888888_rQiwA.mtl
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data/UPB_00001397/plys/model.ply
ADDED
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data/UPB_00001398/annotations/object.json
ADDED
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{
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"object_name": "Wardrobe Closet with Shelves and Drawers",
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"category": "Furniture/StorageFurniture",
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| 4 |
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"volume": [
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| 5 |
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200.0,
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| 6 |
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60.0,
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220.0
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],
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"mass": 140.0
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}
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data/UPB_00001398/annotations/part_1.json
ADDED
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{
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"index": {
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| 3 |
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"type_name": "default",
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| 4 |
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"entity": "UPB_00001398",
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| 5 |
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"label": "1"
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| 6 |
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},
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| 7 |
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"part_level": {
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| 8 |
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"part_name": "Upper Drawer Box",
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| 9 |
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"affordance": 2,
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| 10 |
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"graspable": true,
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| 11 |
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"basic_description": "Rectangular drawer box made of melamine-faced particle board; approximate external size 80*55*18 cm.",
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| 12 |
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"functional_description": "Provides a sliding storage compartment for small garments or items.",
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| 13 |
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"movement_description": "Slides in and out of the cabinet frame on runners; full travel roughly 45 cm with light damping.",
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| 14 |
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"grasp_description": "User pulls the front via the attached knob to open and pushes on the front to close."
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| 15 |
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},
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| 16 |
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"basic_info": {
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| 17 |
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"material": "wood/Particle_Board_Melamine",
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| 18 |
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"density": 0.65,
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| 19 |
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"young": 3.0,
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| 20 |
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"hardness": 18,
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| 21 |
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"poisson": 0.3,
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| 22 |
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"friction": 0.45
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| 23 |
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},
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| 24 |
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"kinematic_info": {
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| 25 |
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"motion_types": [
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| 26 |
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"B"
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| 27 |
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],
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| 28 |
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"motion_info": {
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| 29 |
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"dependency": [
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| 30 |
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1,
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| 31 |
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9
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| 32 |
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],
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| 33 |
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"B": {
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| 34 |
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"axis": [
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| 35 |
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0.0,
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| 36 |
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1.0,
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| 37 |
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0.0
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| 38 |
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],
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| 39 |
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"pos": [
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| 40 |
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-0.7185738682746887,
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| 41 |
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-0.33000001311302185,
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| 42 |
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-0.9467035531997681
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| 43 |
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],
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| 44 |
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"range": [
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| 45 |
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-0.20000000298023224,
|
| 46 |
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0.0
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| 47 |
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],
|
| 48 |
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"damping": 0.06
|
| 49 |
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}
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| 50 |
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}
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| 51 |
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}
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| 52 |
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}
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data/UPB_00001398/annotations/part_10.json
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{
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"index": {
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| 3 |
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"type_name": "default",
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| 4 |
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"entity": "UPB_00001398",
|
| 5 |
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"label": "10"
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| 6 |
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},
|
| 7 |
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"part_level": {
|
| 8 |
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"part_name": "Knob for Lower Drawer",
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| 9 |
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"affordance": 1,
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| 10 |
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"graspable": true,
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| 11 |
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"basic_description": "ABS plastic knob matching the upper drawer pull.",
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| 12 |
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"functional_description": "Allows the user to operate the lower drawer smoothly.",
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| 13 |
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"movement_description": "No relative motion to the drawer; moves with it during sliding.",
|
| 14 |
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"grasp_description": "Pinched and pulled to open; pushed to close."
|
| 15 |
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},
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| 16 |
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"basic_info": {
|
| 17 |
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"material": "plastic/ABS_Plastic",
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| 18 |
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"density": 1.04,
|
| 19 |
+
"young": 2.3,
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| 20 |
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"hardness": 10,
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| 21 |
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"poisson": 0.37,
|
| 22 |
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"friction": 0.56
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| 23 |
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},
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| 24 |
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"kinematic_info": {
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| 25 |
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"motion_types": [
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| 26 |
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"D"
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| 27 |
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],
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| 28 |
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"motion_info": {}
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| 29 |
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}
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| 30 |
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}
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data/UPB_00001398/annotations/part_11.json
ADDED
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{
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"index": {
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"type_name": "default",
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| 4 |
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"entity": "UPB_00001398",
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| 5 |
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"label": "11"
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| 6 |
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},
|
| 7 |
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"part_level": {
|
| 8 |
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"part_name": "Knob for Right-Center Door",
|
| 9 |
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"affordance": 1,
|
| 10 |
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"graspable": true,
|
| 11 |
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"basic_description": "Rounded-square black ABS knob.",
|
| 12 |
+
"functional_description": "Finger pull for the right-center door.",
|
| 13 |
+
"movement_description": "Rigid with the door; no independent motion.",
|
| 14 |
+
"grasp_description": "Held between fingers to swing the door open."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/ABS_Plastic",
|
| 18 |
+
"density": 1.04,
|
| 19 |
+
"young": 2.3,
|
| 20 |
+
"hardness": 10,
|
| 21 |
+
"poisson": 0.37,
|
| 22 |
+
"friction": 0.55
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001398/annotations/part_12.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001398",
|
| 5 |
+
"label": "12"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Knob for Right Door",
|
| 9 |
+
"affordance": 1,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Matching matte black ABS door knob.",
|
| 12 |
+
"functional_description": "Hand interface for the rightmost door panel.",
|
| 13 |
+
"movement_description": "Rigidly connected; moves with the door during rotation.",
|
| 14 |
+
"grasp_description": "Used for pulling and pushing the door."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/ABS_Plastic",
|
| 18 |
+
"density": 1.04,
|
| 19 |
+
"young": 2.3,
|
| 20 |
+
"hardness": 10,
|
| 21 |
+
"poisson": 0.37,
|
| 22 |
+
"friction": 0.55
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001398/annotations/part_13.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001398",
|
| 5 |
+
"label": "13"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Cabinet Frame & Shelves",
|
| 9 |
+
"affordance": 10,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Main carcase of the wardrobe including vertical dividers and a right-hand open shelf column; constructed from 18 mm melamine-faced particle board.",
|
| 12 |
+
"functional_description": "Provides structural support, mounting points for hinges and drawer runners, and fixed shelving.",
|
| 13 |
+
"movement_description": "Rigid reference body; all doors rotate and drawers translate relative to this frame.",
|
| 14 |
+
"grasp_description": "Not normally grasped; touched only when cleaning or moving the furniture."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "wood/Particle_Board_Melamine",
|
| 18 |
+
"density": 0.65,
|
| 19 |
+
"young": 3.0,
|
| 20 |
+
"hardness": 20,
|
| 21 |
+
"poisson": 0.3,
|
| 22 |
+
"friction": 0.4
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001398/annotations/part_2.json
ADDED
|
@@ -0,0 +1,52 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001398",
|
| 5 |
+
"label": "2"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Lower Drawer Box",
|
| 9 |
+
"affordance": 2,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Second sliding drawer box constructed from particle board with laminate surface.",
|
| 12 |
+
"functional_description": "Additional low-level storage for folded clothes or accessories.",
|
| 13 |
+
"movement_description": "Linear translation on runners relative to the cabinet carcase; similar range to the upper drawer.",
|
| 14 |
+
"grasp_description": "Pulled from the front using the dedicated drawer knob."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "wood/Particle_Board_Melamine",
|
| 18 |
+
"density": 0.65,
|
| 19 |
+
"young": 3.0,
|
| 20 |
+
"hardness": 18,
|
| 21 |
+
"poisson": 0.3,
|
| 22 |
+
"friction": 0.45
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"B"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
2,
|
| 31 |
+
10
|
| 32 |
+
],
|
| 33 |
+
"B": {
|
| 34 |
+
"axis": [
|
| 35 |
+
0.0,
|
| 36 |
+
1.0,
|
| 37 |
+
0.0
|
| 38 |
+
],
|
| 39 |
+
"pos": [
|
| 40 |
+
-0.721722424030304,
|
| 41 |
+
-0.33000001311302185,
|
| 42 |
+
-1.1439398527145386
|
| 43 |
+
],
|
| 44 |
+
"range": [
|
| 45 |
+
-0.20000000298023224,
|
| 46 |
+
0.0
|
| 47 |
+
],
|
| 48 |
+
"damping": 0.07
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
| 52 |
+
}
|
data/UPB_00001398/annotations/part_3.json
ADDED
|
@@ -0,0 +1,52 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001398",
|
| 5 |
+
"label": "3"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Left Door Panel",
|
| 9 |
+
"affordance": 3,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Tall hinged door made of melamine-faced particle board, about 45-50 cm wide and 200 cm tall.",
|
| 12 |
+
"functional_description": "Covers the left storage bay, protecting contents and providing a clean exterior.",
|
| 13 |
+
"movement_description": "Rotates about a vertical hinge axis on the cabinet frame; typical opening up to ~110 degrees.",
|
| 14 |
+
"grasp_description": "Usually operated via the attached knob; edges may also be touched when closing."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "wood/Particle_Board_Melamine",
|
| 18 |
+
"density": 0.65,
|
| 19 |
+
"young": 3.0,
|
| 20 |
+
"hardness": 18,
|
| 21 |
+
"poisson": 0.3,
|
| 22 |
+
"friction": 0.4
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"C"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
3,
|
| 31 |
+
7
|
| 32 |
+
],
|
| 33 |
+
"C": {
|
| 34 |
+
"axis": [
|
| 35 |
+
0.0,
|
| 36 |
+
0.0,
|
| 37 |
+
-1.0
|
| 38 |
+
],
|
| 39 |
+
"pos": [
|
| 40 |
+
-1.2703956365585327,
|
| 41 |
+
-0.3395163416862488,
|
| 42 |
+
-0.04578253999352455
|
| 43 |
+
],
|
| 44 |
+
"range": [
|
| 45 |
+
0.0,
|
| 46 |
+
1.5707963267948966
|
| 47 |
+
],
|
| 48 |
+
"damping": 0.05
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
| 52 |
+
}
|
data/UPB_00001398/annotations/part_4.json
ADDED
|
@@ -0,0 +1,52 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001398",
|
| 5 |
+
"label": "4"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Left-Center Door Panel",
|
| 9 |
+
"affordance": 3,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Second tall hinged door panel of melamine particle board.",
|
| 12 |
+
"functional_description": "Closes the adjacent compartment, aligning flush with neighboring doors.",
|
| 13 |
+
"movement_description": "Swings on side hinges relative to the frame with soft-close damping.",
|
| 14 |
+
"grasp_description": "Pulled by its knob to open, pushed on the surface to close."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "wood/Particle_Board_Melamine",
|
| 18 |
+
"density": 0.65,
|
| 19 |
+
"young": 3.0,
|
| 20 |
+
"hardness": 18,
|
| 21 |
+
"poisson": 0.3,
|
| 22 |
+
"friction": 0.4
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"C"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
4,
|
| 31 |
+
8
|
| 32 |
+
],
|
| 33 |
+
"C": {
|
| 34 |
+
"axis": [
|
| 35 |
+
0.0,
|
| 36 |
+
0.0,
|
| 37 |
+
1.0
|
| 38 |
+
],
|
| 39 |
+
"pos": [
|
| 40 |
+
-0.18582011759281158,
|
| 41 |
+
-0.33000001311302185,
|
| 42 |
+
-0.04095585644245148
|
| 43 |
+
],
|
| 44 |
+
"range": [
|
| 45 |
+
0.0,
|
| 46 |
+
1.5707963267948966
|
| 47 |
+
],
|
| 48 |
+
"damping": 0.05
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
| 52 |
+
}
|
data/UPB_00001398/annotations/part_5.json
ADDED
|
@@ -0,0 +1,52 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001398",
|
| 5 |
+
"label": "5"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Right-Center Door Panel",
|
| 9 |
+
"affordance": 3,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Third tall hinged door panel, same construction as other doors.",
|
| 12 |
+
"functional_description": "Partitions and hides the central-right storage bay.",
|
| 13 |
+
"movement_description": "Rotates about a vertical axis on concealed hinges relative to the cabinet frame.",
|
| 14 |
+
"grasp_description": "User grasps the knob to open; hand may contact the panel edge during closing."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "wood/Particle_Board_Melamine",
|
| 18 |
+
"density": 0.65,
|
| 19 |
+
"young": 3.0,
|
| 20 |
+
"hardness": 18,
|
| 21 |
+
"poisson": 0.3,
|
| 22 |
+
"friction": 0.4
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"C"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
5,
|
| 31 |
+
11
|
| 32 |
+
],
|
| 33 |
+
"C": {
|
| 34 |
+
"axis": [
|
| 35 |
+
0.0,
|
| 36 |
+
0.0,
|
| 37 |
+
-1.0
|
| 38 |
+
],
|
| 39 |
+
"pos": [
|
| 40 |
+
-0.17061620950698853,
|
| 41 |
+
-0.33000001311302185,
|
| 42 |
+
-0.04781312122941017
|
| 43 |
+
],
|
| 44 |
+
"range": [
|
| 45 |
+
0.0,
|
| 46 |
+
1.5707963267948966
|
| 47 |
+
],
|
| 48 |
+
"damping": 0.05
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
| 52 |
+
}
|
data/UPB_00001398/annotations/part_6.json
ADDED
|
@@ -0,0 +1,52 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001398",
|
| 5 |
+
"label": "6"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Right Door Panel (adjacent to shelf column)",
|
| 9 |
+
"affordance": 3,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Rightmost hinged closet door in melamine particle board.",
|
| 12 |
+
"functional_description": "Provides access to the bay beside the open shelf stack.",
|
| 13 |
+
"movement_description": "Opens by rotating about vertical hinges fixed to the cabinet frame.",
|
| 14 |
+
"grasp_description": "Operated by the attached knob; closed by pushing on the outer face."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "wood/Particle_Board_Melamine",
|
| 18 |
+
"density": 0.65,
|
| 19 |
+
"young": 3.0,
|
| 20 |
+
"hardness": 18,
|
| 21 |
+
"poisson": 0.3,
|
| 22 |
+
"friction": 0.4
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"C"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
6,
|
| 31 |
+
12
|
| 32 |
+
],
|
| 33 |
+
"C": {
|
| 34 |
+
"axis": [
|
| 35 |
+
0.0,
|
| 36 |
+
0.0,
|
| 37 |
+
1.0
|
| 38 |
+
],
|
| 39 |
+
"pos": [
|
| 40 |
+
0.9110209345817566,
|
| 41 |
+
-0.33000001311302185,
|
| 42 |
+
-0.050527650862932205
|
| 43 |
+
],
|
| 44 |
+
"range": [
|
| 45 |
+
0.0,
|
| 46 |
+
1.5707963267948966
|
| 47 |
+
],
|
| 48 |
+
"damping": 0.05
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
| 52 |
+
}
|
data/UPB_00001398/annotations/part_7.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001398",
|
| 5 |
+
"label": "7"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Knob for Left Door",
|
| 9 |
+
"affordance": 1,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Small rounded-square ABS knob in matte black.",
|
| 12 |
+
"functional_description": "Hand interface to pull the left door open and push it closed.",
|
| 13 |
+
"movement_description": "Rigidly fixed to the door panel; moves together with the door.",
|
| 14 |
+
"grasp_description": "Pinched or hooked with fingers for comfortable grip."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "metal",
|
| 18 |
+
"density": 7.095321614455091,
|
| 19 |
+
"young": 162.66640479230088,
|
| 20 |
+
"hardness": 160.52450162034765,
|
| 21 |
+
"poisson": 0.3059805558283549,
|
| 22 |
+
"friction": 0.4258902091721515
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001398/annotations/part_8.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001398",
|
| 5 |
+
"label": "8"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Knob for Left-Center Door",
|
| 9 |
+
"affordance": 1,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Matte black ABS cabinet knob.",
|
| 12 |
+
"functional_description": "Provides a convenient pull point for the left-center door.",
|
| 13 |
+
"movement_description": "No independent motion; rigid with its door.",
|
| 14 |
+
"grasp_description": "Gripped between fingers to actuate the door."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "metal",
|
| 18 |
+
"density": 7.095321614455091,
|
| 19 |
+
"young": 162.66640479230088,
|
| 20 |
+
"hardness": 160.52450162034765,
|
| 21 |
+
"poisson": 0.3059805558283549,
|
| 22 |
+
"friction": 0.4258902091721515
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001398/annotations/part_9.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001398",
|
| 5 |
+
"label": "9"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Knob for Upper Drawer",
|
| 9 |
+
"affordance": 1,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Small rounded-square ABS drawer pull, dark finish.",
|
| 12 |
+
"functional_description": "Primary handhold for sliding the upper drawer.",
|
| 13 |
+
"movement_description": "Rigidly attached to the drawer front; follows the drawer translation.",
|
| 14 |
+
"grasp_description": "Pulled outward with fingers, offering moderate friction and comfort."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "plastic/ABS_Plastic",
|
| 18 |
+
"density": 1.04,
|
| 19 |
+
"young": 2.3,
|
| 20 |
+
"hardness": 10,
|
| 21 |
+
"poisson": 0.37,
|
| 22 |
+
"friction": 0.56
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001398/full_model/material.mtl
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
|
| 3 |
+
newmtl material_0
|
| 4 |
+
Ka 0.40000000 0.40000000 0.40000000
|
| 5 |
+
Kd 0.40000000 0.40000000 0.40000000
|
| 6 |
+
Ks 0.40000000 0.40000000 0.40000000
|
| 7 |
+
Ns 1.00000000
|
| 8 |
+
map_Kd material_0.png
|
data/UPB_00001398/full_model/material_0.png
ADDED
|
Git LFS Details
|
data/UPB_00001398/full_model/model.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/UPB_00001398/meta_data.json
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"id": "UPB_00001398",
|
| 3 |
+
"source": [
|
| 4 |
+
{
|
| 5 |
+
"dataset": "UniPhys-Bench",
|
| 6 |
+
"organization": "Manycore Tech Inc.",
|
| 7 |
+
"license_ref": "UniPhys-Bench"
|
| 8 |
+
}
|
| 9 |
+
],
|
| 10 |
+
"object": {
|
| 11 |
+
"category": "Furniture/StorageFurniture",
|
| 12 |
+
"object_name": "Wardrobe Closet with Shelves and Drawers"
|
| 13 |
+
},
|
| 14 |
+
"geometry": {
|
| 15 |
+
"asset_type": "decomposed_parts",
|
| 16 |
+
"num_parts": 13,
|
| 17 |
+
"format": "obj"
|
| 18 |
+
},
|
| 19 |
+
"annotation": {
|
| 20 |
+
"version": "v1.0"
|
| 21 |
+
}
|
| 22 |
+
}
|
data/UPB_00001398/model.urdf
ADDED
|
@@ -0,0 +1,273 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
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|
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|
|
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|
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|
|
|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="robot">
|
| 3 |
+
<link name="base_link"/>
|
| 4 |
+
<link name="helper_link_0"/>
|
| 5 |
+
<link name="helper_link_1"/>
|
| 6 |
+
<link name="helper_link_2"/>
|
| 7 |
+
<link name="helper_link_3"/>
|
| 8 |
+
<link name="helper_link_4"/>
|
| 9 |
+
<link name="helper_link_5"/>
|
| 10 |
+
<link name="link_1">
|
| 11 |
+
<visual>
|
| 12 |
+
<geometry>
|
| 13 |
+
<mesh filename="parts/part_1.obj" scale="0.846433 0.846433 0.846433"/>
|
| 14 |
+
</geometry>
|
| 15 |
+
</visual>
|
| 16 |
+
<collision>
|
| 17 |
+
<geometry>
|
| 18 |
+
<mesh filename="parts/part_1.obj" scale="0.846433 0.846433 0.846433"/>
|
| 19 |
+
</geometry>
|
| 20 |
+
</collision>
|
| 21 |
+
</link>
|
| 22 |
+
<link name="link_2">
|
| 23 |
+
<visual>
|
| 24 |
+
<geometry>
|
| 25 |
+
<mesh filename="parts/part_2.obj" scale="0.846433 0.846433 0.846433"/>
|
| 26 |
+
</geometry>
|
| 27 |
+
</visual>
|
| 28 |
+
<collision>
|
| 29 |
+
<geometry>
|
| 30 |
+
<mesh filename="parts/part_2.obj" scale="0.846433 0.846433 0.846433"/>
|
| 31 |
+
</geometry>
|
| 32 |
+
</collision>
|
| 33 |
+
</link>
|
| 34 |
+
<link name="link_3">
|
| 35 |
+
<visual>
|
| 36 |
+
<geometry>
|
| 37 |
+
<mesh filename="parts/part_3.obj" scale="0.846433 0.846433 0.846433"/>
|
| 38 |
+
</geometry>
|
| 39 |
+
</visual>
|
| 40 |
+
<collision>
|
| 41 |
+
<geometry>
|
| 42 |
+
<mesh filename="parts/part_3.obj" scale="0.846433 0.846433 0.846433"/>
|
| 43 |
+
</geometry>
|
| 44 |
+
</collision>
|
| 45 |
+
</link>
|
| 46 |
+
<link name="link_4">
|
| 47 |
+
<visual>
|
| 48 |
+
<geometry>
|
| 49 |
+
<mesh filename="parts/part_4.obj" scale="0.846433 0.846433 0.846433"/>
|
| 50 |
+
</geometry>
|
| 51 |
+
</visual>
|
| 52 |
+
<collision>
|
| 53 |
+
<geometry>
|
| 54 |
+
<mesh filename="parts/part_4.obj" scale="0.846433 0.846433 0.846433"/>
|
| 55 |
+
</geometry>
|
| 56 |
+
</collision>
|
| 57 |
+
</link>
|
| 58 |
+
<link name="link_5">
|
| 59 |
+
<visual>
|
| 60 |
+
<geometry>
|
| 61 |
+
<mesh filename="parts/part_5.obj" scale="0.846433 0.846433 0.846433"/>
|
| 62 |
+
</geometry>
|
| 63 |
+
</visual>
|
| 64 |
+
<collision>
|
| 65 |
+
<geometry>
|
| 66 |
+
<mesh filename="parts/part_5.obj" scale="0.846433 0.846433 0.846433"/>
|
| 67 |
+
</geometry>
|
| 68 |
+
</collision>
|
| 69 |
+
</link>
|
| 70 |
+
<link name="link_6">
|
| 71 |
+
<visual>
|
| 72 |
+
<geometry>
|
| 73 |
+
<mesh filename="parts/part_6.obj" scale="0.846433 0.846433 0.846433"/>
|
| 74 |
+
</geometry>
|
| 75 |
+
</visual>
|
| 76 |
+
<collision>
|
| 77 |
+
<geometry>
|
| 78 |
+
<mesh filename="parts/part_6.obj" scale="0.846433 0.846433 0.846433"/>
|
| 79 |
+
</geometry>
|
| 80 |
+
</collision>
|
| 81 |
+
</link>
|
| 82 |
+
<link name="link_7">
|
| 83 |
+
<visual>
|
| 84 |
+
<geometry>
|
| 85 |
+
<mesh filename="parts/part_7.obj" scale="0.846433 0.846433 0.846433"/>
|
| 86 |
+
</geometry>
|
| 87 |
+
</visual>
|
| 88 |
+
<collision>
|
| 89 |
+
<geometry>
|
| 90 |
+
<mesh filename="parts/part_7.obj" scale="0.846433 0.846433 0.846433"/>
|
| 91 |
+
</geometry>
|
| 92 |
+
</collision>
|
| 93 |
+
</link>
|
| 94 |
+
<link name="link_8">
|
| 95 |
+
<visual>
|
| 96 |
+
<geometry>
|
| 97 |
+
<mesh filename="parts/part_8.obj" scale="0.846433 0.846433 0.846433"/>
|
| 98 |
+
</geometry>
|
| 99 |
+
</visual>
|
| 100 |
+
<collision>
|
| 101 |
+
<geometry>
|
| 102 |
+
<mesh filename="parts/part_8.obj" scale="0.846433 0.846433 0.846433"/>
|
| 103 |
+
</geometry>
|
| 104 |
+
</collision>
|
| 105 |
+
</link>
|
| 106 |
+
<link name="link_9">
|
| 107 |
+
<visual>
|
| 108 |
+
<geometry>
|
| 109 |
+
<mesh filename="parts/part_9.obj" scale="0.846433 0.846433 0.846433"/>
|
| 110 |
+
</geometry>
|
| 111 |
+
</visual>
|
| 112 |
+
<collision>
|
| 113 |
+
<geometry>
|
| 114 |
+
<mesh filename="parts/part_9.obj" scale="0.846433 0.846433 0.846433"/>
|
| 115 |
+
</geometry>
|
| 116 |
+
</collision>
|
| 117 |
+
</link>
|
| 118 |
+
<link name="link_10">
|
| 119 |
+
<visual>
|
| 120 |
+
<geometry>
|
| 121 |
+
<mesh filename="parts/part_10.obj" scale="0.846433 0.846433 0.846433"/>
|
| 122 |
+
</geometry>
|
| 123 |
+
</visual>
|
| 124 |
+
<collision>
|
| 125 |
+
<geometry>
|
| 126 |
+
<mesh filename="parts/part_10.obj" scale="0.846433 0.846433 0.846433"/>
|
| 127 |
+
</geometry>
|
| 128 |
+
</collision>
|
| 129 |
+
</link>
|
| 130 |
+
<link name="link_11">
|
| 131 |
+
<visual>
|
| 132 |
+
<geometry>
|
| 133 |
+
<mesh filename="parts/part_11.obj" scale="0.846433 0.846433 0.846433"/>
|
| 134 |
+
</geometry>
|
| 135 |
+
</visual>
|
| 136 |
+
<collision>
|
| 137 |
+
<geometry>
|
| 138 |
+
<mesh filename="parts/part_11.obj" scale="0.846433 0.846433 0.846433"/>
|
| 139 |
+
</geometry>
|
| 140 |
+
</collision>
|
| 141 |
+
</link>
|
| 142 |
+
<link name="link_12">
|
| 143 |
+
<visual>
|
| 144 |
+
<geometry>
|
| 145 |
+
<mesh filename="parts/part_12.obj" scale="0.846433 0.846433 0.846433"/>
|
| 146 |
+
</geometry>
|
| 147 |
+
</visual>
|
| 148 |
+
<collision>
|
| 149 |
+
<geometry>
|
| 150 |
+
<mesh filename="parts/part_12.obj" scale="0.846433 0.846433 0.846433"/>
|
| 151 |
+
</geometry>
|
| 152 |
+
</collision>
|
| 153 |
+
</link>
|
| 154 |
+
<link name="link_13">
|
| 155 |
+
<visual>
|
| 156 |
+
<geometry>
|
| 157 |
+
<mesh filename="parts/part_13.obj" scale="0.846433 0.846433 0.846433"/>
|
| 158 |
+
</geometry>
|
| 159 |
+
</visual>
|
| 160 |
+
<collision>
|
| 161 |
+
<geometry>
|
| 162 |
+
<mesh filename="parts/part_13.obj" scale="0.846433 0.846433 0.846433"/>
|
| 163 |
+
</geometry>
|
| 164 |
+
</collision>
|
| 165 |
+
</link>
|
| 166 |
+
<joint name="joint_0" type="prismatic">
|
| 167 |
+
<parent link="link_13"/>
|
| 168 |
+
<child link="helper_link_0"/>
|
| 169 |
+
<origin xyz="-0.608225 -0.279323 -0.801321" rpy="0 0 0"/>
|
| 170 |
+
<axis xyz="0.0 1.0 0.0"/>
|
| 171 |
+
<limit lower="-0.16928666239519655" upper="0.0"/>
|
| 172 |
+
</joint>
|
| 173 |
+
<joint name="joint_1" type="fixed">
|
| 174 |
+
<parent link="helper_link_0"/>
|
| 175 |
+
<child link="link_1"/>
|
| 176 |
+
<origin xyz="0.608225 0.279323 0.801321" rpy="0 0 0"/>
|
| 177 |
+
</joint>
|
| 178 |
+
<joint name="joint_2" type="prismatic">
|
| 179 |
+
<parent link="link_13"/>
|
| 180 |
+
<child link="helper_link_1"/>
|
| 181 |
+
<origin xyz="-0.610890 -0.279323 -0.968269" rpy="0 0 0"/>
|
| 182 |
+
<axis xyz="0.0 1.0 0.0"/>
|
| 183 |
+
<limit lower="-0.16928666239519655" upper="0.0"/>
|
| 184 |
+
</joint>
|
| 185 |
+
<joint name="joint_3" type="fixed">
|
| 186 |
+
<parent link="helper_link_1"/>
|
| 187 |
+
<child link="link_2"/>
|
| 188 |
+
<origin xyz="0.610890 0.279323 0.968269" rpy="0 0 0"/>
|
| 189 |
+
</joint>
|
| 190 |
+
<joint name="joint_4" type="revolute">
|
| 191 |
+
<parent link="link_13"/>
|
| 192 |
+
<child link="helper_link_2"/>
|
| 193 |
+
<origin xyz="-1.075305 -0.287378 -0.038752" rpy="0 0 0"/>
|
| 194 |
+
<axis xyz="0.0 0.0 -1.0"/>
|
| 195 |
+
<limit lower="0.0" upper="1.5707963267948966"/>
|
| 196 |
+
</joint>
|
| 197 |
+
<joint name="joint_5" type="fixed">
|
| 198 |
+
<parent link="helper_link_2"/>
|
| 199 |
+
<child link="link_3"/>
|
| 200 |
+
<origin xyz="1.075305 0.287378 0.038752" rpy="0 0 0"/>
|
| 201 |
+
</joint>
|
| 202 |
+
<joint name="joint_6" type="revolute">
|
| 203 |
+
<parent link="link_13"/>
|
| 204 |
+
<child link="helper_link_3"/>
|
| 205 |
+
<origin xyz="-0.157284 -0.279323 -0.034666" rpy="0 0 0"/>
|
| 206 |
+
<axis xyz="0.0 0.0 1.0"/>
|
| 207 |
+
<limit lower="0.0" upper="1.5707963267948966"/>
|
| 208 |
+
</joint>
|
| 209 |
+
<joint name="joint_7" type="fixed">
|
| 210 |
+
<parent link="helper_link_3"/>
|
| 211 |
+
<child link="link_4"/>
|
| 212 |
+
<origin xyz="0.157284 0.279323 0.034666" rpy="0 0 0"/>
|
| 213 |
+
</joint>
|
| 214 |
+
<joint name="joint_8" type="revolute">
|
| 215 |
+
<parent link="link_13"/>
|
| 216 |
+
<child link="helper_link_4"/>
|
| 217 |
+
<origin xyz="-0.144415 -0.279323 -0.040471" rpy="0 0 0"/>
|
| 218 |
+
<axis xyz="0.0 0.0 -1.0"/>
|
| 219 |
+
<limit lower="0.0" upper="1.5707963267948966"/>
|
| 220 |
+
</joint>
|
| 221 |
+
<joint name="joint_9" type="fixed">
|
| 222 |
+
<parent link="helper_link_4"/>
|
| 223 |
+
<child link="link_5"/>
|
| 224 |
+
<origin xyz="0.144415 0.279323 0.040471" rpy="0 0 0"/>
|
| 225 |
+
</joint>
|
| 226 |
+
<joint name="joint_10" type="revolute">
|
| 227 |
+
<parent link="link_13"/>
|
| 228 |
+
<child link="helper_link_5"/>
|
| 229 |
+
<origin xyz="0.771118 -0.279323 -0.042768" rpy="0 0 0"/>
|
| 230 |
+
<axis xyz="0.0 0.0 1.0"/>
|
| 231 |
+
<limit lower="0.0" upper="1.5707963267948966"/>
|
| 232 |
+
</joint>
|
| 233 |
+
<joint name="joint_11" type="fixed">
|
| 234 |
+
<parent link="helper_link_5"/>
|
| 235 |
+
<child link="link_6"/>
|
| 236 |
+
<origin xyz="-0.771118 0.279323 0.042768" rpy="0 0 0"/>
|
| 237 |
+
</joint>
|
| 238 |
+
<joint name="joint_12" type="fixed">
|
| 239 |
+
<parent link="link_3"/>
|
| 240 |
+
<child link="link_7"/>
|
| 241 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 242 |
+
</joint>
|
| 243 |
+
<joint name="joint_13" type="fixed">
|
| 244 |
+
<parent link="link_4"/>
|
| 245 |
+
<child link="link_8"/>
|
| 246 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 247 |
+
</joint>
|
| 248 |
+
<joint name="joint_14" type="fixed">
|
| 249 |
+
<parent link="link_1"/>
|
| 250 |
+
<child link="link_9"/>
|
| 251 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 252 |
+
</joint>
|
| 253 |
+
<joint name="joint_15" type="fixed">
|
| 254 |
+
<parent link="link_2"/>
|
| 255 |
+
<child link="link_10"/>
|
| 256 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 257 |
+
</joint>
|
| 258 |
+
<joint name="joint_16" type="fixed">
|
| 259 |
+
<parent link="link_5"/>
|
| 260 |
+
<child link="link_11"/>
|
| 261 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 262 |
+
</joint>
|
| 263 |
+
<joint name="joint_17" type="fixed">
|
| 264 |
+
<parent link="link_6"/>
|
| 265 |
+
<child link="link_12"/>
|
| 266 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 267 |
+
</joint>
|
| 268 |
+
<joint name="joint_18" type="fixed">
|
| 269 |
+
<parent link="base_link"/>
|
| 270 |
+
<child link="link_13"/>
|
| 271 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 272 |
+
</joint>
|
| 273 |
+
</robot>
|
data/UPB_00001398/parts/part_1.obj
ADDED
|
@@ -0,0 +1,473 @@
|
|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
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|
|
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|
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|
|
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|
|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
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|
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|
|
|
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|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
|
|
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|
|
|
|
|
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|
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|
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|
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|
|
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|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
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|
|
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data/UPB_00001398/parts/part_10.obj
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data/UPB_00001398/parts/part_11.obj
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data/UPB_00001398/parts/part_12.obj
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data/UPB_00001398/parts/part_13.obj
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| 1 |
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mtllib wardrobe_YVIOWUJVAJOREPTUKI888888_ntxKq.mtl
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| 2 |
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data/UPB_00001398/parts/part_2.obj
ADDED
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