Upload folder using huggingface_hub (part 90)

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data/UPB_00001421/annotations/object.json

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+{
+    "object_name": "Wardrobe Closet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        200.0,
+        60.0,
+        220.0
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+    "mass": 95.0
+}

data/UPB_00001421/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001421",
+        "label": "1"
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+    "part_level": {
+        "part_name": "Drawer Stack (4 drawers)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Four stacked plywood drawer boxes with fronts; approx each 45*50*12 cm mounted as a module in the central bay.",
+        "functional_description": "Provides storage for folded clothes and smaller items.",
+        "movement_description": "The entire drawer stack comprises four drawers that translate on slides relative to the cabinet body.",
+        "grasp_description": "Users pull individual drawers by their knobs to open and push to close."
+    },
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+        "material": "wood/Plywood",
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data/UPB_00001421/annotations/part_10.json

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+{
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+        "label": "10"
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+    "part_level": {
+        "part_name": "Drawer Knobs (set of 4)",
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+        "basic_description": "Four small round anodized aluminum knobs aligned vertically on the drawer fronts.",
+        "functional_description": "Provide handholds to open and close each drawer in the stack.",
+        "movement_description": "Rigidly fastened to each drawer front with machine screws.",
+        "grasp_description": "Pinched or hooked by fingers to pull drawers out."
+    },
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data/UPB_00001421/annotations/part_11.json

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+{
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+    "part_level": {
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+        "basic_description": "Main MDF cabinet carcass with left and right tall compartments and a central bay with shelf and drawer space; overall size 200*60*220 cm.",
+        "functional_description": "Provides structural support, storage cavities, and mounting points for doors and drawers.",
+        "movement_description": "Acts as the parent frame; doors rotate on hinges and drawers slide on rails relative to it.",
+        "grasp_description": "Typically not grasped directly except when moving the entire furniture."
+    },
+    "basic_info": {
+        "material": "wood/MDF",
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data/UPB_00001421/annotations/part_2.json

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+{
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+    "part_level": {
+        "part_name": "Left Outer Door",
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+        "graspable": true,
+        "basic_description": "Tall MDF swing door panel on the far left; approx 210*50*2 cm.",
+        "functional_description": "Closes the left wardrobe compartment.",
+        "movement_description": "Rotates about a vertical hinge line relative to the cabinet body.",
+        "grasp_description": "Pulled by its knob to open; pushed to close."
+    },
+    "basic_info": {
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+{
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+        "graspable": true,
+        "basic_description": "Second tall MDF door next to the left compartment opening; approx 210*45*2 cm.",
+        "functional_description": "Pairs with the outer left door to close the left side.",
+        "movement_description": "Hinged rotation about vertical axis on the cabinet.",
+        "grasp_description": "Grasped at the knob to swing open or closed."
+    },
+    "basic_info": {
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data/UPB_00001421/annotations/part_4.json

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+{
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+        "entity": "UPB_00001421",
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+        "part_name": "Right Inner Door",
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+        "graspable": true,
+        "basic_description": "Tall MDF door adjacent to the central bay on the right; approx 210*45*2 cm.",
+        "functional_description": "Closes the inner right wardrobe section.",
+        "movement_description": "Rotates about a vertical hinge connected to the cabinet frame.",
+        "grasp_description": "Operated via its knob for opening and closing."
+    },
+    "basic_info": {
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+}

data/UPB_00001421/annotations/part_5.json

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+{
+    "index": {
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+        "entity": "UPB_00001421",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Right Outer Door",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Tall MDF swing door at the far right; approx 210*50*2 cm.",
+        "functional_description": "Closes the right wardrobe compartment.",
+        "movement_description": "Hinged rotation about a vertical axis fixed to the cabinet body.",
+        "grasp_description": "Grasped at the knob to open/close."
+    },
+    "basic_info": {
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+}

data/UPB_00001421/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001421",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Left Outer Door Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Round anodized aluminum pull knob mounted mid-height on the left outer door.",
+        "functional_description": "Provides a handhold to operate the door.",
+        "movement_description": "No relative motion; rigidly fixed to its door.",
+        "grasp_description": "Pinch or hook fingers to pull the door open."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061_Anodized",
+        "density": 2.7,
+        "young": 69.0,
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+}

data/UPB_00001421/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001421",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Left Inner Door Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Round anodized aluminum knob fixed to the left inner door.",
+        "functional_description": "Handhold to operate the adjacent door panel.",
+        "movement_description": "Rigidly attached; does not move relative to the door.",
+        "grasp_description": "Used by hand to swing the door."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061_Anodized",
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+}

data/UPB_00001421/annotations/part_8.json

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+{
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+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Right Inner Door Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Anodized aluminum round knob on the right inner door.",
+        "functional_description": "Serves as the grip to open/close the right inner door.",
+        "movement_description": "No motion relative to its door; fixed by screw.",
+        "grasp_description": "Finger-pull operation."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001421/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001421",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Right Outer Door Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Round anodized aluminum knob fitted to the rightmost door.",
+        "functional_description": "Primary grip for operating the outer right door.",
+        "movement_description": "Rigidly fixed; no relative movement.",
+        "grasp_description": "Grasp and pull to rotate the door."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001421/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_00001421/full_model/model.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5663a1537dfe5607a06341d184db648db8a48c5f632959db0405140a66f2cc69
+size 11641985

data/UPB_00001421/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001421",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Wardrobe Closet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 11,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001421/model.urdf

@@ -0,0 +1,231 @@
+<?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="helper_link_4"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.697557 0.697557 0.697557"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.697557 0.697557 0.697557"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.697557 0.697557 0.697557"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.697557 0.697557 0.697557"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.697557 0.697557 0.697557"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.697557 0.697557 0.697557"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.697557 0.697557 0.697557"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.697557 0.697557 0.697557"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.697557 0.697557 0.697557"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.697557 0.697557 0.697557"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.697557 0.697557 0.697557"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.697557 0.697557 0.697557"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.697557 0.697557 0.697557"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.697557 0.697557 0.697557"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.697557 0.697557 0.697557"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.697557 0.697557 0.697557"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.697557 0.697557 0.697557"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.697557 0.697557 0.697557"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.697557 0.697557 0.697557"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.697557 0.697557 0.697557"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.697557 0.697557 0.697557"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.697557 0.697557 0.697557"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_11"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 0.000000 -0.447132" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2092669642419667" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 -0.000000 0.447132" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_11"/>
+    <child link="helper_link_1"/>
+    <origin xyz="-1.065798 -0.186276 0.134884" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="1.065798 0.186276 -0.134884" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="link_11"/>
+    <child link="helper_link_2"/>
+    <origin xyz="-0.394847 -0.184310 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0.394847 0.184310 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="revolute">
+    <parent link="link_11"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.406241 -0.184579 0.299907" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="-0.406241 0.184579 -0.299907" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="revolute">
+    <parent link="link_11"/>
+    <child link="helper_link_4"/>
+    <origin xyz="1.069910 -0.185590 -0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_5"/>
+    <origin xyz="-1.069910 0.185590 0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="link_5"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>