Upload folder using huggingface_hub (part 18)

.gitattributes

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+{
+    "object_name": "Corner Display Cabinet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        60.0,
+        45.0,
+        190.0
+    ],
+    "mass": 40.0
+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000946",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Cabinet Carcass (frame, top/bottom, back panels)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Painted hardwood carcass of a tall triangular corner cabinet, including top cornice, base, back panels, and side stiles. Approx. outer size 60 cm front width, 45 cm depth, 190 cm height.",
+        "functional_description": "Provides the structural support for shelves and hinged doors and transfers load to the floor through the feet.",
+        "movement_description": "Stationary; serves as the fixed reference frame for all doors that rotate on hinges attached to it.",
+        "grasp_description": "Not usually grasped directly except when lifting or relocating the cabinet."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Painted",
+        "density": 0.7,
+        "young": 10.5,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+    }
+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000946",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Lower Left Door Ring Pull",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Brass-colored ring pull mounted on the lower left solid door.",
+        "functional_description": "Primary human interface for opening the lower left door.",
+        "movement_description": "Rigid connection to the door; travels with the door\u2019s rotation.",
+        "grasp_description": "Grasped and pulled to open the compartment."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy",
+        "density": 8.4,
+        "young": 100.0,
+        "hardness": 130,
+        "poisson": 0.34,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000946",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Lower Right Door Ring Pull",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Brass ring pull installed on the lower right solid door.",
+        "functional_description": "Allows the user to open and close the lower right door easily.",
+        "movement_description": "Rigidly attached to the door; moves in concert with it.",
+        "grasp_description": "Often pinched between fingers and pulled."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy",
+        "density": 8.4,
+        "young": 100.0,
+        "hardness": 130,
+        "poisson": 0.34,
+        "friction": 0.4
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+            "D"
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+    }
+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000946",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Interior Shelves (upper section, set of 2)",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Two triangular painted MDF shelves, approx. 40\u201342 cm side length and 1.8 cm thickness, fitting the corner cabinet upper bay.",
+        "functional_description": "Support and display items in the upper glass-door compartment.",
+        "movement_description": "No regular motion; shelves rest on support pins/tracks and can be repositioned by removing them.",
+        "grasp_description": "Occasionally handled when adjusting or cleaning, but not a frequent grasp point in daily use."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.7,
+        "young": 4.0,
+        "hardness": 15,
+        "poisson": 0.3,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+        "motion_info": {}
+    }
+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000946",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Feet/Leveler Caps (set)",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Small brass-colored caps or leveler tips attached to the cabinet\u2019s three legs to protect the floor and improve stability.",
+        "functional_description": "Distribute weight, prevent wear on the wood legs, and allow minor leveling of the cabinet.",
+        "movement_description": "Rigidly fixed to the carcass; no motion during normal use.",
+        "grasp_description": "Not intended to be grasped; may be adjusted during installation only."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy",
+        "density": 8.4,
+        "young": 100.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
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+            "D"
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+    }
+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000946",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Upper Left Glass Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Painted hardwood frame with two inset glass panes and left-side hinges; about 30 cm wide, 95 cm tall, 2 cm thick.",
+        "functional_description": "Provides access to and visibility of the upper compartment while protecting contents from dust.",
+        "movement_description": "Rotates about a vertical hinge axis attached to the left stile of the carcass.",
+        "grasp_description": "Grasped via the ring pull to open/close the door."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Painted",
+        "density": 0.7,
+        "young": 10.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.45
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+    "kinematic_info": {
+        "motion_types": [
+            "C"
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+        "motion_info": {
+            "dependency": [
+                4,
+                8
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+            "C": {
+                "axis": [
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+                "pos": [
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+    }
+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000946",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Upper Right Glass Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Right-hinged painted hardwood door with two glass panels, approx. 30 cm wide, 95 cm tall, 2 cm thick.",
+        "functional_description": "Partners with the left door to close the upper bay and display items behind glass.",
+        "movement_description": "Rotates about a right-side vertical hinge relative to the carcass.",
+        "grasp_description": "Typically pulled by its metal ring pull."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Painted",
+        "density": 0.7,
+        "young": 10.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.45
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+            "C"
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+        "motion_info": {
+            "dependency": [
+                5,
+                9
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+            "C": {
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+                    1.0
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+                "pos": [
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+        }
+    }
+}

data/UPB_00000946/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000946",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Lower Left Solid Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Left-hinged, solid painted wood door for the lower cabinet section; about 30 cm wide, 60 cm tall, 2 cm thick with recessed panel.",
+        "functional_description": "Closes the lower storage compartment, concealing items.",
+        "movement_description": "Rotates on left-side vertical hinges relative to the carcass.",
+        "grasp_description": "Opened by grasping the attached ring pull."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Painted",
+        "density": 0.7,
+        "young": 10.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.45
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+            "C"
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+                6,
+                10
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+    }
+}

data/UPB_00000946/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000946",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Lower Right Solid Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Right-hinged solid painted wood door for the lower section; approx. 30 cm wide, 60 cm tall, 2 cm thick.",
+        "functional_description": "Works with the left lower door to secure the storage bay.",
+        "movement_description": "Rotates on right-side vertical hinges relative to the carcass.",
+        "grasp_description": "Pulled by its ring pull to open and close."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Painted",
+        "density": 0.7,
+        "young": 10.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                7,
+                11
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.30360016226768494,
+                    -0.18888816237449646,
+                    -0.4525284171104431
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000946/annotations/part_8.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000946",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Upper Left Door Ring Pull",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Brass-colored ring pull with a small base plate, mounted at the center edge of the upper left glass door.",
+        "functional_description": "Provides a comfortable grip to operate the door and transmits pull force to the latch/hinge.",
+        "movement_description": "Rigidly affixed to the door; the internal ring may pivot on a small pin but the assembly moves with the door.",
+        "grasp_description": "Commonly pinched or hooked with fingers to pull the door open."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy",
+        "density": 8.4,
+        "young": 100.0,
+        "hardness": 130,
+        "poisson": 0.34,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000946/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000946",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Upper Right Door Ring Pull",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Brass ring pull attached to the upper right glass door.",
+        "functional_description": "Used to grasp and operate the right upper door.",
+        "movement_description": "Rigidly fixed to its door; moves with the door rotation.",
+        "grasp_description": "Frequently grasped with fingertips."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy",
+        "density": 8.4,
+        "young": 100.0,
+        "hardness": 130,
+        "poisson": 0.34,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000946/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_00000946/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00000946",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Corner Display Cabinet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 11,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000946/model.urdf

@@ -0,0 +1,223 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="helper_link_2"/>
+  <link name="helper_link_3"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.926829 0.926829 0.926829"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.926829 0.926829 0.926829"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.926829 0.926829 0.926829"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.926829 0.926829 0.926829"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.926829 0.926829 0.926829"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.926829 0.926829 0.926829"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.926829 0.926829 0.926829"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.926829 0.926829 0.926829"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.926829 0.926829 0.926829"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.926829 0.926829 0.926829"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.926829 0.926829 0.926829"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.926829 0.926829 0.926829"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.926829 0.926829 0.926829"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.926829 0.926829 0.926829"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.926829 0.926829 0.926829"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.926829 0.926829 0.926829"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.926829 0.926829 0.926829"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.926829 0.926829 0.926829"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.926829 0.926829 0.926829"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.926829 0.926829 0.926829"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.926829 0.926829 0.926829"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.926829 0.926829 0.926829"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_1"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.281948 -0.174471 0.228903" 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_4"/>
+    <origin xyz="0.281948 0.174471 -0.228903" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_1"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.288951 -0.174743 0.189487" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_5"/>
+    <origin xyz="-0.288951 0.174743 -0.189487" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="link_1"/>
+    <child link="helper_link_2"/>
+    <origin xyz="-0.286147 -0.175463 -0.426272" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_6"/>
+    <origin xyz="0.286147 0.175463 0.426272" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="revolute">
+    <parent link="link_1"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.281386 -0.175067 -0.419417" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_7"/>
+    <origin xyz="-0.281386 0.175067 0.419417" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="link_5"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="link_6"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="fixed">
+    <parent link="link_7"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00000946/parts/4.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 4.png

data/UPB_00000946/parts/5.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 5.png

data/UPB_00000946/parts/6.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 6.png

data/UPB_00000946/parts/7.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 7.png

data/UPB_00000946/parts/WineCabinet_6GMSA7UTDD52APTULE888888_CfuvA.mtl

@@ -0,0 +1,21 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5da7bbed7d6a6300016353ec
+Kd 0.592149019 0.592149019 0.549166024
+illum 1
+
+newmtl MI_5da7bbedd849e10001f24669
+Kd 0.630523026 0.564719975 0.299865007
+illum 1
+
+newmtl MI_5da7bbedc6ff5a0001875529
+Kd 0.717599988 0.800000012 0.827499986
+Ks 0.100000001 0.100000001 0.100000001
+d 1
+illum 1
+
+newmtl MI_5da7bbed17e93b0001b67f5d
+Kd 0.291599989 0.216000006 0.0917999968
+illum 1
+

data/UPB_00000946/parts/part_2.obj

@@ -0,0 +1,122 @@
+mtllib WineCabinet_6GMSA7UTDD52APTULE888888_CfuvA.mtl
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