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b/data/UPB_00001369/annotations/part_1.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001369", + "label": "1" + }, + "part_level": { + "part_name": "Upper Drawer Box", + "affordance": 4, + "graspable": false, + "basic_description": "A laminated particle-board drawer box approximately 80*40*12 cm with an open top and raised front.", + "functional_description": "Provides sliding storage beneath the shelf area of the wardrobe.", + "movement_description": "Translates in and out along wooden/runner guides relative to the cabinet body.", + "grasp_description": "Users pull the drawer by its two knobs (parts 11 and 12), not by the box itself." + }, + "basic_info": { + "material": "wood/Particle_Board_Laminate", + "density": 0.65, + "young": 3.0, + "hardness": 20, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 1, + 11 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + 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1.", + "grasp_description": "Pulled by one hand together with the right knob for balanced opening." + }, + "basic_info": { + "material": "metal", + "density": 7.095321614455091, + "young": 162.66640479230088, + "hardness": 160.52450162034765, + "poisson": 0.3059805558283549, + "friction": 0.4258902091721515 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001369/annotations/part_12.json b/data/UPB_00001369/annotations/part_12.json new file mode 100644 index 0000000000000000000000000000000000000000..ba4ef53b11fd08d73cd7a6d52eaf9457d52898c0 --- /dev/null +++ b/data/UPB_00001369/annotations/part_12.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001369", + "label": "12" + }, + "part_level": { + "part_name": "Knob - Right Drawer", + "affordance": 1, + "graspable": true, + "basic_description": "Right-side knob on the wide drawer front, matte ABS.", + "functional_description": "Works with the left knob to open/close the upper drawer.", + "movement_description": "Rigid with the drawer front; no independent motion.", + "grasp_description": "Commonly grasped together with knob 11 for smooth pull." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.05, + "young": 2.2, + "hardness": 10, + "poisson": 0.36, + "friction": 0.58 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001369/annotations/part_13.json b/data/UPB_00001369/annotations/part_13.json new file mode 100644 index 0000000000000000000000000000000000000000..6fda33d8738865622b85d10e6c45e50794f41398 --- /dev/null +++ b/data/UPB_00001369/annotations/part_13.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001369", + "label": "13" + }, + "part_level": { + "part_name": "Cabinet Body (Carcass with Shelves)", + "affordance": 10, + "graspable": false, + "basic_description": "Main wardrobe carcass made from laminated particle board with integrated shelves and partitions; overall size 120*50*200 cm.", + "functional_description": "Provides the structural frame supporting doors, drawers, and shelving for storage.", + "movement_description": "Stationary; serves as the fixed parent for door rotations and drawer translations.", + "grasp_description": "Not typically grasped directly during normal use." + }, + "basic_info": { + "material": "wood/Particle_Board_Laminate", + "density": 0.65, + "young": 3.0, + "hardness": 20, + "poisson": 0.3, + "friction": 0.42 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001369/annotations/part_2.json b/data/UPB_00001369/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..c29815d1d4704c7ad3ae493bf068f6bc8a358e5d --- /dev/null +++ b/data/UPB_00001369/annotations/part_2.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001369", + "label": "2" + }, + "part_level": { + "part_name": "Lower Drawer Box", + "affordance": 5, + "graspable": false, + "basic_description": "A second laminated particle-board drawer box (approx. 80*40*12 cm).", + "functional_description": "Additional pull-out storage in the lower middle section of the wardrobe.", + "movement_description": "Slides front-to-back on runners fixed to the cabinet body.", + "grasp_description": "Operated via its front panel/edge or handle (not modeled as a separate part here)." + }, + "basic_info": { + "material": "wood/Particle_Board_Laminate", + "density": 0.65, + "young": 3.0, + "hardness": 20, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 2, + 12 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + 0.0, + 0.0, + -0.8554826378822327 + ], + "range": [ + -0.30000001192092896, + 0.0 + ], + "damping": 0.06 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001369/annotations/part_3.json b/data/UPB_00001369/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..137996b7c3300c3d785f4e45ef158f9b81ce24ca --- /dev/null +++ b/data/UPB_00001369/annotations/part_3.json @@ -0,0 +1,51 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001369", + "label": "3" + }, + "part_level": { + "part_name": "Left Tall Door Panel", + "affordance": 6, + "graspable": false, + "basic_description": "Full-height left door panel, approx. 180*50*1.6 cm, laminated particle board.", + "functional_description": "Covers and protects the left wardrobe compartment while allowing access when opened.", + "movement_description": "Rotates about vertical hinges mounted to the cabinet body.", + "grasp_description": "Typically pulled by its knob (part 7)." + }, + "basic_info": { + "material": "wood/Particle_Board_Laminate", + "density": 0.65, + "young": 3.0, + "hardness": 20, + "poisson": 0.3, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 3 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.8945815563201904, + -0.20954017341136932, + -3.0620224578115085e-08 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001369/annotations/part_4.json b/data/UPB_00001369/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..bdeb63c42c32b7a2e98d419d1ba9f7a04e8080a6 --- /dev/null +++ b/data/UPB_00001369/annotations/part_4.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001369", + "label": "4" + }, + "part_level": { + "part_name": "Right Tall Door Panel", + "affordance": 6, + "graspable": false, + "basic_description": "Narrower tall door panel on the front-left assembly, approx. 180*35*1.6 cm.", + "functional_description": "Second leaf of the tall double-door set.", + "movement_description": "Opens by rotating on vertical hinges relative to the cabinet carcass.", + "grasp_description": "Operated using its knob (part 8)." + }, + "basic_info": { + "material": "wood/Particle_Board_Laminate", + "density": 0.65, + "young": 3.0, + "hardness": 20, + "poisson": 0.3, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 4, + 8 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + -0.011928902938961983, + -0.21061530709266663, + 4.083093863016529e-10 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001369/annotations/part_5.json b/data/UPB_00001369/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..a110f1f372d549805f3ae5e93c20b9747e9b2853 --- /dev/null +++ b/data/UPB_00001369/annotations/part_5.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001369", + "label": "5" + }, + "part_level": { + "part_name": "Left Upper Door Panel", + "affordance": 6, + "graspable": false, + "basic_description": "Smaller cabinet door above the shelving section, approx. 55*40*1.6 cm.", + "functional_description": "Closes the left half of the upper cabinet.", + "movement_description": "Swings open about a vertical hinge line on the cabinet.", + "grasp_description": "Pulled via knob part 9." + }, + "basic_info": { + "material": "wood/Particle_Board_Laminate", + "density": 0.65, + "young": 3.0, + "hardness": 20, + "poisson": 0.3, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 5, + 9 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + 0.012421107850968838, + -0.20781384408473969, + 1.0918700695037842 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001369/annotations/part_6.json b/data/UPB_00001369/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..aa64adcb8ad4816b952a05b28e9c19075e9bc52c --- /dev/null +++ b/data/UPB_00001369/annotations/part_6.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001369", + "label": "6" + }, + "part_level": { + "part_name": "Right Upper Door Panel", + "affordance": 6, + "graspable": false, + "basic_description": "Right-hand upper cabinet door, approx. 55*40*1.6 cm, laminated particle board.", + "functional_description": "Closes the right half of the upper storage.", + "movement_description": "Rotates about its hinges relative to the cabinet body.", + "grasp_description": "Handled using knob part 10." + }, + "basic_info": { + "material": "wood/Particle_Board_Laminate", + "density": 0.65, + "young": 3.0, + "hardness": 20, + "poisson": 0.3, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 6, + 10 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.8886141777038574, + -0.21340583264827728, + 0.7036306262016296 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001369/annotations/part_7.json b/data/UPB_00001369/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..465f058f32a4e290868ddfb99edba250dcafe33c --- /dev/null +++ b/data/UPB_00001369/annotations/part_7.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001369", + "label": "7" + }, + "part_level": { + "part_name": "Knob - Left Tall Door", + "affordance": 2, + "graspable": true, + "basic_description": "Matte black ABS round knob (~3 cm diameter, 2.5 cm projection).", + "functional_description": "Provides a comfortable grip to pull the left tall door.", + "movement_description": "Rigidly fixed to the door; moves only as the door rotates.", + "grasp_description": "Pinch or pull by fingers; high-friction surface improves grip." + }, + "basic_info": { + "material": "metal", + "density": 7.095321614455091, + "young": 162.66640479230088, + "hardness": 160.52450162034765, + "poisson": 0.3059805558283549, + "friction": 0.4258902091721515 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001369/annotations/part_8.json b/data/UPB_00001369/annotations/part_8.json new file mode 100644 index 0000000000000000000000000000000000000000..88af6ed97889ccc4af506566549d5746684b63d8 --- /dev/null +++ b/data/UPB_00001369/annotations/part_8.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001369", + "label": "8" + }, + "part_level": { + "part_name": "Knob - Right Tall Door", + "affordance": 2, + "graspable": true, + "basic_description": "Matte black ABS knob for the right tall door.", + "functional_description": "Enables pulling the right tall door open/closed.", + "movement_description": "Rigidly attached; follows the door\u2019s rotation.", + "grasp_description": "Finger grasp point on the tall door." + }, + "basic_info": { + "material": "metal", + "density": 7.095321614455091, + "young": 162.66640479230088, + "hardness": 160.52450162034765, + "poisson": 0.3059805558283549, + "friction": 0.4258902091721515 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001369/annotations/part_9.json b/data/UPB_00001369/annotations/part_9.json new file mode 100644 index 0000000000000000000000000000000000000000..0dbbbbdeba748e15848a523004d2f75caf2fc76e --- /dev/null +++ b/data/UPB_00001369/annotations/part_9.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001369", + "label": "9" + }, + "part_level": { + "part_name": "Knob - Left Upper Door", + "affordance": 3, + "graspable": true, + "basic_description": "Small ABS knob for the left upper cabinet door.", + "functional_description": "Grip point to open the left upper door.", + "movement_description": "No independent motion; rigidly mounted to door 5.", + "grasp_description": "Pulled or twisted by hand during door operation." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.05, + "young": 2.2, + "hardness": 10, + "poisson": 0.36, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001369/full_model/material.mtl b/data/UPB_00001369/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00001369/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 \ No newline at end of file diff --git a/data/UPB_00001369/full_model/material_0.png b/data/UPB_00001369/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..36476e8cb993c0df9f02654af11259a7478f335f --- /dev/null +++ b/data/UPB_00001369/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ffb922c659fd5038d20174e2c5ecb63e12d92f014acc5022bbba9a6d9ab7319e +size 96 diff --git a/data/UPB_00001369/full_model/model.obj b/data/UPB_00001369/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..71cfca34a8674d600c33305871edcca70d3053b0 --- /dev/null +++ b/data/UPB_00001369/full_model/model.obj @@ -0,0 +1,190815 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v 0.89899886 -0.21166265 -0.49100050 +v 0.89999872 -0.19966266 -0.49000049 +v -0.00000104 -0.19966105 -0.49000049 +v 0.00099909 -0.21166095 -0.49100050 +v -0.00000104 -0.19966105 -0.49000049 +v -0.00000098 -0.19966091 -0.68550050 +v 0.00099909 -0.21166095 -0.49100050 +v 0.00099909 -0.21166092 -0.68450051 +v 0.00099909 -0.21166092 -0.68450051 +v -0.00000098 -0.19966091 -0.68550050 +v 0.89999872 -0.19966263 -0.68550050 +v 0.89899886 -0.21166262 -0.68450051 +v 0.89999872 -0.19966266 -0.49000049 +v 0.89899886 -0.21166262 -0.68450051 +v 0.89999872 -0.19966263 -0.68550050 +v 0.89899886 -0.21166265 -0.49100050 +v 0.89649886 -0.21766266 -0.49350050 +v 0.89899886 -0.21166265 -0.49100050 +v 0.00099909 -0.21166095 -0.49100050 +v 0.00349902 -0.21766095 -0.49350050 +v 0.00099909 -0.21166095 -0.49100050 +v 0.00099909 -0.21166092 -0.68450051 +v 0.00349902 -0.21766095 -0.49350050 +v 0.00349902 -0.21766092 -0.68200052 +v 0.00349902 -0.21766092 -0.68200052 +v 0.00099909 -0.21166092 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0.04499896 -0.18466109 -0.52000052 +v 0.86999875 -0.19966261 -0.52000052 +v 0.86999935 0.15033735 -0.52000028 +v 0.85499877 -0.18466258 -0.52000052 +v 0.86999935 0.15033738 -0.65550035 +v 0.86999875 -0.19966261 -0.52000052 +v 0.86999875 -0.19966257 -0.65550047 +v 0.86999935 0.15033735 -0.52000028 +v 0.86999875 -0.19966257 -0.65550047 +v 0.02999970 0.15033898 -0.65550035 +v 0.86999935 0.15033738 -0.65550035 +v 0.02999903 -0.19966100 -0.65550047 +v 0.02999896 -0.19966106 -0.52000052 +v 0.02999970 0.15033898 -0.65550035 +v 0.02999903 -0.19966100 -0.65550047 +v 0.02999964 0.15033895 -0.52000028 +v 0.04499957 0.13533895 -0.64000034 +v 0.85499877 -0.18466254 -0.64000052 +v 0.85499936 0.13533741 -0.64000034 +v 0.04499896 -0.18466105 -0.64000052 +v 0.04499896 -0.18466109 -0.52000052 +v 0.85499877 -0.18466254 -0.64000052 +v 0.04499896 -0.18466105 -0.64000052 +v 0.85499877 -0.18466258 -0.52000052 +v 0.85499877 -0.18466258 -0.52000052 +v 0.85499936 0.13533741 -0.64000034 +v 0.85499877 -0.18466254 -0.64000052 +v 0.85499936 0.13533738 -0.52000028 +v 0.85499936 0.13533741 -0.64000034 +v 0.04499957 0.13533892 -0.52000028 +v 0.04499957 0.13533895 -0.64000034 +v 0.85499936 0.13533738 -0.52000028 +v 0.04499957 0.13533895 -0.64000034 +v 0.04499896 -0.18466109 -0.52000052 +v 0.04499896 -0.18466105 -0.64000052 +v 0.04499957 0.13533892 -0.52000028 +v 0.49349934 -0.24022359 0.56265438 +v 0.49277219 -0.24022359 0.56176549 +v 0.49266481 -0.24008581 0.56187290 +v 0.49338648 -0.24008581 0.56275272 +v 0.49406403 -0.24022359 0.56373787 +v 0.49394843 -0.24008581 0.56382436 +v 0.49412140 -0.24040270 0.56369495 +v 0.49355537 -0.24040270 0.56260562 +v 0.49282551 -0.24040270 0.56171220 +v 0.49448818 -0.24022359 0.56501114 +v 0.49437168 -0.24008581 0.56508398 +v 0.49479380 -0.24022359 0.56646967 +v 0.49467728 -0.24008581 0.56652790 +v 0.49485162 -0.24040271 0.56644070 +v 0.49454603 -0.24040270 0.56497502 +v 0.49456477 -0.24060938 0.56496328 +v 0.49487036 -0.24060938 0.56643140 +v 0.49486953 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sha256:7bfcce6e38a28066553aa7875689823bbe3bab44b10dde60719bd53cc7aa1b4d +size 1600243 diff --git a/data/UPB_00001370/annotations/object.json b/data/UPB_00001370/annotations/object.json new file mode 100644 index 0000000000000000000000000000000000000000..a1e80861a483fea724dc26bdc1280fd9a706d630 --- /dev/null +++ b/data/UPB_00001370/annotations/object.json @@ -0,0 +1,10 @@ +{ + "object_name": "Four-Door Wardrobe Cabinet", + "category": "Furniture/StorageFurniture", + "volume": [ + 180.0, + 60.0, + 200.0 + ], + "mass": 95.0 +} \ No newline at end of file diff --git a/data/UPB_00001370/annotations/part_1.json b/data/UPB_00001370/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..d01cd67ca89e6f8c9d1fcc21aa8818d5bf0fd592 --- /dev/null +++ b/data/UPB_00001370/annotations/part_1.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001370", + "label": "1" + }, + "part_level": { + "part_name": "Left Door Panel A", + "affordance": 2, + "graspable": true, + "basic_description": "Tall rectangular MDF laminate door panel, matching the wardrobe finish.", + "functional_description": "Shields the left bay of the wardrobe and provides privacy/dust protection.", + "movement_description": "Rotates about a vertical hinge axis mounted to the main carcass; opens outward to around 110 degrees.", + "grasp_description": "Usually pulled open using its attached knob; edges can also be grasped." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.74, + "young": 3.0, + "hardness": 15, + "poisson": 0.35, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 1, + 5 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -1.362931251525879, + -0.2438075989484787, + 0.3118619918823242 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001370/annotations/part_10.json b/data/UPB_00001370/annotations/part_10.json new file mode 100644 index 0000000000000000000000000000000000000000..948304292c6442421999361b9e193797fedf06e5 --- /dev/null +++ b/data/UPB_00001370/annotations/part_10.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001370", + "label": "10" + }, + "part_level": { + "part_name": "Middle Shelf Board", + "affordance": 6, + "graspable": false, + "basic_description": "Thin rectangular MDF shelf spanning the lower middle opening.", + "functional_description": "Supports folded items or accessories within the central bay.", + "movement_description": "Fixed shelf; no relative motion once installed.", + "grasp_description": "Users place items on it; rarely grasped unless adjusting or removing." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.74, + "young": 3.0, + "hardness": 15, + "poisson": 0.35, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001370/annotations/part_11.json b/data/UPB_00001370/annotations/part_11.json new file mode 100644 index 0000000000000000000000000000000000000000..753af2ccea177a75c7119b0001db5a0d0942d596 --- /dev/null +++ b/data/UPB_00001370/annotations/part_11.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001370", + "label": "11" + }, + "part_level": { + "part_name": "Cubby Divider Unit", + "affordance": 6, + "graspable": false, + "basic_description": "Rectangular MDF insert with four compartments forming cubbies.", + "functional_description": "Organizes small items such as socks or accessories in the lower middle area.", + "movement_description": "Rigidly secured within the carcass; does not translate or rotate during typical use.", + "grasp_description": "Users access items within the cubbies; unit itself is not typically handled." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.74, + "young": 3.0, + "hardness": 15, + "poisson": 0.35, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001370/annotations/part_2.json b/data/UPB_00001370/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..3534a73ece8510ed046bb02094fa6c919b715fe8 --- /dev/null +++ b/data/UPB_00001370/annotations/part_2.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001370", + "label": "2" + }, + "part_level": { + "part_name": "Left-Middle Door Panel B", + "affordance": 2, + "graspable": true, + "basic_description": "Second tall MDF laminate door panel positioned just right of the left edge.", + "functional_description": "Covers the adjacent interior bay and aligns with the overall fa\u00e7ade.", + "movement_description": "Hinged to a vertical support in the carcass, rotates outward when pulled.", + "grasp_description": "Operated via its knob; panel can be steadied by the other hand." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.74, + "young": 3.0, + "hardness": 15, + "poisson": 0.35, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 2, + 6 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + -0.4596318006515503, + -0.2314283400774002, + 1.573253172182376e-08 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001370/annotations/part_3.json b/data/UPB_00001370/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..3f71fad9e68ab427622f0fe72cc4ba72980da496 --- /dev/null +++ b/data/UPB_00001370/annotations/part_3.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001370", + "label": "3" + }, + "part_level": { + "part_name": "Right-Middle Door Panel C", + "affordance": 2, + "graspable": true, + "basic_description": "Third tall MDF laminate door panel near the center-right of the cabinet fa\u00e7ade.", + "functional_description": "Covers and secures the central-right storage bay.", + "movement_description": "Opens via hinge rotation relative to the carcass.", + "grasp_description": "Pulled using its knob; may be pushed closed by hand." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.74, + "young": 3.0, + "hardness": 15, + "poisson": 0.35, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 3, + 7 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + 0.4846927523612976, + -0.23959805071353912, + 0.4175169765949249 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001370/annotations/part_4.json b/data/UPB_00001370/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..51c234c7606bfcb5a749e9bd999638b5d3e4ab67 --- /dev/null +++ b/data/UPB_00001370/annotations/part_4.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001370", + "label": "4" + }, + "part_level": { + "part_name": "Right Door Panel D", + "affordance": 2, + "graspable": true, + "basic_description": "Rightmost MDF laminate door panel.", + "functional_description": "Provides closure for the far-right wardrobe compartment.", + "movement_description": "Rotates about its vertical hinge axis attached to the carcass.", + "grasp_description": "Operated by the right-side knob; comfortable single-hand pull." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.74, + "young": 3.0, + "hardness": 15, + "poisson": 0.35, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 4, + 8 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 1.3577144145965576, + -0.2432423084974289, + -4.647258577961111e-08 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001370/annotations/part_5.json b/data/UPB_00001370/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..00cab13d6636d8eba30642b616d4033aba2c414f --- /dev/null +++ b/data/UPB_00001370/annotations/part_5.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001370", + "label": "5" + }, + "part_level": { + "part_name": "Knob A (Left Door)", + "affordance": 1, + "graspable": true, + "basic_description": "Matte black ABS square knob fixed to Door Panel A.", + "functional_description": "Primary hand contact point to pull the left door open/closed.", + "movement_description": "Rigidly attached to its door; moves with the door during rotation.", + "grasp_description": "Gripped between fingers; provides leverage to start door motion." + }, + "basic_info": { + "material": "metal", + "density": 7.095321614455091, + "young": 162.66640479230088, + "hardness": 160.52450162034765, + "poisson": 0.3059805558283549, + "friction": 0.4258902091721515 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001370/annotations/part_6.json b/data/UPB_00001370/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..b29647430c90eb1a0743cc402b73f7ddc8502b0b --- /dev/null +++ b/data/UPB_00001370/annotations/part_6.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001370", + "label": "6" + }, + "part_level": { + "part_name": "Knob B (Left-Middle Door)", + "affordance": 1, + "graspable": true, + "basic_description": "Matte black ABS knob fixed to Door Panel B.", + "functional_description": "Handhold to operate the left-middle door.", + "movement_description": "Rigidly fixed; follows the door\u2019s rotation.", + "grasp_description": "Pinch or hook with fingers to pull or push the door." + }, + "basic_info": { + "material": "metal", + "density": 7.095321614455091, + "young": 162.66640479230088, + "hardness": 160.52450162034765, + "poisson": 0.3059805558283549, + "friction": 0.4258902091721515 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001370/annotations/part_7.json b/data/UPB_00001370/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..c59b3f1e32f048003630aacaf3ff5552d2cc4f7d --- /dev/null +++ b/data/UPB_00001370/annotations/part_7.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001370", + "label": "7" + }, + "part_level": { + "part_name": "Knob C (Right-Middle Door)", + "affordance": 1, + "graspable": true, + "basic_description": "Matte black ABS knob fixed to Door Panel C.", + "functional_description": "Provides grip to operate the right-middle door.", + "movement_description": "Rigid connection; motion is identical to the attached door.", + "grasp_description": "Small ergonomic knob for single-finger or pinch grip." + }, + "basic_info": { + "material": "metal", + "density": 7.095321614455091, + "young": 162.66640479230088, + "hardness": 160.52450162034765, + "poisson": 0.3059805558283549, + "friction": 0.4258902091721515 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001370/annotations/part_8.json b/data/UPB_00001370/annotations/part_8.json new file mode 100644 index 0000000000000000000000000000000000000000..f1ca4b91a9aa4153dbaf8f37af70526a4c7d548f --- /dev/null +++ b/data/UPB_00001370/annotations/part_8.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001370", + "label": "8" + }, + "part_level": { + "part_name": "Knob D (Right Door)", + "affordance": 1, + "graspable": true, + "basic_description": "Matte black ABS knob mounted on Door Panel D.", + "functional_description": "Allows pulling and pushing of the rightmost door.", + "movement_description": "Moves rigidly with the door leaf.", + "grasp_description": "Pinch or hook grip; frequently used during everyday access." + }, + "basic_info": { + "material": "metal", + "density": 7.095321614455091, + "young": 162.66640479230088, + "hardness": 160.52450162034765, + "poisson": 0.3059805558283549, + "friction": 0.4258902091721515 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001370/annotations/part_9.json b/data/UPB_00001370/annotations/part_9.json new file mode 100644 index 0000000000000000000000000000000000000000..633c94a52ef7f6bce41ef5e8bf87f8562de71034 --- /dev/null +++ b/data/UPB_00001370/annotations/part_9.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001370", + "label": "9" + }, + "part_level": { + "part_name": "Wardrobe Carcass", + "affordance": 9, + "graspable": false, + "basic_description": "Main structural frame and interior partitions made from MDF with wood-grain laminate.", + "functional_description": "Provides structural support, houses shelves/compartments, and serves as the hinge mounting for doors.", + "movement_description": "Stationary reference for all hinged motions; doors rotate relative to this body.", + "grasp_description": "Not directly grasped during normal use; occasionally touched when moving the furniture." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.74, + "young": 3.2, + "hardness": 16, + "poisson": 0.35, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001370/full_model/material.mtl b/data/UPB_00001370/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00001370/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 \ No newline at end of file diff --git a/data/UPB_00001370/full_model/material_0.png b/data/UPB_00001370/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..45ec61e97d6229fb93ccbebba07bad95c1df0d6c --- /dev/null +++ b/data/UPB_00001370/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4337c9938990354293c120c646ab8ebd5f713af73b2879f3a01c78ba84073b25 +size 1091683 diff --git a/data/UPB_00001370/full_model/model.obj b/data/UPB_00001370/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..b85fa4809131d1d214ed3a2a9edfe4a265922273 --- /dev/null +++ b/data/UPB_00001370/full_model/model.obj @@ -0,0 +1,128821 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v -0.90567380 -0.22885491 1.15562618 +v -0.90444326 -0.22937287 -1.13872051 +v -0.90567368 -0.22885692 -1.13872051 +v -0.90721190 -0.23143467 1.15985453 +v -1.36445248 -0.23023082 1.15925026 +v -1.36445248 -0.23216565 1.16004324 +v -0.90721178 -0.24331728 -1.14268517 +v -1.36445236 -0.24269670 -1.14294958 +v -0.90721184 -0.24195010 -1.14313817 +v -0.90290523 -0.23388547 1.15777731 +v -0.90503818 -0.23298255 1.15981984 +v -0.90394360 -0.24024387 1.15925026 +v -1.36772096 -0.24437153 1.15562522 +v -1.36814392 -0.24390261 -1.13872063 +v -1.36722112 -0.24476239 -1.13872063 +v -0.90428299 -0.23023281 -1.14126682 +v -0.90271288 -0.23216765 -1.13872075 +v -0.90397036 -0.23298457 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-1.14033806 +v -0.90509266 -0.24490181 1.15713620 +v -1.36722112 -0.23388752 -1.14268529 +v -1.36875916 -0.23388752 -1.14087272 +v -0.90444326 -0.24440651 -1.14058793 +v -1.36875916 -0.24104665 1.15770578 +v -1.36848998 -0.24333964 1.15562522 +v -1.36728871 -0.24382949 -1.14143920 +v -1.36772096 -0.24024591 -1.14234519 +v -0.90721178 -0.23023281 -1.14234555 +v -1.36445248 -0.23079181 -1.14268506 +v -1.36445236 -0.22975989 -1.14192986 +v -0.90317464 -0.24334148 1.15562546 +v -0.90394336 -0.22975984 -1.13872051 +v -0.90352064 -0.23023078 1.15562546 +v -0.90317434 -0.23079178 -1.13872051 +v -0.90352064 -0.24390057 1.15562546 +v -0.90437573 -0.24382746 1.15834355 +v -1.36445248 -0.22868296 1.15562546 +v -0.90721178 -0.22868495 -1.13872004 +v -1.36445236 -0.22868498 -1.13872015 +v -0.90721190 -0.23298255 1.16015673 +v -0.90721178 -0.24504061 -1.14087272 +v -1.36445236 -0.24437354 -1.14192986 +v -0.90721178 -0.24434744 -1.14192975 +v -0.90405124 -0.22975984 -1.13978100 +v -0.90721178 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