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0000000000000000000000000000000000000000..9bcac47cc5308497be19039535c82aa86b5e3a9b --- /dev/null +++ b/data/UPB_00000946/annotations/object.json @@ -0,0 +1,10 @@ +{ + "object_name": "Corner Display Cabinet", + "category": "Furniture/StorageFurniture", + "volume": [ + 60.0, + 45.0, + 190.0 + ], + "mass": 40.0 +} \ No newline at end of file diff --git a/data/UPB_00000946/annotations/part_1.json b/data/UPB_00000946/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..14ffb8632e7492e3791e1739501347e8c90ab7d2 --- /dev/null +++ b/data/UPB_00000946/annotations/part_1.json @@ -0,0 +1,30 @@ +{ + "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" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000946/annotations/part_10.json b/data/UPB_00000946/annotations/part_10.json new file mode 100644 index 0000000000000000000000000000000000000000..4d5e5907980e6e7eda7e778a240b096e5a820336 --- /dev/null +++ b/data/UPB_00000946/annotations/part_10.json @@ -0,0 +1,30 @@ +{ + "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": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000946/annotations/part_11.json b/data/UPB_00000946/annotations/part_11.json new file mode 100644 index 0000000000000000000000000000000000000000..8d4f69a8911f80a7d30518261d7cfce13c4bc18c --- /dev/null +++ b/data/UPB_00000946/annotations/part_11.json @@ -0,0 +1,30 @@ +{ + "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 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000946/annotations/part_2.json b/data/UPB_00000946/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..e5d2761264f3d2fc0fc6eab15ba3cc89168142aa --- /dev/null +++ b/data/UPB_00000946/annotations/part_2.json @@ -0,0 +1,30 @@ +{ + "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" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000946/annotations/part_3.json b/data/UPB_00000946/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..c58067292e2b257fc355e4eb28e240ce54640d15 --- /dev/null +++ b/data/UPB_00000946/annotations/part_3.json @@ -0,0 +1,30 @@ +{ + "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": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000946/annotations/part_4.json b/data/UPB_00000946/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..b279c3268183f09b26c268599cccd1261c23a9fb --- /dev/null +++ b/data/UPB_00000946/annotations/part_4.json @@ -0,0 +1,52 @@ +{ + "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 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 4, + 8 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.30420681834220886, + -0.1882452517747879, + 0.24697452783584595 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000946/annotations/part_5.json b/data/UPB_00000946/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..09257b6a088f3ee865ff676bad454390bc4c1645 --- /dev/null +++ b/data/UPB_00000946/annotations/part_5.json @@ -0,0 +1,52 @@ +{ + "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 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 5, + 9 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.3117625415325165, + -0.18853797018527985, + 0.20444659888744354 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000946/annotations/part_6.json b/data/UPB_00000946/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..11eac1b579cf252c908b73e37890278cd5f61525 --- /dev/null +++ b/data/UPB_00000946/annotations/part_6.json @@ -0,0 +1,52 @@ +{ + "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 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 6, + 10 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.3087376356124878, + -0.18931522965431213, + -0.45992469787597656 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000946/annotations/part_7.json b/data/UPB_00000946/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..91347412134ff234b60d09efbd27a76736fb748e --- /dev/null +++ b/data/UPB_00000946/annotations/part_7.json @@ -0,0 +1,52 @@ +{ + "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 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000946/annotations/part_8.json b/data/UPB_00000946/annotations/part_8.json new file mode 100644 index 0000000000000000000000000000000000000000..63323ba9afb897844082646c19a62683ea73e5b7 --- /dev/null +++ b/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": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000946/annotations/part_9.json b/data/UPB_00000946/annotations/part_9.json new file mode 100644 index 0000000000000000000000000000000000000000..b5ead67fca668d2fe9929726427626e46e5d7981 --- /dev/null +++ b/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": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000946/full_model/material.mtl b/data/UPB_00000946/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/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 \ No newline at end of file diff --git a/data/UPB_00000946/full_model/material_0.png b/data/UPB_00000946/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..585a009029155373636ed3233449ab3015e899bc --- /dev/null +++ b/data/UPB_00000946/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1cfd5ff822927ec0ccb21df0b085a101dc6208d0f96c31651954f80bd6a967db +size 158 diff --git a/data/UPB_00000946/full_model/model.obj b/data/UPB_00000946/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..227e3049d1d9a7d19dc8adbf99fbcfecb1561729 --- /dev/null +++ b/data/UPB_00000946/full_model/model.obj @@ -0,0 +1,201642 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v -0.05384570 0.11822600 0.98415798 +v -0.01572070 0.15635100 0.98415798 +v -0.01597850 0.15661700 0.98415798 +v -0.05413870 0.11844500 0.98415798 +v -0.01541210 0.15666300 0.98415798 +v -0.01567380 0.15692900 0.98415798 +v -0.01718550 0.15846001 0.98415798 +v -0.01749410 0.15814801 0.98415798 +v -0.05584960 0.11978800 0.98415798 +v -0.06492380 0.12691400 0.92999202 +v -0.02552150 0.16630401 0.92999202 +v -0.02151370 0.16224199 0.92999202 +v -0.06039260 0.12336700 0.92999202 +v -0.02520900 0.16661701 0.92999202 +v -0.02120120 0.16255400 0.92999202 +v -0.01718550 0.15846001 0.92999202 +v -0.01749410 0.15814801 0.92999202 +v -0.05584960 0.11978900 0.92999202 +v -0.02151370 0.16224199 0.98415798 +v -0.06039260 0.12336700 0.98415798 +v -0.02120120 0.16255400 0.98415798 +v -0.02520900 0.16661701 0.98415798 +v -0.02552150 0.16630401 0.98415798 +v -0.06492380 0.12691300 0.98415798 +v -0.02700200 0.16780400 0.92999202 +v -0.06686130 0.12844500 0.92999202 +v -0.02723630 0.16805400 0.92999202 +v -0.06659180 0.12822600 0.92999202 +v -0.02691990 0.16836700 0.92999202 +v -0.02668550 0.16813201 0.92999202 +v -0.05324410 0.11774200 0.93126202 +v -0.01518950 0.15582000 0.93126202 +v -0.01518950 0.15582000 0.93356597 +v -0.05324410 0.11774200 0.93356699 +v -0.01488480 0.15611701 0.93126202 +v -0.01488480 0.15611701 0.93356597 +v 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a/data/UPB_00000946/model.urdf b/data/UPB_00000946/model.urdf new file mode 100644 index 0000000000000000000000000000000000000000..75ef1dac6d1cffd8306d3f014a7930c9aa2c85ff --- /dev/null +++ b/data/UPB_00000946/model.urdf @@ -0,0 +1,223 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/data/UPB_00000946/parts/4.mtl b/data/UPB_00000946/parts/4.mtl new file mode 100644 index 0000000000000000000000000000000000000000..09452450b9e8e9282ad1a92706e3e1f6ac239875 --- /dev/null +++ b/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 diff --git a/data/UPB_00000946/parts/4.png b/data/UPB_00000946/parts/4.png new file mode 100644 index 0000000000000000000000000000000000000000..e5252193cbaac386d761184d82abbe0fa32e95a6 --- /dev/null +++ b/data/UPB_00000946/parts/4.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c386b67e4f5c78c9fc046bbbf2e2d2f62e12e2b6c8c2121a780c21c63b9b93c0 +size 110 diff --git a/data/UPB_00000946/parts/5.mtl b/data/UPB_00000946/parts/5.mtl new file mode 100644 index 0000000000000000000000000000000000000000..d43c57b3f0e98a3e40743b896155cc3aa93ebe6e --- /dev/null +++ b/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 diff --git a/data/UPB_00000946/parts/5.png b/data/UPB_00000946/parts/5.png new file mode 100644 index 0000000000000000000000000000000000000000..e5252193cbaac386d761184d82abbe0fa32e95a6 --- /dev/null +++ b/data/UPB_00000946/parts/5.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c386b67e4f5c78c9fc046bbbf2e2d2f62e12e2b6c8c2121a780c21c63b9b93c0 +size 110 diff --git a/data/UPB_00000946/parts/6.mtl b/data/UPB_00000946/parts/6.mtl new file mode 100644 index 0000000000000000000000000000000000000000..9bdd1db9ee7771e097f5aeb7f5c8894b845287d3 --- /dev/null +++ b/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 diff --git a/data/UPB_00000946/parts/6.png b/data/UPB_00000946/parts/6.png new file mode 100644 index 0000000000000000000000000000000000000000..cf1b8f44bc6d2cfbe8165b1f1ab15383a6d18d09 --- /dev/null +++ b/data/UPB_00000946/parts/6.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e1b84803743e6acad87531d82fffc6c42852aa7436f79a088bdc77701cef18d +size 97 diff --git a/data/UPB_00000946/parts/7.mtl b/data/UPB_00000946/parts/7.mtl new file mode 100644 index 0000000000000000000000000000000000000000..dff8f6f0b5634871fcba48e53c20d8bd728090f2 --- /dev/null +++ b/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 diff --git a/data/UPB_00000946/parts/7.png b/data/UPB_00000946/parts/7.png new file mode 100644 index 0000000000000000000000000000000000000000..cf1b8f44bc6d2cfbe8165b1f1ab15383a6d18d09 --- /dev/null +++ b/data/UPB_00000946/parts/7.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e1b84803743e6acad87531d82fffc6c42852aa7436f79a088bdc77701cef18d +size 97 diff --git a/data/UPB_00000946/parts/WineCabinet_6GMSA7UTDD52APTULE888888_CfuvA.mtl b/data/UPB_00000946/parts/WineCabinet_6GMSA7UTDD52APTULE888888_CfuvA.mtl new file mode 100644 index 0000000000000000000000000000000000000000..fdce6c39cd8ae73d10040165b093bc998d1d1e2e --- /dev/null +++ b/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 + diff --git 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0000000000000000000000000000000000000000..4adbc7e4cbba722e89381ae8081770d3450ef1cc --- /dev/null +++ b/data/UPB_00000946/plys/9.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb179ad189e419577e87e291d10923ca1dda3eafd6a62b7d92f02f71108489fe +size 160242 diff --git a/data/UPB_00000946/plys/model.ply b/data/UPB_00000946/plys/model.ply new file mode 100644 index 0000000000000000000000000000000000000000..90177dfa4522b893bb7c157353dca70a05f75837 --- /dev/null +++ b/data/UPB_00000946/plys/model.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:541bf31e0f1fa9c9716abef31cd6a985e177515508695eac60c32c7ce759cf55 +size 1600243 diff --git a/data/UPB_00000947/annotations/object.json b/data/UPB_00000947/annotations/object.json new file mode 100644 index 0000000000000000000000000000000000000000..59b4f0c2dba25665ab943bed577ec8bafaad2345 --- /dev/null +++ b/data/UPB_00000947/annotations/object.json @@ -0,0 +1,10 @@ +{ + "object_name": "Tall Cabinet with Open Niche", + "category": "Furniture/StorageFurniture", + "volume": [ + 180.0, + 60.0, + 35.0 + ], + "mass": 42.0 +} \ No newline at end of file diff --git a/data/UPB_00000947/annotations/part_1.json b/data/UPB_00000947/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..def14aed33bb2777fa9fca3ef27787896092fdb4 --- /dev/null +++ b/data/UPB_00000947/annotations/part_1.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000947", + "label": "1" + }, + "part_level": { + "part_name": "Mid-compartment Back Panel", + "affordance": 10, + "graspable": false, + "basic_description": "Thin laminated HDF board (~56*0.3*30 cm) closing the back of the open middle niche of a tall cabinet.", + "functional_description": "Provides a clean backdrop and racking stiffness for the open niche area.", + "movement_description": "Rigidly fixed to the side frame and shelves; no independent motion.", + "grasp_description": "Not intended to be touched; only visible as the rear surface of the niche." + }, + "basic_info": { + "material": "wood/HDF_Laminate", + "density": 0.85, + "young": 4.0, + "hardness": 25, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000947/annotations/part_10.json b/data/UPB_00000947/annotations/part_10.json new file mode 100644 index 0000000000000000000000000000000000000000..e2b5497e9e1bd8c02bbe67b57826726fcaf663a8 --- /dev/null +++ b/data/UPB_00000947/annotations/part_10.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000947", + "label": "10" + }, + "part_level": { + "part_name": "Upper Door Pull Handle", + "affordance": 1, + "graspable": true, + "basic_description": "Slim brushed-aluminum pull (~30 cm long, 1.5 cm dia) mounted near the center seam of the upper doors.", + "functional_description": "Provides a comfortable gripping surface to open/close the upper right door.", + "movement_description": "No independent motion; moves rigidly with Door 7 as it swings.", + "grasp_description": "Primary user interface for the upper storage; grasped by fingers for pulling." + }, + "basic_info": { + "material": "metal/Aluminum_Alloy_6063", + "density": 2.7, + "young": 69.0, + "hardness": 95, + "poisson": 0.33, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000947/annotations/part_11.json b/data/UPB_00000947/annotations/part_11.json new file mode 100644 index 0000000000000000000000000000000000000000..be1ab493d00436917f5d4974b6baf04308fa31d9 --- /dev/null +++ b/data/UPB_00000947/annotations/part_11.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000947", + "label": "11" + }, + "part_level": { + "part_name": "Lower Door Pull Handle", + "affordance": 2, + "graspable": true, + "basic_description": "Slim brushed-aluminum pull (~25 cm long, 1.5 cm dia) fixed to the lower right door.", + "functional_description": "Allows easy actuation of the lower right door.", + "movement_description": "Rigid with Door 9; no relative motion.", + "grasp_description": "Frequently grasped to access the lower storage." + }, + "basic_info": { + "material": "metal/Aluminum_Alloy_6063", + "density": 2.7, + "young": 69.0, + "hardness": 95, + "poisson": 0.33, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000947/annotations/part_2.json b/data/UPB_00000947/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..3028dc38dd86f9be31928e5c0027a7ad6fd5ad03 --- /dev/null +++ b/data/UPB_00000947/annotations/part_2.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000947", + "label": "2" + }, + "part_level": { + "part_name": "Niche Shelves (pair)", + "affordance": 7, + "graspable": false, + "basic_description": "Two veneered wood planks (~56*2*30 cm each) forming the upper and lower panels of the open niche.", + "functional_description": "Act as horizontal surfaces framing the niche opening and supporting light d\u00e9cor.", + "movement_description": "Fixed with dowels/screws to the side frame; no motion.", + "grasp_description": "Occasionally touched when cleaning or placing objects; not a primary grasp point." + }, + "basic_info": { + "material": "wood/Hardwood_Veneer", + "density": 0.7, + "young": 10.0, + "hardness": 35, + "poisson": 0.32, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000947/annotations/part_3.json b/data/UPB_00000947/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..1135d666b479d2b9aec69bcb856810ebe331593f --- /dev/null +++ b/data/UPB_00000947/annotations/part_3.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000947", + "label": "3" + }, + "part_level": { + "part_name": "Vertical Side Frames (pair)", + "affordance": 9, + "graspable": false, + "basic_description": "Two tall laminated MDF uprights (~180*4*2 cm) forming the structural sides of the cabinet.", + "functional_description": "Carry hinge loads, tie top and bottom, and serve as the primary carcass frame.", + "movement_description": "Stationary frame; acts as the rotational parent for all doors via side hinges.", + "grasp_description": "Normally not grasped except when moving the furniture." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 3.5, + "hardness": 22, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000947/annotations/part_4.json b/data/UPB_00000947/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..d4a1b038888cc70796ebaacc3480ae9b4482e9dd --- /dev/null +++ b/data/UPB_00000947/annotations/part_4.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000947", + "label": "4" + }, + "part_level": { + "part_name": "Niche Side Panels (pair)", + "affordance": 8, + "graspable": false, + "basic_description": "Two veneered wood side boards (~35*2*30 cm) lining the sides of the middle niche.", + "functional_description": "Provide lateral enclosure and decorative finish for the open niche.", + "movement_description": "Rigidly connected to the frame; no motion.", + "grasp_description": "Occasionally touched but not intended as handles." + }, + "basic_info": { + "material": "wood/Hardwood_Veneer", + "density": 0.7, + "young": 9.0, + "hardness": 32, + "poisson": 0.32, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000947/annotations/part_5.json b/data/UPB_00000947/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..ceaf4366b615e42b9dae63d8049fa54dcab4d162 --- /dev/null +++ b/data/UPB_00000947/annotations/part_5.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000947", + "label": "5" + }, + "part_level": { + "part_name": "Top Cap and Bottom Base (pair)", + "affordance": 9, + "graspable": false, + "basic_description": "Laminated MDF panels (~60*3*35 cm) closing the cabinet at the very top and bottom.", + "functional_description": "Provide structural closure and a base for leveling; the bottom base bears the cabinet\u2019s weight.", + "movement_description": "Fixed to the side frames with dowels and screws; no motion.", + "grasp_description": "Typically not grasped; may contact floor or wall." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 3.5, + "hardness": 22, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000947/annotations/part_6.json b/data/UPB_00000947/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..96717b4fe8dbcb32de0e5eaf4e3042763caf3bf6 --- /dev/null +++ b/data/UPB_00000947/annotations/part_6.json @@ -0,0 +1,51 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000947", + "label": "6" + }, + "part_level": { + "part_name": "Upper Left Door", + "affordance": 4, + "graspable": true, + "basic_description": "Laminated MDF door panel (~87*29*1.6 cm) for the left half of the upper compartment.", + "functional_description": "Covers and protects the upper storage; opens to provide access.", + "movement_description": "Rotates outward about side-mounted hinges fixed to the side frame.", + "grasp_description": "Pulled at its edge or near the center seam to open and close." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 3.0, + "hardness": 22, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 6 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.408834844827652, + -0.12811942398548126, + 0.6252513527870178 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000947/annotations/part_7.json b/data/UPB_00000947/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..c9efd8dd7d2959358dcab0a434265b2665bf78c3 --- /dev/null +++ b/data/UPB_00000947/annotations/part_7.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000947", + "label": "7" + }, + "part_level": { + "part_name": "Upper Right Door", + "affordance": 3, + "graspable": true, + "basic_description": "Laminated MDF door panel (~87*29*1.6 cm) for the right half of the upper compartment.", + "functional_description": "Forms the other half of the upper enclosure; holds the pull handle.", + "movement_description": "Rotates on concealed hinges attached to the right side frame.", + "grasp_description": "Primary user contact for opening the upper storage, usually via the attached handle." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 3.0, + "hardness": 22, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 7, + 10 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.4049476981163025, + -0.12565398216247559, + 0.7172665596008301 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000947/annotations/part_8.json b/data/UPB_00000947/annotations/part_8.json new file mode 100644 index 0000000000000000000000000000000000000000..b58c281138d673ea2069e58b80e74a0aa8753cc0 --- /dev/null +++ b/data/UPB_00000947/annotations/part_8.json @@ -0,0 +1,51 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000947", + "label": "8" + }, + "part_level": { + "part_name": "Lower Left Door", + "affordance": 6, + "graspable": true, + "basic_description": "Laminated MDF door panel (~70*29*1.6 cm) for the left half of the lower compartment.", + "functional_description": "Covers the left side of the lower storage area.", + "movement_description": "Swings outward about hinges on the left side frame.", + "grasp_description": "Opened by pulling at the vertical edge near the center seam." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 3.0, + "hardness": 22, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 8 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.40777134895324707, + -0.1285322904586792, + -0.7108210325241089 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000947/annotations/part_9.json b/data/UPB_00000947/annotations/part_9.json new file mode 100644 index 0000000000000000000000000000000000000000..ba1302dfa62dea7256d3857eccb229f59d388503 --- /dev/null +++ b/data/UPB_00000947/annotations/part_9.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000947", + "label": "9" + }, + "part_level": { + "part_name": "Lower Right Door", + "affordance": 5, + "graspable": true, + "basic_description": "Laminated MDF door panel (~70*29*1.6 cm) for the right half of the lower compartment.", + "functional_description": "Completes the closure of the lower storage; carries the lower handle.", + "movement_description": "Rotates on hinges at the right side frame.", + "grasp_description": "Pulled by the attached handle for frequent access." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 3.0, + "hardness": 22, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 9, + 11 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.40735793113708496, + -0.12416927516460419, + -0.7536189556121826 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000947/full_model/material.mtl b/data/UPB_00000947/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00000947/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_00000947/full_model/material_0.png b/data/UPB_00000947/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..76848121edf521d87e1f680c69aeb634355923e6 --- /dev/null +++ b/data/UPB_00000947/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52c709982795610ce6279e969f14f7a3325fb1812a42c09321b5000b330604fa +size 3464840 diff --git a/data/UPB_00000947/full_model/model.obj b/data/UPB_00000947/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..b3fb15b7dbe34c7967c87eb7229964bbdbbc1724 --- /dev/null +++ b/data/UPB_00000947/full_model/model.obj @@ -0,0 +1,1064 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v -0.38999999 0.15000001 -0.31999999 +v 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a/data/UPB_00000948/annotations/part_1.json b/data/UPB_00000948/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..91448a058fe192a797b0fd3175d2dba91bfa55aa --- /dev/null +++ b/data/UPB_00000948/annotations/part_1.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000948", + "label": "1" + }, + "part_level": { + "part_name": "Adjustable Shelf Board", + "affordance": 4, + "graspable": false, + "basic_description": "Rectangular MDF shelf board with melamine finish, approx 36*30*1.8 cm, part of a tall shelving unit.", + "functional_description": "Provides a horizontal surface for storing books or items above the lower cabinet.", + "movement_description": "Rigidly supported on pins or brackets in the frame; repositioning requires manual removal but no built-in sliding motion.", + "grasp_description": "Usually touched when placing items, not grasped as a handle." + }, + "basic_info": { + "material": 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reference; acts as the hinge parent for the door and rigidly supports the shelf.", + "grasp_description": "Not typically grasped; touched occasionally when cleaning." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 3.2, + "hardness": 20, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000948/annotations/part_3.json b/data/UPB_00000948/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..2f62542782b718f7ec29b63a85dd66cd6440c131 --- /dev/null +++ b/data/UPB_00000948/annotations/part_3.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000948", + "label": "3" + }, + "part_level": { + "part_name": "Lower Door Panel", + "affordance": 2, + "graspable": false, + "basic_description": "Rectangular MDF cabinet door with recessed panel styling, approx 35*40*1.8 cm.", + "functional_description": "Closes the lower storage compartment; interfaces with hinges to allow opening and closing.", + "movement_description": "Rotates about a vertical hinge axis mounted to the frame; typical swing up to about 110 degrees.", + "grasp_description": "Users pull or push the door via the attached handle to access the cabinet." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 3.0, + "hardness": 20, + "poisson": 0.3, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 3, + 4 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.26754727959632874, + -0.15364867448806763, + -0.7714990973472595 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000948/annotations/part_4.json b/data/UPB_00000948/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..95acc9c5b5352091c4058b493832f7ec16d52b30 --- /dev/null +++ b/data/UPB_00000948/annotations/part_4.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000948", + "label": "4" + }, + "part_level": { + "part_name": "Door Handle Pull", + "affordance": 1, + "graspable": true, + "basic_description": "Small curved bar pull, stainless steel, approx 12*2*3 cm, mounted on the lower door.", + "functional_description": "Provides a secure point for the user to pull the door open and push it closed.", + "movement_description": "Rigidly fastened to the door via screws; moves only as the door moves.", + "grasp_description": "Grasped with fingers to operate the cabinet door; comfortable smooth finish with adequate grip." + }, + "basic_info": { + "material": "metal/Stainless_Steel_304", + "density": 7.9, + "young": 200.0, + "hardness": 180, + "poisson": 0.29, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000948/full_model/material.mtl b/data/UPB_00000948/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..8c5c037486b9952def4ef184f2d2cd49fa8a8074 --- /dev/null +++ b/data/UPB_00000948/full_model/material.mtl @@ -0,0 +1,7 @@ +# https://github.com/mikedh/trimesh + +newmtl MI_5e22c8c77fdaa400013ce444 +Ka 0.40000000 0.40000000 0.40000000 +Kd 0.58823529 0.58823529 0.58823529 +Ks 0.40000000 0.40000000 0.40000000 +Ns 1.00000000 \ No newline at end of file diff --git a/data/UPB_00000948/full_model/model.obj b/data/UPB_00000948/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..3b70265d5a09ee24dce0c1fbf60b3a39a8229ce8 --- /dev/null +++ b/data/UPB_00000948/full_model/model.obj @@ -0,0 +1,3808 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl MI_5e22c8c77fdaa400013ce444 +v -0.27250001 0.18750000 -0.44000000 +v 0.27250001 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0000000000000000000000000000000000000000..d042018a76f26813ef3b05a6c72354ce50641b3a --- /dev/null +++ b/data/UPB_00000948/plys/3.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:899a64a9f0601036fcdec9cc1ed167fd3d1169a4827d38d6eea0d19560202415 +size 160242 diff --git a/data/UPB_00000948/plys/4.ply b/data/UPB_00000948/plys/4.ply new file mode 100644 index 0000000000000000000000000000000000000000..b6425b9cb90caf93e1f2e51d17277d6bf9261e0d --- /dev/null +++ b/data/UPB_00000948/plys/4.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e060de6255543c9f1770b15094826a3c10e7241bbe14a5d49530b2b6d9b4ec3 +size 160242 diff --git a/data/UPB_00000948/plys/model.ply b/data/UPB_00000948/plys/model.ply new file mode 100644 index 0000000000000000000000000000000000000000..661a8810bdb395ba16bee5524015bb5a844b3263 --- /dev/null +++ b/data/UPB_00000948/plys/model.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18661c6ffcb071f2fe8c91caa00e62315acc8f37cdc0ae65ee66ee28b586e451 +size 1600243 diff --git a/data/UPB_00000949/annotations/object.json b/data/UPB_00000949/annotations/object.json new file mode 100644 index 0000000000000000000000000000000000000000..55f50ff332687cc46e2308b7eea803cd60e5296c --- /dev/null +++ b/data/UPB_00000949/annotations/object.json @@ -0,0 +1,10 @@ +{ + "object_name": "Wall Unit Cabinet with Shelves and Doors", + "category": "Furniture/StorageFurniture", + "volume": [ + 150.0, + 40.0, + 210.0 + ], + "mass": 90.0 +} \ No newline at end of file diff --git a/data/UPB_00000949/annotations/part_1.json b/data/UPB_00000949/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..3d30d6355b0336c700bf91f03845b167168f0f24 --- /dev/null +++ b/data/UPB_00000949/annotations/part_1.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000949", + "label": "1" + }, + "part_level": { + "part_name": "Lower Fascia Panel", + "affordance": 8, + "graspable": false, + "basic_description": "Flat rectangular MDF laminate panel closing the lower front fascia; finish matches cabinet body.", + "functional_description": "Acts as a fixed cover/trim piece for the base area, providing visual continuity and helping shield the toe-kick or internal cavity.", + "movement_description": "Rigidly fixed to the cabinet body; no relative movement.", + "grasp_description": "Not intended to be grasped; users rarely touch it except incidental contact with feet." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 3.0, + "hardness": 20, + "poisson": 0.35, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000949/annotations/part_2.json b/data/UPB_00000949/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..2336aa1ce839d90d36e8b0bea9804e11500c6452 --- /dev/null +++ b/data/UPB_00000949/annotations/part_2.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000949", + "label": "2" + }, + "part_level": { + "part_name": "Tall Door Frame", + "affordance": 3, + "graspable": true, + "basic_description": "Slim aluminum frame surrounding the tall door opening; receives a glass panel insert.", + "functional_description": "Provides stiffness for the tall door and interface for hinges and handle contact areas.", + "movement_description": "Rotates about a vertical hinge axis relative to the cabinet body; opening angle roughly 0\u2013110 degrees.", + "grasp_description": "Users grasp the frame edge to swing the tall door when a handle is absent." + }, + "basic_info": { + "material": "metal/Aluminum_Alloy_6063", + "density": 2.7, + "young": 69.0, + "hardness": 95, + "poisson": 0.33, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000949/annotations/part_3.json b/data/UPB_00000949/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..9f61f91eb3df40ca83c8a250f40f61a364917534 --- /dev/null +++ b/data/UPB_00000949/annotations/part_3.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000949", + "label": "3" + }, + "part_level": { + "part_name": "Tall Door Glass Panel", + "affordance": 5, + "graspable": false, + "basic_description": "Clear tempered glass panel sized to fit inside the aluminum door frame.", + "functional_description": "Provides transparent viewing and dust protection for the tall compartment.", + "movement_description": "Moves rigidly with the tall door frame as a single assembly.", + "grasp_description": "Not normally grasped directly to avoid fingerprints and potential breakage." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 3.0, + "hardness": 20, + "poisson": 0.35, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000949/annotations/part_4.json b/data/UPB_00000949/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..349b0cae7b534d27e0de4dbc0d78e983655233f6 --- /dev/null +++ b/data/UPB_00000949/annotations/part_4.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000949", + "label": "4" + }, + "part_level": { + "part_name": "Cabinet Outer Frame and Carcass", + "affordance": 6, + "graspable": false, + "basic_description": "U-shaped outer body (sides and top) of the unit built from birch plywood with veneer finish.", + "functional_description": "Provides structural support for shelves, doors, and hardware; anchors hinges for all moving doors.", + "movement_description": "Static reference frame; other parts rotate or are fixed relative to it.", + "grasp_description": "Occasionally touched on edges while moving the unit, but not intended as a handle." + }, + "basic_info": { + "material": "wood/Plywood_Birch_Veneer", + "density": 0.65, + "young": 6.0, + "hardness": 30, + "poisson": 0.3, + "friction": 0.52 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000949/annotations/part_5.json b/data/UPB_00000949/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..7a385d0bfc941bd9122202dfe74ef319c5ab325c --- /dev/null +++ b/data/UPB_00000949/annotations/part_5.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000949", + "label": "5" + }, + "part_level": { + "part_name": "Geometric Shelf Grid", + "affordance": 4, + "graspable": true, + "basic_description": "Painted hardwood lattice forming multiple cubby shelves on the left side.", + "functional_description": "Holds books or decor items; divides the left compartment into small display shelves.", + "movement_description": "Rigidly attached to the body with no degrees of freedom.", + "grasp_description": "Users may grip shelf edges when placing items or for brief support while reaching." + }, + "basic_info": { + "material": "wood/Hardwood_Painted", + "density": 0.7, + "young": 10.0, + "hardness": 35, + "poisson": 0.32, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000949/annotations/part_6.json b/data/UPB_00000949/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..95deb70f7b90067f2d696d7ccbda3dc92273be69 --- /dev/null +++ b/data/UPB_00000949/annotations/part_6.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000949", + "label": "6" + }, + "part_level": { + "part_name": "Lower Left Cabinet Door", + "affordance": 2, + "graspable": true, + "basic_description": "Rectangular MDF door panel with recessed border; occupies the lower-left cabinet opening.", + "functional_description": "Closes the left compartment of the base cabinet to hide stored items.", + "movement_description": "Swings about a vertical hinge axis mounted to the body; typical opening up to ~110 degrees.", + "grasp_description": "Pulled open via its handle; edges may be touched during closing." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 3.0, + "hardness": 20, + "poisson": 0.35, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 6, + 8 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + 0.0259086973965168, + -0.1258656084537506, + -0.700921356678009 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000949/annotations/part_7.json b/data/UPB_00000949/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..788c4ac2b6e005b66acbec70e4951286f1cdc852 --- /dev/null +++ b/data/UPB_00000949/annotations/part_7.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000949", + "label": "7" + }, + "part_level": { + "part_name": "Lower Right Cabinet Door", + "affordance": 2, + "graspable": true, + "basic_description": "Rectangular MDF door panel with recessed border; occupies the lower-right cabinet opening.", + "functional_description": "Closes the right compartment of the base cabinet for concealed storage.", + "movement_description": "Swings about a vertical hinge axis relative to the cabinet body.", + "grasp_description": "Operated by its handle to open and close." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 3.0, + "hardness": 20, + "poisson": 0.35, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 7, + 9 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.7991842031478882, + -0.119554802775383, + -0.74723219871521 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000949/annotations/part_8.json b/data/UPB_00000949/annotations/part_8.json new file mode 100644 index 0000000000000000000000000000000000000000..94e0e6d5cba974c4014a5352d1f9c1ba6e282d17 --- /dev/null +++ b/data/UPB_00000949/annotations/part_8.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000949", + "label": "8" + }, + "part_level": { + "part_name": "Left Door Handle", + "affordance": 1, + "graspable": true, + "basic_description": "Small vertical stainless-steel pull fixed to the left lower door.", + "functional_description": "Provides a comfortable grip to operate the left door.", + "movement_description": "No independent motion; moves rigidly with the attached door.", + "grasp_description": "Primary touchpoint\u2014pinched or wrapped by fingers to pull the door open." + }, + "basic_info": { + "material": "metal/Stainless_Steel_304", + "density": 7.9, + "young": 193.0, + "hardness": 160, + "poisson": 0.3, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000949/annotations/part_9.json b/data/UPB_00000949/annotations/part_9.json new file mode 100644 index 0000000000000000000000000000000000000000..8ff5a7205906491abedf78998da09bdaf916f94e --- /dev/null +++ b/data/UPB_00000949/annotations/part_9.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000949", + "label": "9" + }, + "part_level": { + "part_name": "Right Door Handle", + "affordance": 1, + "graspable": true, + "basic_description": "Small vertical stainless-steel pull fixed to the right lower door.", + "functional_description": "Provides a comfortable grip to operate the right door.", + "movement_description": "Rigidly attached to the door; no relative movement.", + "grasp_description": "Used by fingers to pull or push the right door." + }, + "basic_info": { + "material": "metal/Stainless_Steel_304", + "density": 7.9, + "young": 193.0, + "hardness": 160, + "poisson": 0.3, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000949/full_model/material.mtl b/data/UPB_00000949/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00000949/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_00000949/full_model/material_0.png b/data/UPB_00000949/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..976213e860fc7f7c29d6bc60c05c38aad2c0b243 --- /dev/null +++ b/data/UPB_00000949/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a47a4afb19060d21ff95d2f8d28a8bd814e8d914da1d4b0eaea08c28659e26da +size 121 diff --git a/data/UPB_00000949/full_model/model.obj b/data/UPB_00000949/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..fa0a432b7ac0d602ea081655776b8dc806342153 --- /dev/null +++ b/data/UPB_00000949/full_model/model.obj @@ -0,0 +1,3452 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v 0.80554998 0.11229800 -0.30454600 +v 0.01979160 0.11229800 -0.30454600 +v 0.01979160 0.10229800 -0.30454600 +v 0.80554998 0.10229800 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0000000000000000000000000000000000000000..0bea73bd55426f84aea15ecdd040d82836fff946 --- /dev/null +++ b/data/UPB_00000949/plys/9.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a89f43d6f0014db844468565596e62464c837d1edb0da90c28350fb53b86b08d +size 160242 diff --git a/data/UPB_00000949/plys/model.ply b/data/UPB_00000949/plys/model.ply new file mode 100644 index 0000000000000000000000000000000000000000..c36bd09fb3e39028f1eab5fd72ff4a1828e406f2 --- /dev/null +++ b/data/UPB_00000949/plys/model.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37b844cb95ff71451e8a8c8b39c4125c5327bec347aa2ab3b6c2a812006a230a +size 1600243 diff --git a/data/UPB_00000950/annotations/object.json b/data/UPB_00000950/annotations/object.json new file mode 100644 index 0000000000000000000000000000000000000000..b0787705dccc8a5167f44ac1f9f4e74e12004361 --- /dev/null +++ b/data/UPB_00000950/annotations/object.json @@ -0,0 +1,10 @@ +{ + "object_name": "Tall Cabinet with Shelves and Lower Door", + "category": "Furniture/StorageFurniture", + "volume": [ + 190.0, + 35.0, + 30.0 + ], + "mass": 28.0 +} \ No newline at end of file diff --git a/data/UPB_00000950/annotations/part_1.json b/data/UPB_00000950/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..755cf1b7fb5163b11ee4aed908894cc13cf625a1 --- /dev/null +++ b/data/UPB_00000950/annotations/part_1.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000950", + "label": "1" + }, + "part_level": { + "part_name": "Cabinet Body and Fixed Shelves", + "affordance": 5, + "graspable": false, + "basic_description": "Tall MDF cabinet carcass with side panels, top/bottom, several fixed shelves and a small cubby divider section; overall approx 190x35x30 cm with ~15 mm panel thickness, laminated finish.", + "functional_description": "Provides the structural frame and open storage compartments; houses hinges for the lower door and supports the handle through the door.", + "movement_description": "Stationary base part. Acts as the parent structure for the door which rotates about vertical hinges mounted to the body.", + "grasp_description": "Not typically grasped during daily use except when moving the whole cabinet." + }, + "basic_info": { + "material": "wood/MDF_Laminated", + "density": 0.75, + "young": 3.2, + "hardness": 15, + "poisson": 0.25, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000950/annotations/part_2.json b/data/UPB_00000950/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..6106dd8af6d0fda1fd70a1e8404001beb6046ce6 --- /dev/null +++ b/data/UPB_00000950/annotations/part_2.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000950", + "label": "2" + }, + "part_level": { + "part_name": "Lower Door Panel", + "affordance": 2, + "graspable": true, + "basic_description": "Rectangular laminated MDF door panel, approx 45x30x1.5 cm, with a recessed border detail; mounts to the cabinet body on vertical hinges.", + "functional_description": "Closes the lower compartment to conceal contents and protect them from dust; provides a mounting surface for the handle.", + "movement_description": "Rotates about a vertical hinge axis on the cabinet body; typical soft-closing or friction-damped swing up to roughly 120 degrees.", + "grasp_description": "Users grasp the handle on the outer face (or the door edge) to open/close the compartment." + }, + "basic_info": { + "material": "wood/MDF_Laminated", + "density": 0.75, + "young": 3.0, + "hardness": 15, + "poisson": 0.25, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 2, + 3 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.2462521493434906, + -0.11444458365440369, + -0.6776073575019836 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000950/annotations/part_3.json b/data/UPB_00000950/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..b3f12aa7756397baedde92794d33acd215f92373 --- /dev/null +++ b/data/UPB_00000950/annotations/part_3.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000950", + "label": "3" + }, + "part_level": { + "part_name": "Door Handle", + "affordance": 1, + "graspable": true, + "basic_description": "Small C-shaped stainless steel pull handle with black finish, approx 12x2x3 cm, fastened to the door.", + "functional_description": "Provides an ergonomic point for the user to pull or push the door, transmitting force to the door panel.", + "movement_description": "Rigidly fixed to the door and moves with it as a single unit during rotation.", + "grasp_description": "Primary touchpoint; users wrap fingers around the handle to operate the door." + }, + "basic_info": { + "material": "metal/Stainless_Steel_304_Black_Coated", + "density": 7.9, + "young": 193.0, + "hardness": 170, + "poisson": 0.3, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000950/full_model/material.mtl b/data/UPB_00000950/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00000950/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_00000950/full_model/material_0.png b/data/UPB_00000950/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..d4ca7698b9b56b2bca810cd043b0e987204fca00 --- /dev/null +++ b/data/UPB_00000950/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fcb58ad8b705642fa56c179b261bd8d035946ab84dbc0d37e72c47e66c44ca71 +size 97 diff --git a/data/UPB_00000950/full_model/model.obj b/data/UPB_00000950/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..579add9f86f7e41c3dc465caf385943113312ba4 --- /dev/null +++ b/data/UPB_00000950/full_model/model.obj @@ -0,0 +1,3744 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v -0.24993800 0.17065801 -1.17999995 +v -0.24993800 0.17065801 1.14999998 +v -0.24993800 0.17065801 1.14999998 +v -0.24993800 -0.14934200 1.14999998 +v -0.24993800 -0.14934200 -1.17999995 +v -0.24993800 0.17065801 1.14999998 +v -0.24993800 0.17065801 1.14999998 +v 0.25006300 0.17065801 1.14999998 +v 0.25006300 -0.14934200 1.14999998 +v -0.24993800 -0.14934200 1.14999998 +v 0.25006300 0.17065801 1.14999998 +v 0.25006300 0.17065801 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b/data/UPB_00000950/plys/2.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1255e12ac9c5b566c94c90e3c2327e710d30823388d27359c36e4dd83ab193a3 +size 160242 diff --git a/data/UPB_00000950/plys/3.ply b/data/UPB_00000950/plys/3.ply new file mode 100644 index 0000000000000000000000000000000000000000..908c52280dfdc653a2d577ac70c2904b1ed8bae8 --- /dev/null +++ b/data/UPB_00000950/plys/3.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2cee4be5d9d1f59ed6dcad0f0543bbbc72fe195bb6f1318ee1a76d8d36068de7 +size 160242 diff --git a/data/UPB_00000950/plys/model.ply b/data/UPB_00000950/plys/model.ply new file mode 100644 index 0000000000000000000000000000000000000000..ed97f18fb6f35a3fd31003e43a26f330efe871c7 --- /dev/null +++ b/data/UPB_00000950/plys/model.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9aa890595c6558ca008adb3efff688803232e95af7c1bbae61418ca2f898f4fb +size 1600243 diff --git a/data/UPB_00000951/annotations/object.json b/data/UPB_00000951/annotations/object.json new file mode 100644 index 0000000000000000000000000000000000000000..9e5c06b9a4c1ff8386b7f0e2cf87b06ca91a8cda --- /dev/null +++ b/data/UPB_00000951/annotations/object.json @@ -0,0 +1,10 @@ +{ + "object_name": "Tall Bookcase with Lower Cabinet", + "category": "Furniture/StorageFurniture", + "volume": [ + 180.0, + 60.0, + 30.0 + ], + "mass": 35.0 +} \ No newline at end of file diff --git a/data/UPB_00000951/annotations/part_1.json b/data/UPB_00000951/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..b439b1152df741c062d46fd6f05367814bb66d0c --- /dev/null +++ b/data/UPB_00000951/annotations/part_1.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000951", + "label": "1" + }, + "part_level": { + "part_name": "Main carcass with shelves", + "affordance": 6, + "graspable": false, + "basic_description": "Tall MDF laminated frame with irregular open shelves and a lower bay for two cabinet doors; approx. 180x60x30 cm.", + "functional_description": "Provides the structural support and shelving for storing books or decor. Houses hinges for the two lower cabinet doors.", + "movement_description": "Stationary structure. Serves as the hinge mounting base allowing doors (parts 2 and 3) to rotate about vertical axes.", + "grasp_description": "Not intended for grasping; users typically avoid carrying it by the shelves." + }, + "basic_info": { + "material": "wood/MDF_Laminated", + "density": 0.75, + "young": 3.0, + "hardness": 20, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000951/annotations/part_2.json b/data/UPB_00000951/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..d77205cd0667fa0eb2a11a3061d5ec63f735b7c4 --- /dev/null +++ b/data/UPB_00000951/annotations/part_2.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000951", + "label": "2" + }, + "part_level": { + "part_name": "Left cabinet door", + "affordance": 3, + "graspable": true, + "basic_description": "MDF laminated panel door, about 40x30x2 cm, located on the lower-left of the bookcase.", + "functional_description": "Covers and conceals the left half of the lower cabinet space; interfaces with magnetic catch/hinges (implicit).", + "movement_description": "Rotates about a vertical hinge axis mounted to the carcass; typical swing up to roughly 110 degrees with light damping.", + "grasp_description": "Users pull the door via the attached knob (part 4) to open and close the cabinet." + }, + "basic_info": { + "material": "wood/MDF_Laminated", + "density": 0.75, + "young": 3.0, + "hardness": 20, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 2, + 4 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.4019531309604645, + -0.09862135350704193, + -0.7160018682479858 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000951/annotations/part_3.json b/data/UPB_00000951/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..5b3d6ba105b44def5f166acf020f901b24b82fbc --- /dev/null +++ b/data/UPB_00000951/annotations/part_3.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000951", + "label": "3" + }, + "part_level": { + "part_name": "Right cabinet door", + "affordance": 4, + "graspable": true, + "basic_description": "MDF laminated panel door, about 40x30x2 cm, on the lower-right of the bookcase.", + "functional_description": "Covers and conceals the right half of the lower cabinet; mates with hinges and a catch (implicit).", + "movement_description": "Rotates about a vertical hinge axis relative to the carcass with a limited swing range similar to the left door.", + "grasp_description": "Pulled by its knob (part 5) to access the cabinet interior." + }, + "basic_info": { + "material": "wood/MDF_Laminated", + "density": 0.75, + "young": 3.0, + "hardness": 20, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 3, + 5 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.3989847004413605, + -0.10118969529867172, + -0.7112663984298706 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000951/annotations/part_4.json b/data/UPB_00000951/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..b0eafcde68fa889841c1bb0e7fed7a90aba4a2cf --- /dev/null +++ b/data/UPB_00000951/annotations/part_4.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000951", + "label": "4" + }, + "part_level": { + "part_name": "Left door knob", + "affordance": 1, + "graspable": true, + "basic_description": "Black ABS knob with through-hole for a screw, roughly 3x3x3 cm, mounted on the left door.", + "functional_description": "Provides a comfortable handhold to pull or push the left door.", + "movement_description": "Rigidly fixed to the left door; no independent motion.", + "grasp_description": "Typically pinched or grasped with fingers to open/close the door; high-touch component." + }, + "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_00000951/annotations/part_5.json b/data/UPB_00000951/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..9ca97751258d51807e3e3e18daeab856c71bedbc --- /dev/null +++ b/data/UPB_00000951/annotations/part_5.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000951", + "label": "5" + }, + "part_level": { + "part_name": "Right door knob", + "affordance": 2, + "graspable": true, + "basic_description": "Black ABS knob with through-hole for a screw, roughly 3x3x3 cm, mounted on the right door.", + "functional_description": "Serves as the pulling handle for the right cabinet door.", + "movement_description": "Rigidly fixed to the right door without relative movement.", + "grasp_description": "Grasped between fingers to actuate the right 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_00000951/full_model/material.mtl b/data/UPB_00000951/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00000951/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_00000951/full_model/material_0.png b/data/UPB_00000951/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6cccbc31efaeba87168814ccdde207809fd93c29 --- /dev/null +++ b/data/UPB_00000951/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23566e9de0bb7f2975459ce108f87a86a9cb2d8ba99a7b13700fbbd14cbc41bc +size 1143202 diff --git a/data/UPB_00000951/full_model/model.obj b/data/UPB_00000951/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..9c3b7796e18ea2c120683bff82963757c0fb2345 --- /dev/null +++ b/data/UPB_00000951/full_model/model.obj @@ -0,0 +1,7288 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v 0.14766701 -0.09650010 0.44510001 +v 0.14766701 -0.09650010 0.80204999 +v 0.12966700 -0.09650010 0.44510001 +v 0.12966700 -0.09650010 0.80204999 +v 0.14766701 0.13050000 0.80204999 +v 0.14766701 -0.09650010 0.80204999 +v 0.14766701 -0.09650010 0.44510001 +v 0.14766701 -0.09650010 0.80204999 +v 0.14766701 0.13050000 0.80204999 +v 0.12966700 -0.09650010 0.80204999 +v 0.14766701 0.13050000 0.44510001 +v 0.12966700 -0.09650010 0.44510001 +v 0.12966700 0.13050000 0.44510001 +v 0.14766701 -0.09650010 0.44510001 +v 0.14766701 0.13050000 0.44510001 +v 0.12966700 -0.09650010 0.44510001 +v 0.12966700 -0.09650010 0.80204999 +v 0.12966700 0.13050000 0.44510001 +v 0.12966700 0.13050000 0.80204999 +v 0.12966700 0.13050000 0.80204999 +v 0.12966700 0.13050000 0.44510001 +v 0.12966700 0.13050000 0.80204999 +v 0.14766701 0.13050000 0.44510001 +v 0.14766701 0.13050000 0.80204999 +v -0.14766701 0.13050000 0.82005000 +v 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0000000000000000000000000000000000000000..204747f4f969250b51b7fcc59dcaab66ced58fcb --- /dev/null +++ b/data/UPB_00000951/plys/2.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c74c7351c3d17dfd2c4b1a357efbbcc26edcd1079df811f162fee91dd827615d +size 160242 diff --git a/data/UPB_00000951/plys/3.ply b/data/UPB_00000951/plys/3.ply new file mode 100644 index 0000000000000000000000000000000000000000..08376f4d4717d4273b86d33f90504ee8f8542de1 --- /dev/null +++ b/data/UPB_00000951/plys/3.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0edd8324692681c2bd3cec89ca480d2a99aff9fc3b8bd965cffd3db2b2fbc7e +size 160242 diff --git a/data/UPB_00000951/plys/4.ply b/data/UPB_00000951/plys/4.ply new file mode 100644 index 0000000000000000000000000000000000000000..fd525a579ca2ba6069ca8187e2f8d6aba2eb346a --- /dev/null +++ b/data/UPB_00000951/plys/4.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fea8d136a260975e79324a118138da0ef2bc330337900723a4d4039080765269 +size 160242 diff --git a/data/UPB_00000951/plys/5.ply b/data/UPB_00000951/plys/5.ply new file mode 100644 index 0000000000000000000000000000000000000000..246ffdf047d152cb7340eb034a5c11123460f604 --- /dev/null +++ b/data/UPB_00000951/plys/5.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18c05e5cd3c461fedb14d17092bfc8373268fd100f0a9b559999b809e370a5bb +size 160242 diff --git a/data/UPB_00000951/plys/model.ply b/data/UPB_00000951/plys/model.ply new file mode 100644 index 0000000000000000000000000000000000000000..0cf73a851a703f74d1a0b04fea7202bc986be98c --- /dev/null +++ b/data/UPB_00000951/plys/model.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1716abb293517c5a890744b431fe3f282dea1d4f4e01895f2b55282a67ff558 +size 1600243 diff --git a/data/UPB_00000952/annotations/object.json b/data/UPB_00000952/annotations/object.json new file mode 100644 index 0000000000000000000000000000000000000000..6806e9ef82124f57def890fbf0dbd3f32013c4d2 --- /dev/null +++ b/data/UPB_00000952/annotations/object.json @@ -0,0 +1,10 @@ +{ + "object_name": "Tall Wine Cabinet with Hutch", + "category": "Furniture/StorageFurniture", + "volume": [ + 190.0, + 70.0, + 35.0 + ], + "mass": 52.0 +} \ No newline at end of file diff --git a/data/UPB_00000952/annotations/part_1.json b/data/UPB_00000952/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..bd01833a8ea81e8b4f24b875797c2b3b7a3a517f --- /dev/null +++ b/data/UPB_00000952/annotations/part_1.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000952", + "label": "1" + }, + "part_level": { + "part_name": "Main Cabinet Body", + "affordance": 6, + "graspable": false, + "basic_description": "Tall plywood cabinet carcass with veneered finish; includes top crown, fixed shelves, wine-bottle lattice and base plinth.", + "functional_description": "Provides the structural frame that supports shelves, wine rack, and mounting points for doors and hardware.", + "movement_description": "Stationary reference frame; doors rotate about vertical hinge axes mounted to this body.", + "grasp_description": "Typically not grasped directly during use except when moving the entire cabinet." + }, + "basic_info": { + "material": "wood/Plywood_Birch_Veneer", + "density": 0.6, + "young": 8.5, + "hardness": 25, + "poisson": 0.35, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000952/annotations/part_10.json b/data/UPB_00000952/annotations/part_10.json new file mode 100644 index 0000000000000000000000000000000000000000..d3c5ff6c83566563951361212c87bf2ed2ac2493 --- /dev/null +++ b/data/UPB_00000952/annotations/part_10.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000952", + "label": "10" + }, + "part_level": { + "part_name": "Lower Right Door Knob", + "affordance": 1, + "graspable": true, + "basic_description": "Black powder-coated steel knob for the lower-right door.", + "functional_description": "Handhold to operate the lower-right door.", + "movement_description": "No relative motion; rigidly fixed to the door.", + "grasp_description": "Fingertip pinch to pull or push the door." + }, + "basic_info": { + "material": "metal/Steel_PowderCoated", + "density": 7.85, + "young": 200.0, + "hardness": 150, + "poisson": 0.29, + "friction": 0.42 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000952/annotations/part_2.json b/data/UPB_00000952/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..05149c23bfe01a1975491f2e093792e6a63ea8f8 --- /dev/null +++ b/data/UPB_00000952/annotations/part_2.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000952", + "label": "2" + }, + "part_level": { + "part_name": "Open-Shelf Gallery Rails (3 pcs)", + "affordance": 7, + "graspable": false, + "basic_description": "Three slender stainless-steel rods mounted across the open shelves, each roughly 55\u201360 cm long.", + "functional_description": "Serve as retaining rails to stop items from falling off shallow display shelves.", + "movement_description": "No relative motion; rigidly screwed to the cabinet body.", + "grasp_description": "Not intended for pulling; occasionally touched when placing or retrieving items." + }, + "basic_info": { + "material": "metal/Stainless_Steel_304", + "density": 7.9, + "young": 200.0, + "hardness": 180, + "poisson": 0.3, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000952/annotations/part_3.json b/data/UPB_00000952/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..99d16d57d4723bcfa744f0889b893004002b4adb --- /dev/null +++ b/data/UPB_00000952/annotations/part_3.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000952", + "label": "3" + }, + "part_level": { + "part_name": "Upper Left Door", + "affordance": 2, + "graspable": true, + "basic_description": "Framed oak door with central panel/glass insert sized for the upper cabinet opening (approx. 55*32 cm).", + "functional_description": "Closes the upper-left compartment to protect contents from dust and conceal them.", + "movement_description": "Rotates about a vertical hinge axis fixed to the cabinet body; typical swing to 110\u2013120 degrees.", + "grasp_description": "Pulled open by the attached knob; can also be steadied by grasping the door edge." + }, + "basic_info": { + "material": "wood/Hardwood_Oak", + "density": 0.75, + "young": 12.0, + "hardness": 35, + "poisson": 0.35, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 3, + 7 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.4004336893558502, + -0.10846436768770218, + 0.36912935972213745 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000952/annotations/part_4.json b/data/UPB_00000952/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..f994c79b9bf11629fa0f45bf214c077961093ea2 --- /dev/null +++ b/data/UPB_00000952/annotations/part_4.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000952", + "label": "4" + }, + "part_level": { + "part_name": "Upper Right Door", + "affordance": 2, + "graspable": true, + "basic_description": "Matching oak door for the upper-right opening (approx. 55*32 cm).", + "functional_description": "Works with the left door to fully close the upper cabinet section.", + "movement_description": "Hinged rotation about the cabinet body; stops or magnetic catches slow the final closing.", + "grasp_description": "Grasped at the knob to open/close." + }, + "basic_info": { + "material": "wood/Hardwood_Oak", + "density": 0.75, + "young": 12.0, + "hardness": 35, + "poisson": 0.35, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 4, + 8 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.4008346498012543, + -0.10403241962194443, + 0.41646143794059753 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000952/annotations/part_5.json b/data/UPB_00000952/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..3f410f12e8ede53fd3ce84796143103d300062d9 --- /dev/null +++ b/data/UPB_00000952/annotations/part_5.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000952", + "label": "5" + }, + "part_level": { + "part_name": "Lower Left Door", + "affordance": 2, + "graspable": true, + "basic_description": "Panel-style oak door for the lower-left storage bay (approx. 60*35 cm).", + "functional_description": "Closes the lower storage area for larger items.", + "movement_description": "Rotates about vertical hinges attached to the body; soft-close hardware may add light damping.", + "grasp_description": "Pulled by the lower-left knob." + }, + "basic_info": { + "material": "wood/Hardwood_Oak", + "density": 0.75, + "young": 12.0, + "hardness": 35, + "poisson": 0.35, + "friction": 0.52 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 5, + 9 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.40037328004837036, + -0.10774021595716476, + -0.6928437948226929 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000952/annotations/part_6.json b/data/UPB_00000952/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..2efe2fe532d65f891c5d9222d70053029c3e2ec5 --- /dev/null +++ b/data/UPB_00000952/annotations/part_6.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000952", + "label": "6" + }, + "part_level": { + "part_name": "Lower Right Door", + "affordance": 2, + "graspable": true, + "basic_description": "Panel-style oak door for the lower-right storage bay (approx. 60*35 cm).", + "functional_description": "Pairs with the left door to enclose the lower cabinet.", + "movement_description": "Hinged rotation about a vertical axis relative to the cabinet body.", + "grasp_description": "Operated via the attached knob." + }, + "basic_info": { + "material": "wood/Hardwood_Oak", + "density": 0.75, + "young": 12.0, + "hardness": 35, + "poisson": 0.35, + "friction": 0.52 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 6, + 10 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.3998444974422455, + -0.10273689031600952, + -0.7244570255279541 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000952/annotations/part_7.json b/data/UPB_00000952/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..a0491ae34f0797e7fd2cf6439ac61832268b6889 --- /dev/null +++ b/data/UPB_00000952/annotations/part_7.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000952", + "label": "7" + }, + "part_level": { + "part_name": "Upper Left Door Knob", + "affordance": 1, + "graspable": true, + "basic_description": "Small black round steel knob, ~3 cm diameter, through-bolted to the upper-left door.", + "functional_description": "Provides a handhold to pull the upper-left door open/closed.", + "movement_description": "No independent motion; fixed to the door.", + "grasp_description": "Pinch or hook with fingers to operate the door." + }, + "basic_info": { + "material": "metal/Steel_PowderCoated", + "density": 7.85, + "young": 200.0, + "hardness": 150, + "poisson": 0.29, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000952/annotations/part_8.json b/data/UPB_00000952/annotations/part_8.json new file mode 100644 index 0000000000000000000000000000000000000000..202bccc6f99084cf7f2a3df7673b5ac5c11fe7e2 --- /dev/null +++ b/data/UPB_00000952/annotations/part_8.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000952", + "label": "8" + }, + "part_level": { + "part_name": "Upper Right Door Knob", + "affordance": 1, + "graspable": true, + "basic_description": "Matching black steel knob for the upper-right door, ~3 cm diameter.", + "functional_description": "Handhold for the upper-right door.", + "movement_description": "Rigidly attached to its door.", + "grasp_description": "Common pinch grip with fingertips." + }, + "basic_info": { + "material": "metal/Steel_PowderCoated", + "density": 7.85, + "young": 200.0, + "hardness": 150, + "poisson": 0.29, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000952/annotations/part_9.json b/data/UPB_00000952/annotations/part_9.json new file mode 100644 index 0000000000000000000000000000000000000000..a555a87d390d9c452549556354faec3f9eeda380 --- /dev/null +++ b/data/UPB_00000952/annotations/part_9.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000952", + "label": "9" + }, + "part_level": { + "part_name": "Lower Left Door Knob", + "affordance": 1, + "graspable": true, + "basic_description": "Black powder-coated steel knob for the lower-left door.", + "functional_description": "Allows the user to pull the lower-left door.", + "movement_description": "Rigid connection to the door panel.", + "grasp_description": "Finger pinch or hook grip." + }, + "basic_info": { + "material": "metal/Steel_PowderCoated", + "density": 7.85, + "young": 200.0, + "hardness": 150, + "poisson": 0.29, + "friction": 0.42 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000952/full_model/material.mtl b/data/UPB_00000952/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00000952/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 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b/data/UPB_00000952/meta_data.json @@ -0,0 +1,22 @@ +{ + "id": "UPB_00000952", + "source": [ + { + "dataset": "UniPhys-Bench", + "organization": "Manycore Tech Inc.", + "license_ref": "UniPhys-Bench" + } + ], + "object": { + "category": "Furniture/StorageFurniture", + "object_name": "Tall Wine Cabinet with Hutch" + }, + "geometry": { + "asset_type": "decomposed_parts", + "num_parts": 10, + "format": "obj" + }, + "annotation": { + "version": "v1.0" + } +} \ No newline at end of file diff --git a/data/UPB_00000952/model.urdf b/data/UPB_00000952/model.urdf new file mode 100644 index 0000000000000000000000000000000000000000..7361f940647e9019e52a6f333c08543be1397d5e --- /dev/null +++ b/data/UPB_00000952/model.urdf @@ -0,0 +1,206 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+size 1143211 diff --git a/data/UPB_00000952/parts/4.mtl b/data/UPB_00000952/parts/4.mtl new file mode 100644 index 0000000000000000000000000000000000000000..09452450b9e8e9282ad1a92706e3e1f6ac239875 --- /dev/null +++ b/data/UPB_00000952/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 diff --git a/data/UPB_00000952/parts/4.png b/data/UPB_00000952/parts/4.png new file mode 100644 index 0000000000000000000000000000000000000000..d60009499e4a940916baa0e7f793711b514c0a11 --- /dev/null +++ b/data/UPB_00000952/parts/4.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a95fa5b595555809ff879c31fb67cd86304f800403a0f79f1b3bdcad82d6f86 +size 1143211 diff --git a/data/UPB_00000952/parts/T_5e42754e17e93b00018e0e94_color.jpg b/data/UPB_00000952/parts/T_5e42754e17e93b00018e0e94_color.jpg new file mode 100644 index 0000000000000000000000000000000000000000..523d5905c62384533a4801b7acc1b2cc1d522fe1 --- /dev/null +++ b/data/UPB_00000952/parts/T_5e42754e17e93b00018e0e94_color.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d640d02fd234677d9b89ce6ef0e6e63c4c389965d8b9a05aed33c29c980070b4 +size 287303 diff --git a/data/UPB_00000952/parts/T_5e42754ec6ff5a0001ce3da6_color.jpg b/data/UPB_00000952/parts/T_5e42754ec6ff5a0001ce3da6_color.jpg new file mode 100644 index 0000000000000000000000000000000000000000..523d5905c62384533a4801b7acc1b2cc1d522fe1 --- /dev/null +++ b/data/UPB_00000952/parts/T_5e42754ec6ff5a0001ce3da6_color.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d640d02fd234677d9b89ce6ef0e6e63c4c389965d8b9a05aed33c29c980070b4 +size 287303 diff --git a/data/UPB_00000952/parts/WineCabinet_6J6O6TJVAVYKOPTULM888888_hZorR.mtl b/data/UPB_00000952/parts/WineCabinet_6J6O6TJVAVYKOPTULM888888_hZorR.mtl new file mode 100644 index 0000000000000000000000000000000000000000..0b92a79a0ae587f2f37f40c571c3a7209ef5fd16 --- /dev/null +++ b/data/UPB_00000952/parts/WineCabinet_6J6O6TJVAVYKOPTULM888888_hZorR.mtl @@ -0,0 +1,27 @@ +# File produced by Open Asset Import Library (http://www.assimp.sf.net) +# (assimp v5.4.0) + +newmtl MI_5e42754e5974ed00018bbe0c +Kd 0 0 0 +Ke 1 0.870599985 0.643100023 +illum 1 + +newmtl MI_5e42754e17e93b00018e0e94 +Kd 1 1 1 +illum 1 +map_Kd ./T_5e42754e17e93b00018e0e94_color.jpg + +newmtl MI_5e42754ec6ff5a0001ce3da6 +Kd 1 1 1 +illum 1 +map_Kd ./T_5e42754ec6ff5a0001ce3da6_color.jpg + +newmtl MI_5e42754ee113f60001f162a0 +Kd 0.0325299986 0.0325299986 0.0325299986 +illum 1 + +newmtl MI_5e42754e7d6a630001d7934e +Kd 0.231399998 0.231399998 0.231399998 +d 0.226728752 +illum 1 + diff --git a/data/UPB_00000952/parts/part_1.obj b/data/UPB_00000952/parts/part_1.obj new file mode 100644 index 0000000000000000000000000000000000000000..b017b644b00ef269df3abc5b97da212b7ef02ab7 --- /dev/null +++ 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0000000000000000000000000000000000000000..ab63c6d83a2f30c5fea1464a595057a39298fb75 --- /dev/null +++ b/data/UPB_00000952/plys/3.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18b38593415548205b4b520cece9ac9aa8869f8163dd5ad46d17076dcea99315 +size 160242 diff --git a/data/UPB_00000952/plys/4.ply b/data/UPB_00000952/plys/4.ply new file mode 100644 index 0000000000000000000000000000000000000000..f6cc67e0999d36fcb12e8c7f852a26644060a4e3 --- /dev/null +++ b/data/UPB_00000952/plys/4.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:701683a1b3b8a94fd329b6d93eec271b9520aae1b0e67604b73c0ccfe7e3373d +size 160242 diff --git a/data/UPB_00000952/plys/5.ply b/data/UPB_00000952/plys/5.ply new file mode 100644 index 0000000000000000000000000000000000000000..daadc460d251d08191e88e60c5d888b3df972161 --- /dev/null +++ b/data/UPB_00000952/plys/5.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3663807babc6d94cc62d5e86b1c0d69851bbe8f8ceace9e9c11668df1fb6e3b8 +size 160242 diff --git a/data/UPB_00000952/plys/6.ply b/data/UPB_00000952/plys/6.ply new file mode 100644 index 0000000000000000000000000000000000000000..3d126a46a4405986a67e7a602a1354fa85841b1c --- /dev/null +++ b/data/UPB_00000952/plys/6.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4dc955091c665eb044f4ce6bb687be544de4fb6ed21de21aa3a9b46e5c8e460 +size 160242 diff --git a/data/UPB_00000952/plys/7.ply b/data/UPB_00000952/plys/7.ply new file mode 100644 index 0000000000000000000000000000000000000000..056b172993f9626a8987fae665a9ed6f4e976d0b --- /dev/null +++ b/data/UPB_00000952/plys/7.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cef0a0b6d31d977ffcdd4ff434b44ee0c15160333697b5f35f46969d2756f104 +size 160242 diff --git a/data/UPB_00000952/plys/8.ply b/data/UPB_00000952/plys/8.ply new file mode 100644 index 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sha256:d3e939674fcb8de59efaeb559ece32f1297ff8c0fcf72d04cbe8ade5ea828e2f +size 1600243 diff --git a/data/UPB_00000953/annotations/object.json b/data/UPB_00000953/annotations/object.json new file mode 100644 index 0000000000000000000000000000000000000000..a26d26e41a1e94566e62c74cecc7a78e7b8fc891 --- /dev/null +++ b/data/UPB_00000953/annotations/object.json @@ -0,0 +1,10 @@ +{ + "object_name": "Tall Bookcase with Lower Cabinet", + "category": "Furniture/StorageFurniture", + "volume": [ + 185.0, + 60.0, + 30.0 + ], + "mass": 32.0 +} \ No newline at end of file diff --git a/data/UPB_00000953/annotations/part_1.json b/data/UPB_00000953/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..a68dd453a362e190ea230982a8ae88a62d0d1fe4 --- /dev/null +++ b/data/UPB_00000953/annotations/part_1.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000953", + "label": "1" + }, + "part_level": { + "part_name": "Shelf Front Rails (set of 4)", + "affordance": 7, + "graspable": false, + "basic_description": "Four slim aluminum rails, each about 55 cm long and 1.2 cm in diameter, mounted at the front edges of the open shelves of the wooden bookcase.", + "functional_description": "Act as low-profile retainers or trims on the shelves to help prevent items from sliding forward and to provide a neat finish.", + "movement_description": "No intended motion; each rail is rigidly fixed to the bookcase carcass/shelves.", + "grasp_description": "Typically not grasped; may be touched when placing or removing items from shelves." + }, + "basic_info": { + "material": "metal/Aluminum_6061", + "density": 2.7, + "young": 69, + "hardness": 95, + "poisson": 0.33, + "friction": 0.3 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000953/annotations/part_2.json b/data/UPB_00000953/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..51b886db40f66d5d0f4892262df0794c6621fcb4 --- /dev/null +++ b/data/UPB_00000953/annotations/part_2.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000953", + "label": "2" + }, + "part_level": { + "part_name": "Bookcase Carcass (frame, back, shelves, toe)", + "affordance": 6, + "graspable": false, + "basic_description": "Main wooden structure of the cabinet, approx. 185 cm tall, 60 cm wide, and 30 cm deep, including sides, top/bottom, fixed shelves, and back panel.", + "functional_description": "Provides structural support for shelves and lower cabinet; anchors the doors and rails.", + "movement_description": "Static reference body. Doors hinge relative to this frame; all other attached parts are rigidly fixed.", + "grasp_description": "Not typically grasped directly except when moving the entire furniture piece." + }, + "basic_info": { + "material": "wood/Plywood_Furniture_Grade", + "density": 0.65, + "young": 8.5, + "hardness": 35, + "poisson": 0.35, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000953/annotations/part_3.json b/data/UPB_00000953/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..b4e3ca07169ef25e917ba3d847f18cf42f3b8299 --- /dev/null +++ b/data/UPB_00000953/annotations/part_3.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000953", + "label": "3" + }, + "part_level": { + "part_name": "Left Cabinet Door", + "affordance": 3, + "graspable": true, + "basic_description": "Left lower door panel of plywood with a decorative recessed panel and a small rectangular opening near the bottom; about 50*25*1.6 cm.", + "functional_description": "Covers and secures the left half of the lower cabinet compartment.", + "movement_description": "Rotates about a vertical hinge line on the left side relative to the carcass, opening outward up to roughly 110 degrees.", + "grasp_description": "Pulled open by the attached knob or by gripping the door edge." + }, + "basic_info": { + "material": "wood/Plywood_Furniture_Grade", + "density": 0.65, + "young": 8.5, + "hardness": 35, + "poisson": 0.35, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 3, + 5 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.40308576822280884, + -0.10400745272636414, + -0.6913241147994995 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000953/annotations/part_4.json b/data/UPB_00000953/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..11f0ae018f34b8bb085d9a043579ee145cc72d09 --- /dev/null +++ b/data/UPB_00000953/annotations/part_4.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000953", + "label": "4" + }, + "part_level": { + "part_name": "Right Cabinet Door", + "affordance": 3, + "graspable": true, + "basic_description": "Right lower door panel of plywood matching the left door, about 50*25*1.6 cm with a rectangular lower opening.", + "functional_description": "Covers and secures the right half of the lower cabinet compartment.", + "movement_description": "Rotates about a vertical hinge line on the right side relative to the carcass, opening outward up to roughly 110 degrees.", + "grasp_description": "Pulled open by the attached knob or by gripping the door edge." + }, + "basic_info": { + "material": "wood/Plywood_Furniture_Grade", + "density": 0.65, + "young": 8.5, + "hardness": 35, + "poisson": 0.35, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 4, + 6 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.401467502117157, + -0.10129716992378235, + -0.7527577877044678 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000953/annotations/part_5.json b/data/UPB_00000953/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..77861a5e4d8d7ada44a77e795c584b124c89ca89 --- /dev/null +++ b/data/UPB_00000953/annotations/part_5.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000953", + "label": "5" + }, + "part_level": { + "part_name": "Left Door Knob", + "affordance": 1, + "graspable": true, + "basic_description": "Black ABS round knob, approx. 3 cm diameter and 2 cm projection, mounted to the left door.", + "functional_description": "Provides a comfortable handle to pull the left door open/closed.", + "movement_description": "No motion relative to the door; fixed with a screw from the rear.", + "grasp_description": "Pinched or hooked with fingers to pull the door." + }, + "basic_info": { + "material": "metal/Aluminum_6061", + "density": 2.7, + "young": 69, + "hardness": 95, + "poisson": 0.33, + "friction": 0.3 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000953/annotations/part_6.json b/data/UPB_00000953/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..0738124ac4cc25ade0eb2d12ea55cadf698fbba0 --- /dev/null +++ b/data/UPB_00000953/annotations/part_6.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000953", + "label": "6" + }, + "part_level": { + "part_name": "Right Door Knob", + "affordance": 1, + "graspable": true, + "basic_description": "Black ABS round knob, approx. 3 cm diameter and 2 cm projection, mounted to the right door.", + "functional_description": "Provides a comfortable handle to pull the right door open/closed.", + "movement_description": "No motion relative to the door; fixed with a screw from the rear.", + "grasp_description": "Pinched or hooked with fingers to pull the door." + }, + "basic_info": { + "material": "metal/Aluminum_6061", + "density": 2.7, + "young": 69, + "hardness": 95, + "poisson": 0.33, + "friction": 0.3 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000953/full_model/material.mtl b/data/UPB_00000953/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00000953/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_00000953/full_model/material_0.png b/data/UPB_00000953/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..5d2a06f5dd11d84d7c7ba5fa1b3799fd95385436 --- /dev/null +++ b/data/UPB_00000953/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39f6889b75fa21180f84cf06a2589559aa0807f6441f68494c44f0e2910ac2c4 +size 1143210 diff --git a/data/UPB_00000953/full_model/model.obj b/data/UPB_00000953/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..a3d4be73ba4b10c33ba31e918c04142dd2e27867 --- /dev/null +++ b/data/UPB_00000953/full_model/model.obj @@ -0,0 +1,7288 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v 0.38284701 0.03120610 1.19077003 +v 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sha256:7549a0e1128b6a5fe79c8fe42d75fc9d4558dc03d927c1c8968d903f80ebf6d9 +size 1600243 diff --git a/data/UPB_00000954/annotations/object.json b/data/UPB_00000954/annotations/object.json new file mode 100644 index 0000000000000000000000000000000000000000..c45ad94125f1e96862fdd2629f962677eaccd1bd --- /dev/null +++ b/data/UPB_00000954/annotations/object.json @@ -0,0 +1,10 @@ +{ + "object_name": "Tall Bookcase with Lower Cabinet", + "category": "Furniture/StorageFurniture", + "volume": [ + 200.0, + 80.0, + 35.0 + ], + "mass": 40.0 +} \ No newline at end of file diff --git a/data/UPB_00000954/annotations/part_1.json b/data/UPB_00000954/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..3e8f5bb07dadb498d93cdc754d9bf07a8db4487d --- /dev/null +++ b/data/UPB_00000954/annotations/part_1.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000954", + "label": "1" + }, + "part_level": { + "part_name": "Shelf Front Trims (set of 4)", + "affordance": 9, + "graspable": false, + "basic_description": "Four narrow pine rails (~75 cm long each, ~1.5*1 cm section) fixed along the front edges of the open shelves of the bookcase.", + "functional_description": "Decorative/retaining trims that help keep items from sliding off and hide shelf edges.", + "movement_description": "No relative motion; they are rigidly fastened to the case.", + "grasp_description": "Not intended for grasping; may contact when placing books." + }, + "basic_info": { + "material": "metal/Steel_Low_Carbon_PowderCoated", + "density": 7.85, + "young": 200.0, + "hardness": 150, + "poisson": 0.3, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000954/annotations/part_2.json b/data/UPB_00000954/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..be7e7f219c76a37e34eda313b90fe1030af383d9 --- /dev/null +++ b/data/UPB_00000954/annotations/part_2.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000954", + "label": "2" + }, + "part_level": { + "part_name": "Bookcase Body (carcass with shelves)", + "affordance": 8, + "graspable": false, + "basic_description": "Tall laminated MDF carcass with integrated back panel and fixed shelves; approx. 200*80*35 cm overall.", + "functional_description": "Provides structural support, storage volume, and hinge mounting points for the lower cabinet doors.", + "movement_description": "Static reference structure. Doors rotate on vertical hinges mounted to this body.", + "grasp_description": "Usually not grasped directly; users interact via the knobs and doors." + }, + "basic_info": { + "material": "wood/MDF_Laminated", + "density": 0.75, + "young": 3.5, + "hardness": 20, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000954/annotations/part_3.json b/data/UPB_00000954/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..ebf8aa8faf842ae4a0612d010601dc8ae7333e26 --- /dev/null +++ b/data/UPB_00000954/annotations/part_3.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000954", + "label": "3" + }, + "part_level": { + "part_name": "Left Cabinet Door", + "affordance": 3, + "graspable": true, + "basic_description": "Left lower door panel (about 60*35*1.8 cm) with decorative frame, hinged on the left side of the body.", + "functional_description": "Covers the left half of the base cabinet to protect and conceal stored items.", + "movement_description": "Opens by rotating outward about a vertical hinge axis fixed to the carcass; typical travel up to ~110 degrees with light hinge damping.", + "grasp_description": "Pulled via the knob; users may also grasp the door edge when opening or closing." + }, + "basic_info": { + "material": "wood/Hardwood_Oak_Veneer", + "density": 0.7, + "young": 11.0, + "hardness": 30, + "poisson": 0.33, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 3, + 5 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.3995586037635803, + -0.10146361589431763, + -0.7320518493652344 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000954/annotations/part_4.json b/data/UPB_00000954/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..015bc3edf42e6872c4fe31a2f27e9bf6964333d6 --- /dev/null +++ b/data/UPB_00000954/annotations/part_4.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000954", + "label": "4" + }, + "part_level": { + "part_name": "Right Cabinet Door", + "affordance": 4, + "graspable": true, + "basic_description": "Right lower door panel (about 60*35*1.8 cm) matching the left door, hinged on the right side of the body.", + "functional_description": "Covers the right half of the base cabinet; mates with the left door along the center seam.", + "movement_description": "Rotates about its right-side vertical hinge relative to the carcass with a similar opening range (~110 degrees).", + "grasp_description": "Pulled by its knob during opening and closing." + }, + "basic_info": { + "material": "wood/Hardwood_Oak_Veneer", + "density": 0.7, + "young": 11.0, + "hardness": 30, + "poisson": 0.33, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 4, + 6 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.4022006392478943, + -0.10057267546653748, + -0.703143298625946 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000954/annotations/part_5.json b/data/UPB_00000954/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..82a1ed0368a6515eb079ce1ba34c07ffac27730f --- /dev/null +++ b/data/UPB_00000954/annotations/part_5.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000954", + "label": "5" + }, + "part_level": { + "part_name": "Left Door Knob", + "affordance": 1, + "graspable": true, + "basic_description": "Round powder-coated steel knob (~3 cm diameter, 2.5 cm projection) mounted on the left door near the center seam.", + "functional_description": "Primary grasp point to pull the left door open or push it closed.", + "movement_description": "No independent motion; moves rigidly with the door.", + "grasp_description": "Grasped between fingers and thumb; provides tactile leverage to operate the door." + }, + "basic_info": { + "material": "metal/Steel_Low_Carbon_PowderCoated", + "density": 7.85, + "young": 200.0, + "hardness": 150, + "poisson": 0.3, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000954/annotations/part_6.json b/data/UPB_00000954/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..f668304d05fce2d8df1f5df83012daac8687d4c5 --- /dev/null +++ b/data/UPB_00000954/annotations/part_6.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000954", + "label": "6" + }, + "part_level": { + "part_name": "Right Door Knob", + "affordance": 2, + "graspable": true, + "basic_description": "Round powder-coated steel knob (~3 cm diameter, 2.5 cm projection) mounted on the right door near the center seam.", + "functional_description": "Primary grasp point to operate the right cabinet door.", + "movement_description": "Rigidly attached; follows the rotation of the right door.", + "grasp_description": "Pinched or hooked with fingers to open/close the door." + }, + "basic_info": { + "material": "metal/Steel_Low_Carbon_PowderCoated", + "density": 7.85, + "young": 200.0, + "hardness": 150, + "poisson": 0.3, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000954/full_model/material.mtl b/data/UPB_00000954/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00000954/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_00000954/full_model/material_0.png b/data/UPB_00000954/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..5d2a06f5dd11d84d7c7ba5fa1b3799fd95385436 --- /dev/null +++ b/data/UPB_00000954/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39f6889b75fa21180f84cf06a2589559aa0807f6441f68494c44f0e2910ac2c4 +size 1143210 diff --git a/data/UPB_00000954/full_model/model.obj b/data/UPB_00000954/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..3b746d32bff9b38bfc512fd5ce36558839aecdb4 --- /dev/null +++ b/data/UPB_00000954/full_model/model.obj @@ -0,0 +1,7288 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v 0.38284701 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sha256:5f7b95c22ce8dedd9e07af33af4c0077f0ed18bef4cee0c74142645cd0632374 +size 1600243 diff --git a/data/UPB_00000955/annotations/object.json b/data/UPB_00000955/annotations/object.json new file mode 100644 index 0000000000000000000000000000000000000000..f2d41c18040e990ef75cfb528b8d48361e463ae6 --- /dev/null +++ b/data/UPB_00000955/annotations/object.json @@ -0,0 +1,10 @@ +{ + "object_name": "Asymmetric Display Bookcase with Cabinet Doors", + "category": "Furniture/StorageFurniture", + "volume": [ + 80.0, + 30.0, + 190.0 + ], + "mass": 52.0 +} \ No newline at end of file diff --git a/data/UPB_00000955/annotations/part_1.json b/data/UPB_00000955/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..629d8f4124b3537d2dc5389d2768d9a91ed6132e --- /dev/null +++ b/data/UPB_00000955/annotations/part_1.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000955", + "label": "1" + }, + "part_level": { + "part_name": "Main frame and open shelves", + "affordance": 5, + "graspable": false, + "basic_description": "Veneered MDF frame with irregular open shelves, approx 80 cm wide, 30 cm deep, 190 cm tall.", + "functional_description": "Provides structural support and storage/display compartments for books and decor; carries four hinged door compartments.", + "movement_description": "Acts as the fixed reference. Four doors rotate about vertical hinge axes anchored to this frame.", + "grasp_description": "Usually touched when positioning the furniture or placing items on shelves; not used as a handle." + }, + "basic_info": { + "material": "wood/MDF_Veneered", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.3, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000955/annotations/part_2.json b/data/UPB_00000955/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..835d9698d0282e4aef25d92797d3236705fc639f --- /dev/null +++ b/data/UPB_00000955/annotations/part_2.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000955", + "label": "2" + }, + "part_level": { + "part_name": "Mid-left small door", + "affordance": 2, + "graspable": false, + "basic_description": "Small veneered MDF door panel approx 32*38*1.5 cm.", + "functional_description": "Closes a mid-left compartment to conceal items.", + "movement_description": "Opens by rotating about a vertical hinge line on the frame; swing angle about 0\u2013110 degrees.", + "grasp_description": "Users pull the attached knob to open/close; panel itself is rarely grasped." + }, + "basic_info": { + "material": "wood/MDF_Veneered", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.3, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 2, + 6 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.39940378069877625, + -0.12694275379180908, + -0.635795533657074 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000955/annotations/part_3.json b/data/UPB_00000955/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..7cb2a9178e8ee2f98ae4129e2f9e08fa0187b03e --- /dev/null +++ b/data/UPB_00000955/annotations/part_3.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000955", + "label": "3" + }, + "part_level": { + "part_name": "Mid-right small door", + "affordance": 2, + "graspable": false, + "basic_description": "Small veneered MDF door panel approx 32*38*1.5 cm.", + "functional_description": "Closes a mid-right compartment to keep contents dust-free.", + "movement_description": "Hinged to the frame and swings open about a vertical axis.", + "grasp_description": "Pulled by its knob; the door surface may be pushed gently to close." + }, + "basic_info": { + "material": "wood/MDF_Veneered", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.3, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 3, + 7 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.3972773253917694, + -0.12630541622638702, + -0.6549516916275024 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000955/annotations/part_4.json b/data/UPB_00000955/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..0e770f1efaf6285cd3ad7ec60d58fbb7ca30a8a9 --- /dev/null +++ b/data/UPB_00000955/annotations/part_4.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000955", + "label": "4" + }, + "part_level": { + "part_name": "Bottom-right large door", + "affordance": 2, + "graspable": false, + "basic_description": "Large veneered MDF door panel approx 36*60*1.5 cm.", + "functional_description": "Provides access to the right side of the bottom cabinet space.", + "movement_description": "Rotates on vertical hinges fixed to the main frame; soft friction provides damping.", + "grasp_description": "Typically pulled by the knob to open; the edge is occasionally pushed to close." + }, + "basic_info": { + "material": "wood/MDF_Veneered", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.3, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 4, + 8 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + 0.3966687321662903, + 0.11854404956102371, + -0.6739283800125122 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000955/annotations/part_5.json b/data/UPB_00000955/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..1c262488f5661f8914460608334143c4c171479e --- /dev/null +++ b/data/UPB_00000955/annotations/part_5.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000955", + "label": "5" + }, + "part_level": { + "part_name": "Bottom-left large door", + "affordance": 2, + "graspable": false, + "basic_description": "Large veneered MDF door panel approx 36*60*1.5 cm.", + "functional_description": "Provides access to the left side of the bottom cabinet space.", + "movement_description": "Opens by rotating about a vertical axis on the frame.", + "grasp_description": "Pulled using the knob to open; pushed closed against magnetic catch or stop." + }, + "basic_info": { + "material": "wood/MDF_Veneered", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.3, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 5, + 9 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + -0.39630869030952454, + 0.1209864392876625, + -0.7389247417449951 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000955/annotations/part_6.json b/data/UPB_00000955/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..76a73b93ebfba3630345d5de6b7a3fc497721fe1 --- /dev/null +++ b/data/UPB_00000955/annotations/part_6.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000955", + "label": "6" + }, + "part_level": { + "part_name": "Knob for bottom-left large door", + "affordance": 1, + "graspable": true, + "basic_description": "Round black anodized aluminum knob, ~3 cm diameter, ~3 cm depth.", + "functional_description": "Primary grasp point to operate the bottom-left cabinet door.", + "movement_description": "Rigidly fastened to door 5 with a through screw; no independent motion.", + "grasp_description": "Gripped by fingers to pull or push the door; low-profile and comfortable." + }, + "basic_info": { + "material": "metal/Aluminum_Alloy_Anodized_Black", + "density": 2.75, + "young": 70.0, + "hardness": 100, + "poisson": 0.33, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000955/annotations/part_7.json b/data/UPB_00000955/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..f18812dd5d03cb6b2d5cc98d790048ab8d810040 --- /dev/null +++ b/data/UPB_00000955/annotations/part_7.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000955", + "label": "7" + }, + "part_level": { + "part_name": "Knob for bottom-right large door", + "affordance": 1, + "graspable": true, + "basic_description": "Round black aluminum knob, ~3 cm diameter, for the right bottom door.", + "functional_description": "Handhold to actuate the bottom-right door.", + "movement_description": "Rigid connection to door 4; rotates with the door but has no joint itself.", + "grasp_description": "Pinched with fingers to pull the door open and push it closed." + }, + "basic_info": { + "material": "metal/Aluminum_Alloy_Anodized_Black", + "density": 2.75, + "young": 70.0, + "hardness": 100, + "poisson": 0.33, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000955/annotations/part_8.json b/data/UPB_00000955/annotations/part_8.json new file mode 100644 index 0000000000000000000000000000000000000000..dbbcba1ed7e4b7fd768fa3b1a8f51ca49d08c7c0 --- /dev/null +++ b/data/UPB_00000955/annotations/part_8.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000955", + "label": "8" + }, + "part_level": { + "part_name": "Knob for mid-left small door", + "affordance": 1, + "graspable": true, + "basic_description": "Small black anodized aluminum knob for the mid-left compartment door.", + "functional_description": "Provides ergonomic grip to operate door 2.", + "movement_description": "Rigidly fixed to door 2 by a screw; no independent motion.", + "grasp_description": "Grasped with fingertips for quick access to the small compartment." + }, + "basic_info": { + "material": "metal/Aluminum_Alloy_Anodized_Black", + "density": 2.75, + "young": 70.0, + "hardness": 100, + "poisson": 0.33, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000955/annotations/part_9.json b/data/UPB_00000955/annotations/part_9.json new file mode 100644 index 0000000000000000000000000000000000000000..b1dd8f4db7a550ce278d14ddd66b07ee573afaa2 --- /dev/null +++ b/data/UPB_00000955/annotations/part_9.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000955", + "label": "9" + }, + "part_level": { + "part_name": "Knob for mid-right small door", + "affordance": 1, + "graspable": true, + "basic_description": "Small black anodized aluminum knob for the mid-right compartment door.", + "functional_description": "Handle used to open and close door 3.", + "movement_description": "Rigidly attached to door 3; no independent motion.", + "grasp_description": "Pinched or pulled by the user to operate the small door." + }, + "basic_info": { + "material": "metal/Aluminum_Alloy_Anodized_Black", + "density": 2.75, + "young": 70.0, + "hardness": 100, + "poisson": 0.33, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000955/full_model/material.mtl b/data/UPB_00000955/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00000955/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_00000955/full_model/material_0.png b/data/UPB_00000955/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6cccbc31efaeba87168814ccdde207809fd93c29 --- /dev/null +++ b/data/UPB_00000955/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23566e9de0bb7f2975459ce108f87a86a9cb2d8ba99a7b13700fbbd14cbc41bc +size 1143202 diff --git a/data/UPB_00000955/full_model/model.obj b/data/UPB_00000955/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..18df02a8e17d9c579d36a61bf38667612108d130 --- /dev/null +++ b/data/UPB_00000955/full_model/model.obj @@ -0,0 +1,13552 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v -0.03005400 0.13150001 -0.31200001 +v -0.03005400 0.13150001 0.04240000 +v -0.01205400 0.13150001 -0.31200001 +v -0.01205400 0.13150001 0.04240000 +v -0.01205400 0.13150001 0.04240000 +v -0.03005400 0.13150001 0.04240000 +v -0.03005400 -0.11250000 0.04240000 +v 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0000000000000000000000000000000000000000..28f537a8b243d231b12a9cdc9d556e3c801a455d --- /dev/null +++ b/data/UPB_00000956/annotations/object.json @@ -0,0 +1,10 @@ +{ + "object_name": "Kitchen Hutch Cabinet", + "category": "Furniture/StorageFurniture", + "volume": [ + 160.0, + 40.0, + 200.0 + ], + "mass": 95.0 +} \ No newline at end of file diff --git a/data/UPB_00000956/annotations/part_1.json b/data/UPB_00000956/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..d743d00a427fe4e6a8c3a87daf3d96acaaa030f9 --- /dev/null +++ b/data/UPB_00000956/annotations/part_1.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000956", + "label": "1" + }, + "part_level": { + "part_name": "Countertop/Work Surface", + "affordance": 1, + "graspable": false, + "basic_description": "A wooden laminated countertop, approx 150x35x2.5 cm, spanning the hutch midsection.", + "functional_description": "Provides a horizontal work and display surface and ties upper and lower carcass modules.", + "movement_description": "No motion; it is rigidly fixed to the main carcass and left shelf column.", + "grasp_description": "Touched frequently for placing items but not typically grasped as a handle." + }, + "basic_info": { + "material": "wood/Laminated_Oak_Veneer", + "density": 0.72, + "young": 11.0, + "hardness": 40, + "poisson": 0.35, + "friction": 0.55 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000956/annotations/part_10.json b/data/UPB_00000956/annotations/part_10.json new file mode 100644 index 0000000000000000000000000000000000000000..bc90158e808e10f848a6a15c067fa9b70fae1c17 --- /dev/null +++ b/data/UPB_00000956/annotations/part_10.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000956", + "label": "10" + }, + "part_level": { + "part_name": "Lower Far-Right Door", + "affordance": 4, + "graspable": true, + "basic_description": "Lower cabinet door at the far right, approx 35x70x1.8 cm.", + "functional_description": "Covers the rightmost base storage compartment.", + "movement_description": "Rotates on vertical hinges secured to the carcass frame.", + "grasp_description": "Operated by grasping the handle." + }, + "basic_info": { + "material": "wood/MDF_Melamine", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.35, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 10, + 17 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.9366022348403931, + -0.16404715180397034, + -0.8084943294525146 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000956/annotations/part_11.json b/data/UPB_00000956/annotations/part_11.json new file mode 100644 index 0000000000000000000000000000000000000000..fa352cd8ab1c0af0fac48c601f9a54119b196748 --- /dev/null +++ b/data/UPB_00000956/annotations/part_11.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000956", + "label": "11" + }, + "part_level": { + "part_name": "Upper Left Door Handle", + "affordance": 2, + "graspable": true, + "basic_description": "Slim vertical stainless-steel pull, ~12 cm long, fitted to the upper-left door.", + "functional_description": "Provides a comfortable point to pull the upper-left door open.", + "movement_description": "No independent motion; moves with its door as a rigid attachment.", + "grasp_description": "Pinch or wrap the fingers around the pull to operate the door." + }, + "basic_info": { + "material": "metal/Stainless_Steel_304", + "density": 7.9, + "young": 193.0, + "hardness": 170, + "poisson": 0.3, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000956/annotations/part_12.json b/data/UPB_00000956/annotations/part_12.json new file mode 100644 index 0000000000000000000000000000000000000000..3bd19903c6de31b43ba8ca15b903d18ec0d8ee9c --- /dev/null +++ b/data/UPB_00000956/annotations/part_12.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000956", + "label": "12" + }, + "part_level": { + "part_name": "Upper Middle Door Handle", + "affordance": 2, + "graspable": true, + "basic_description": "Vertical stainless-steel handle, ~12 cm, mounted to the upper middle door.", + "functional_description": "Enables opening and closing of the upper-center door.", + "movement_description": "Rigid with the door; follows the door\u2019s rotation.", + "grasp_description": "Grasp to pull the door outward or push it closed." + }, + "basic_info": { + "material": "metal/Stainless_Steel_304", + "density": 7.9, + "young": 193.0, + "hardness": 170, + "poisson": 0.3, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000956/annotations/part_13.json b/data/UPB_00000956/annotations/part_13.json new file mode 100644 index 0000000000000000000000000000000000000000..44dc0307d4e8bfed5813f56030b56684256fb4a6 --- /dev/null +++ b/data/UPB_00000956/annotations/part_13.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000956", + "label": "13" + }, + "part_level": { + "part_name": "Upper Right Door Handle", + "affordance": 2, + "graspable": true, + "basic_description": "Shaped stainless-steel pull sized for a single hand, used on the upper-right door.", + "functional_description": "Provides leverage for opening the upper-right door.", + "movement_description": "Fixed to the door with screws; no relative motion.", + "grasp_description": "Wrap fingers around the pull to operate the door." + }, + "basic_info": { + "material": "metal/Stainless_Steel_304", + "density": 7.9, + "young": 193.0, + "hardness": 170, + "poisson": 0.3, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000956/annotations/part_14.json b/data/UPB_00000956/annotations/part_14.json new file mode 100644 index 0000000000000000000000000000000000000000..aa79b1c266351fd77bf8f8edc4324c2260131114 --- /dev/null +++ b/data/UPB_00000956/annotations/part_14.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000956", + "label": "14" + }, + "part_level": { + "part_name": "Lower Far-Left Door Handle", + "affordance": 2, + "graspable": true, + "basic_description": "Vertical stainless handle installed on the far-left lower door.", + "functional_description": "Allows the left base door to be pulled open.", + "movement_description": "Rigidly attached; follows the door\u2019s motion.", + "grasp_description": "Gripped by fingers to open/close the door." + }, + "basic_info": { + "material": "metal/Stainless_Steel_304", + "density": 7.9, + "young": 193.0, + "hardness": 170, + "poisson": 0.3, + "friction": 0.36 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000956/annotations/part_15.json b/data/UPB_00000956/annotations/part_15.json new file mode 100644 index 0000000000000000000000000000000000000000..1c0b6a5b38586e496eb8383ee74eb2bdd2b07d80 --- /dev/null +++ b/data/UPB_00000956/annotations/part_15.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000956", + "label": "15" + }, + "part_level": { + "part_name": "Lower Left-Center Door Handle", + "affordance": 2, + "graspable": true, + "basic_description": "Stainless-steel pull matched to the lower left-center door.", + "functional_description": "Handhold for operating the left-center lower door.", + "movement_description": "No relative motion; fixed by screws to the door panel.", + "grasp_description": "Pinch or wrap grip to actuate the door." + }, + "basic_info": { + "material": "metal/Stainless_Steel_304", + "density": 7.9, + "young": 193.0, + "hardness": 170, + "poisson": 0.3, + "friction": 0.36 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000956/annotations/part_16.json b/data/UPB_00000956/annotations/part_16.json new file mode 100644 index 0000000000000000000000000000000000000000..701cd326926e25181ef1bb9bd37166a33447375b --- /dev/null +++ b/data/UPB_00000956/annotations/part_16.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000956", + "label": "16" + }, + "part_level": { + "part_name": "Lower Right-Center Door Handle", + "affordance": 2, + "graspable": true, + "basic_description": "Stainless vertical pull attached to the right-center lower door.", + "functional_description": "Used to open and close the right-center base door.", + "movement_description": "Rigid connection; translates/rotates only with the door.", + "grasp_description": "Typical single-hand pull." + }, + "basic_info": { + "material": "metal/Stainless_Steel_304", + "density": 7.9, + "young": 193.0, + "hardness": 170, + "poisson": 0.3, + "friction": 0.36 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000956/annotations/part_17.json b/data/UPB_00000956/annotations/part_17.json new file mode 100644 index 0000000000000000000000000000000000000000..7bfa6718488f5f73dda50949e59bbf19cbc9eff0 --- /dev/null +++ b/data/UPB_00000956/annotations/part_17.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000956", + "label": "17" + }, + "part_level": { + "part_name": "Lower Far-Right Door Handle", + "affordance": 2, + "graspable": true, + "basic_description": "Stainless-steel pull fixed to the far-right lower door.", + "functional_description": "Provides a gripping point to open the rightmost base cabinet.", + "movement_description": "Rigid to its door; no independent motion.", + "grasp_description": "Grab and pull to actuate the door." + }, + "basic_info": { + "material": "metal/Stainless_Steel_304", + "density": 7.9, + "young": 193.0, + "hardness": 170, + "poisson": 0.3, + "friction": 0.36 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000956/annotations/part_2.json b/data/UPB_00000956/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..da0fc65189da8c19917c70d7ae6730fc19ce44bf --- /dev/null +++ b/data/UPB_00000956/annotations/part_2.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000956", + "label": "2" + }, + "part_level": { + "part_name": "Central Carcass Face Frame", + "affordance": 8, + "graspable": false, + "basic_description": "Melamine-coated MDF frame that defines the openings of upper and lower cabinets.", + "functional_description": "Provides structure for the hutch and mounting points for all hinged doors.", + "movement_description": "Stationary reference frame; doors rotate about vertical hinges mounted to this frame.", + "grasp_description": "Rarely touched directly; interacts indirectly as the hinge support." + }, + "basic_info": { + "material": "wood/MDF_Melamine", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.35, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000956/annotations/part_3.json b/data/UPB_00000956/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..6f7e2f57a9fd18ce3f480fd95c2af6cb8e666f70 --- /dev/null +++ b/data/UPB_00000956/annotations/part_3.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000956", + "label": "3" + }, + "part_level": { + "part_name": "Left Open Shelf Column", + "affordance": 6, + "graspable": false, + "basic_description": "A tall narrow shelving module with three open shelves, approx 35x35x200 cm.", + "functional_description": "Stores or displays items; provides lateral support to the overall unit.", + "movement_description": "Rigidly fixed; no motion.", + "grasp_description": "Users place items on shelves; edges are occasionally touched." + }, + "basic_info": { + "material": "wood/MDF_Melamine", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.35, + "friction": 0.46 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00000956/annotations/part_4.json b/data/UPB_00000956/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..bfe348f34c8358cb395f4343fba0cf6fc865df76 --- /dev/null +++ b/data/UPB_00000956/annotations/part_4.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000956", + "label": "4" + }, + "part_level": { + "part_name": "Upper Left Door", + "affordance": 3, + "graspable": true, + "basic_description": "Melamine MDF cabinet door, approx 45x90x1.8 cm, located upper-left.", + "functional_description": "Covers the left section of the upper cabinet to protect contents from dust and view.", + "movement_description": "Rotates about vertical hinges fixed to the carcass frame.", + "grasp_description": "Grasp the handle to swing the door open or closed." + }, + "basic_info": { + "material": "wood/MDF_Melamine", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.35, + "friction": 0.44 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 4, + 11 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.4454677402973175, + -0.16679313778877258, + 0.36847907304763794 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000956/annotations/part_5.json b/data/UPB_00000956/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..1905dff9aab3455df259929ae544f6794e37542b --- /dev/null +++ b/data/UPB_00000956/annotations/part_5.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000956", + "label": "5" + }, + "part_level": { + "part_name": "Upper Middle Door", + "affordance": 3, + "graspable": true, + "basic_description": "Melamine MDF upper-center cabinet door, approx 45x90x1.8 cm.", + "functional_description": "Closes the central upper storage bay.", + "movement_description": "Swings about vertical hinges anchored to the face frame.", + "grasp_description": "Pulled by its handle for access." + }, + "basic_info": { + "material": "wood/MDF_Melamine", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.35, + "friction": 0.44 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 5, + 12 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + 0.019796252250671387, + -0.16587622463703156, + 0.4125865399837494 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000956/annotations/part_6.json b/data/UPB_00000956/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..80575cc8bfcc95d35207bde43e0102eac31b2ac0 --- /dev/null +++ b/data/UPB_00000956/annotations/part_6.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000956", + "label": "6" + }, + "part_level": { + "part_name": "Upper Right Door", + "affordance": 3, + "graspable": true, + "basic_description": "Melamine MDF door for the rightmost upper bay, approx 45x90x1.8 cm.", + "functional_description": "Seals the right upper storage compartment.", + "movement_description": "Rotates about hinges on the carcass frame.", + "grasp_description": "Grab the door handle to open/close." + }, + "basic_info": { + "material": "wood/MDF_Melamine", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.35, + "friction": 0.44 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 6, + 13 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.9107484817504883, + -0.16452957689762115, + 0.5013254284858704 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000956/annotations/part_7.json b/data/UPB_00000956/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..70365c89fba149b86a7a30d63e0953b363001510 --- /dev/null +++ b/data/UPB_00000956/annotations/part_7.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000956", + "label": "7" + }, + "part_level": { + "part_name": "Lower Far-Left Door", + "affordance": 4, + "graspable": true, + "basic_description": "Lower cabinet door at the far left, approx 35x70x1.8 cm.", + "functional_description": "Covers the leftmost base storage compartment.", + "movement_description": "Swings open on vertical hinges attached to the frame.", + "grasp_description": "Pulled via its handle during use." + }, + "basic_info": { + "material": "wood/MDF_Melamine", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.35, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 7, + 14 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.9129310250282288, + -0.16654065251350403, + -0.9678663611412048 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000956/annotations/part_8.json b/data/UPB_00000956/annotations/part_8.json new file mode 100644 index 0000000000000000000000000000000000000000..aecc9734630a84c4f3197190a51cc854e7b4da81 --- /dev/null +++ b/data/UPB_00000956/annotations/part_8.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000956", + "label": "8" + }, + "part_level": { + "part_name": "Lower Left-Center Door", + "affordance": 4, + "graspable": true, + "basic_description": "Lower cabinet door second from the left, approx 35x70x1.8 cm.", + "functional_description": "Closes an inner base storage bay.", + "movement_description": "Rotates about vertical hinges mounted to the face frame.", + "grasp_description": "Operated by pulling the attached handle." + }, + "basic_info": { + "material": "wood/MDF_Melamine", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.35, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 8, + 15 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.0, + -0.16944336891174316, + -0.9470056295394897 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000956/annotations/part_9.json b/data/UPB_00000956/annotations/part_9.json new file mode 100644 index 0000000000000000000000000000000000000000..fcf7e85b9446a9b59f2bc747658c9a7c6f0a9bc2 --- /dev/null +++ b/data/UPB_00000956/annotations/part_9.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00000956", + "label": "9" + }, + "part_level": { + "part_name": "Lower Right-Center Door", + "affordance": 4, + "graspable": true, + "basic_description": "Lower cabinet door third from the left, approx 35x70x1.8 cm.", + "functional_description": "Closes the right-center base compartment.", + "movement_description": "Opens by rotating about vertical hinges on the frame.", + "grasp_description": "Pulled by its handle to access storage." + }, + "basic_info": { + "material": "wood/MDF_Melamine", + "density": 0.75, + "young": 3.0, + "hardness": 25, + "poisson": 0.35, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 9, + 16 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + 0.014727843925356865, + -0.16884343326091766, + -0.9221547245979309 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00000956/full_model/material.mtl b/data/UPB_00000956/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00000956/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_00000956/full_model/material_0.png b/data/UPB_00000956/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..feba03f25f43f0532f462db6db94c7d1ba0f195c --- /dev/null +++ b/data/UPB_00000956/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43a8e471559c0e14c3151bc77cde0a7ac53455181f828aacbe351e607e6c6d67 +size 618735 diff --git a/data/UPB_00000956/full_model/model.obj b/data/UPB_00000956/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..468bd59630b1a412752bfb6e152181a2d6f110c0 --- /dev/null +++ b/data/UPB_00000956/full_model/model.obj @@ -0,0 +1,5468 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v -0.92120600 0.19930300 -0.36555001 +v 0.93879402 0.19930300 -0.36555001 +v 0.93879402 -0.18069699 -0.36555001 +v -0.92120600 -0.18069699 -0.36555001 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