Upload folder using huggingface_hub (part 16)

.gitattributes

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data/UPB_00000930/annotations/object.json

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+{
+    "object_name": "Tall Bookcase with Lower Cabinet Door",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        180.0,
+        50.0,
+        35.0
+    ],
+    "mass": 32.0
+}

data/UPB_00000930/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000930",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Cabinet Carcass and Shelves",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Tall MDF cabinet body with four open shelves above a lower compartment; dark wood veneer. Approx. 180 cm tall, 50 cm wide, 35 cm deep.",
+        "functional_description": "Provides structural support, contains the fixed/adjustable shelves, and encloses the lower storage bay that closes with a door.",
+        "movement_description": "Stationary structure. Serves as the fixed parent for the door's hinged rotation.",
+        "grasp_description": "Typically not grasped directly; users place items on shelves or open the door via the handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneer",
+        "density": 0.7,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000930/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000930",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Hardware Set (Hinges & Leveling Feet)",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Small brass components including two door hinges and four leveling feet. Each hinge roughly 7*4 cm; feet ~2.5 cm diameter.",
+        "functional_description": "Hinges provide the pivot for the door; feet stabilize and level the tall cabinet.",
+        "movement_description": "Hardware pieces are rigidly fastened to the cabinet (and to the door for hinges). The rotational motion is defined between the cabinet (1) and door (3).",
+        "grasp_description": "Not intended for direct user grasp except during assembly or adjustment."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy",
+        "density": 8.4,
+        "young": 100.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000930/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000930",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Lower Cabinet Door Panel",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Rectangular MDF door with matching dark wood veneer, sized to close the lower bay (~45*45*1.8 cm).",
+        "functional_description": "Closes the lower storage compartment to protect and conceal items.",
+        "movement_description": "Rotates about a vertical hinge axis on the cabinet\u2019s side, allowing approximately 110\u00b0 of opening.",
+        "grasp_description": "Users typically pull the door via the handle attached to its outer face."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneer",
+        "density": 0.7,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.55
+    },
+    "kinematic_info": {
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+            "C"
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+                3,
+                4
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+    }
+}

data/UPB_00000930/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000930",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Decorative Vertical Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Elongated brass pull with decorative motifs; mounts vertically on the door. Approx. 30*3*2 cm.",
+        "functional_description": "Provides a comfortable surface for the user to pull or push to open/close the door.",
+        "movement_description": "Rigidly fastened to the door and moves with it as a single unit.",
+        "grasp_description": "Designed for a power or pinch grip; smooth edges and moderate thickness for comfortable daily use."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy",
+        "density": 8.4,
+        "young": 100.0,
+        "hardness": 100,
+        "poisson": 0.34,
+        "friction": 0.45
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+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+        "motion_info": {}
+    }
+}

data/UPB_00000930/full_model/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

data/UPB_00000930/meta_data.json

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+{
+    "id": "UPB_00000930",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Tall Bookcase with Lower Cabinet Door"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 4,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000930/model.urdf

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+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.725017 0.725017 0.725017"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.725017 0.725017 0.725017"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.725017 0.725017 0.725017"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
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+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
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+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.725017 0.725017 0.725017"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_1"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.219735 -0.124258 -0.522601" 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_3"/>
+    <origin xyz="0.219735 0.124258 0.522601" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00000930/parts/WineCabinet_6EHKID4TDD52EPTULY888888_RfSa8.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5d303fdb0e49520001a452a3
+Kd 0.496048599 0.373958409 0.199318796
+illum 1
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+newmtl MI_5d303fdb0e49520001a452a2
+Kd 1 1 1
+illum 1
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data/UPB_00000931/annotations/object.json

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+{
+    "object_name": "Tall Bookcase with Lower Cabinet Door",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        45.0,
+        30.0,
+        180.0
+    ],
+    "mass": 28.0
+}

data/UPB_00000931/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000931",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Cabinet carcass and shelves",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Main wooden frame with vertical sides, top/bottom, and four open shelves; oak finish. Overall size about 45 cm wide, 30 cm deep, and 180 cm tall.",
+        "functional_description": "Provides structure and load-bearing support for stored books and items; the lower opening houses a hinged door.",
+        "movement_description": "Stationary structure. Serves as the fixed parent for the door\u2019s hinge rotation; hardware is rigidly attached.",
+        "grasp_description": "Not typically grasped directly; users interact with shelves by placing items."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
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+            "D"
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+}

data/UPB_00000931/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000931",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Hardware set (hinges, knob, feet)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Small brass components: two butt hinges on the door edge, a round door knob, and four capped feet/levelers at the base.",
+        "functional_description": "Hinges provide the rotational joint for the door; the knob offers an alternative grasp point; feet protect the floor and level the cabinet.",
+        "movement_description": "The hardware itself is rigidly fixed to the carcass and door. Door rotation occurs about the hinge axis between Part 1 and Part 3.",
+        "grasp_description": "Users often pull on the knob to open the lower door; feet are not touched during normal use."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
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+}

data/UPB_00000931/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000931",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Lower cabinet door panel",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Rectangular oak door panel with raised border; approx. 45*35*1.8 cm, mounted at the lower bay of the bookcase.",
+        "functional_description": "Closes the lower storage compartment to conceal items and protect them from dust.",
+        "movement_description": "Rotates about a vertical hinge axis fixed to the carcass; typical opening range up to roughly 110 degrees with light hinge damping.",
+        "grasp_description": "Usually pulled open via the knob or vertical handle; the panel itself is not typically grasped except at edges."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.5
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+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000931/annotations/part_4.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000931",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Vertical door pull handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "A long decorative brass pull bar with two mounting bosses, mounted vertically on the outer edge of the lower door; about 30*3*1.5 cm.",
+        "functional_description": "Provides a comfortable and robust grasp point for opening/closing the door; distributes hand force along a larger area.",
+        "movement_description": "No motion relative to the door\u2014rigidly fastened. Moves in space only when the door rotates relative to the carcass.",
+        "grasp_description": "Users wrap fingers around the bar to pull the door open or push it closed."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000931/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_00000931/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00000931",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Tall Bookcase with Lower Cabinet Door"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 4,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000931/model.urdf

@@ -0,0 +1,80 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.725017 0.725017 0.725017"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.725017 0.725017 0.725017"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.725017 0.725017 0.725017"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.725017 0.725017 0.725017"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.725017 0.725017 0.725017"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.725017 0.725017 0.725017"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.725017 0.725017 0.725017"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.725017 0.725017 0.725017"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_1"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.212363 -0.110925 -0.537336" 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_3"/>
+    <origin xyz="0.212363 0.110925 0.537336" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00000931/parts/WineCabinet_6EHNWPETD5TGERPLLE888888_aaXpq.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5d30403ddcc7dc7b9e6e06fd
+Kd 0.496048599 0.373958409 0.199318796
+illum 1
+
+newmtl MI_5d30403ddcc7dc7b9e6e06fc
+Kd 1 1 1
+illum 1
+map_Kd ./T_5d30403ddcc7dc7b9e6e06fc_color.jpg
+

data/UPB_00000931/plys/1.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:1fb8dc87d51e5c7be60e74f96105d64f5e09d6f511138696877f5916cf61d54a
+size 1459378

data/UPB_00000931/plys/2.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2db759a0d3d9b3c311292a9bfca2597adc85434d6dfe6e8adb16487165992dca
+size 160242

data/UPB_00000931/plys/3.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fb100fd592ff91000b1125b99f46fa0ac52e87c1fe89c8923659350cb495416
+size 160242

data/UPB_00000931/plys/4.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4838c1cdccb6e8f260002447b7d8e106d98d6d3484d1b2af7a5a4b75f6d8df56
+size 160242

data/UPB_00000931/plys/model.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:064a70c756d64070c2459c124d2e2b835138bb81137da22307c219ff44d573ca
+size 1600243

data/UPB_00000932/annotations/object.json

@@ -0,0 +1,10 @@
+{
+    "object_name": "Sliding-Door Wine Cabinet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        90.0,
+        35.0,
+        180.0
+    ],
+    "mass": 48.0
+}

data/UPB_00000932/annotations/part_1.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000932",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Cabinet Frame with Shelves and Wine Rack Base",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Main wooden carcass made from plywood with walnut veneer, including fixed shelves and a lower bottle rack and four legs. Approx. 90 cm wide, 35 cm deep, 180 cm tall.",
+        "functional_description": "Provides structural support, storage shelves, and a slotted base for wine bottles.",
+        "movement_description": "Stationary; acts as the guide/track support for the two sliding doors.",
+        "grasp_description": "Not typically grasped directly; users interact mainly with the door handles."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Veneer_Walnut",
+        "density": 0.65,
+        "young": 11.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000932/annotations/part_2.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000932",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Leveling Foot Pads and Fasteners (set of 4)",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Small brass hardware at the base corners acting as leveling pads/fasteners. Typical pad diameter ~2.5 cm, thickness ~0.5 cm.",
+        "functional_description": "Stabilizes the cabinet, protects floors, and secures legs to the carcass.",
+        "movement_description": "Rigidly fixed to the cabinet base; no intentional motion.",
+        "grasp_description": "Rarely touched; adjusted only during installation or leveling."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy",
+        "density": 8.4,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000932/annotations/part_3.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000932",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Left Sliding Slatted Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Walnut-veneer slatted door panel, approx. 42*2.0*150 cm, with decorative brass crosspins.",
+        "functional_description": "Covers the left half of the cabinet opening; provides ventilation through slats.",
+        "movement_description": "Slides horizontally along top/bottom tracks of the frame with limited travel so one side can open at a time.",
+        "grasp_description": "Pulled by its handle to slide left-right to access contents."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Walnut",
+        "density": 0.68,
+        "young": 12.0,
+        "hardness": 35,
+        "poisson": 0.34,
+        "friction": 0.38
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                5
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.43498551845550537,
+                    -0.1657613068819046,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000932/annotations/part_4.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000932",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Right Sliding Slatted Door",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Matching walnut-veneer slatted door panel for the right side, approx. 42*2.0*150 cm.",
+        "functional_description": "Covers the right half of the opening and overlaps the left door when closed.",
+        "movement_description": "Translates horizontally on the same guide rails as the left door; motion limited to door width.",
+        "grasp_description": "User grasps the handle to slide the door to reveal shelves or the wine rack."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Walnut",
+        "density": 0.68,
+        "young": 12.0,
+        "hardness": 35,
+        "poisson": 0.34,
+        "friction": 0.38
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                6
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.42976081371307373,
+                    -0.17024385929107666,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000932/annotations/part_5.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000932",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Left Door Ring-Pull Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Brass ring-pull/escutcheon sized about 5*5*1 cm, centered on the left door.",
+        "functional_description": "Provides a comfortable grip point to operate the left sliding door.",
+        "movement_description": "Rigidly attached to left door; moves exactly with the door.",
+        "grasp_description": "Pinched or hooked with fingers to pull the door laterally."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy",
+        "density": 8.4,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000932/annotations/part_6.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000932",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Right Door Ring-Pull Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Matching brass ring-pull/escutcheon about 5*5*1 cm, centered on the right door.",
+        "functional_description": "Grip point to operate the right sliding door.",
+        "movement_description": "Rigidly fixed to the right door; follows its translational motion.",
+        "grasp_description": "User grips the pull to slide the door open or closed."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy",
+        "density": 8.4,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}