Upload folder using huggingface_hub (part 240)

.gitattributes

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data/UPB_00001876/annotations/object.json

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+{
+    "object_name": "Three-door Sideboard with Two Drawers",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        110.0,
+        40.0,
+        85.0
+    ],
+    "mass": 38.0
+}

data/UPB_00001876/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001876",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Cabinet Carcass",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Main cabinet frame made from veneered particle board; approximate size 110\u00d740\u00d785 cm.",
+        "functional_description": "Provides structural support for the drawers and doors and bears the load of stored items and the top surface.",
+        "movement_description": "Acts as the stationary parent for the doors (rotational hinges) and drawers (sliding rails).",
+        "grasp_description": "Rarely grasped directly except when moving the entire cabinet."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Veneered",
+        "density": 0.65,
+        "young": 3.5,
+        "hardness": 20,
+        "poisson": 0.35,
+        "friction": 0.5
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+            "D"
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+    }
+}

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+{
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+        "type_name": "default",
+        "entity": "UPB_00001876",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Middle Door Pull",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Wooden finger pull, about 6\u00d74\u00d71.8 cm, mounted on the center door.",
+        "functional_description": "Provides the grip to open the middle door.",
+        "movement_description": "Rigidly connected to the door; follows its rotational motion.",
+        "grasp_description": "Fingers hook into the recess to pull the door."
+    },
+    "basic_info": {
+        "material": "metal",
+        "density": 7.095321614455091,
+        "young": 162.66640479230088,
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+    }
+}

data/UPB_00001876/annotations/part_11.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001876",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Right Door Pull",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Hardwood finger pull, approx. 6\u00d74\u00d71.8 cm, attached to the right door.",
+        "functional_description": "Grip point for the right lower door.",
+        "movement_description": "Rigidly affixed to the door; motion is that of the door on its hinges.",
+        "grasp_description": "Pulled by hand to operate the right door."
+    },
+    "basic_info": {
+        "material": "metal",
+        "density": 7.095321614455091,
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+}

data/UPB_00001876/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001876",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Left Lower Door",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Veneered MDF door panel about 34\u00d760\u00d71.8 cm on the left lower bay.",
+        "functional_description": "Covers and provides access to the left storage compartment.",
+        "movement_description": "Swings outward on side hinges relative to the carcass; typical opening up to 110 degrees.",
+        "grasp_description": "Usually operated via the attached door pull, not by the panel edges."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneered",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.32,
+        "friction": 0.5
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+    "kinematic_info": {
+        "motion_types": [
+            "C"
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+        "motion_info": {
+            "dependency": [
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+                9
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+            "C": {
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+                "damping": 0.03
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+        }
+    }
+}

data/UPB_00001876/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001876",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Middle Lower Door",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Center veneered MDF door panel roughly 34\u00d760\u00d71.8 cm.",
+        "functional_description": "Covers the middle compartment; aligns with the other doors for a flush front.",
+        "movement_description": "Rotates on vertical hinges relative to the carcass; 0\u2013110\u00b0 typical.",
+        "grasp_description": "Pulled open using the center door pull."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneered",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.32,
+        "friction": 0.5
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+        "motion_types": [
+            "C"
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+            "dependency": [
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+                10
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+            "C": {
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+                "pos": [
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+    }
+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001876",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Right Lower Door",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Right-side veneered MDF door panel approx. 34\u00d760\u00d71.8 cm.",
+        "functional_description": "Covers the right storage bay.",
+        "movement_description": "Opens by rotating on hinges mounted to the carcass; 0\u2013110\u00b0.",
+        "grasp_description": "Grasped by the door pull for opening and closing."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneered",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.32,
+        "friction": 0.5
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+        "motion_types": [
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+            "dependency": [
+                4,
+                11
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+            "C": {
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+        }
+    }
+}

data/UPB_00001876/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001876",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Left Drawer (Front Panel)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Veneered MDF drawer front about 52\u00d715\u00d71.6 cm representing the full sliding drawer assembly.",
+        "functional_description": "Provides access to the left top drawer and gives the cabinet its finished front.",
+        "movement_description": "Slides in and out on rails relative to the carcass; travel roughly 30 cm.",
+        "grasp_description": "Usually pulled via the attached wooden knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneered",
+        "density": 0.75,
+        "young": 3.4,
+        "hardness": 25,
+        "poisson": 0.32,
+        "friction": 0.48
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+        "motion_types": [
+            "B"
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+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001876",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Right Drawer (Front Panel)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Right drawer front panel about 52\u00d715\u00d71.6 cm (full drawer assumed).",
+        "functional_description": "Forms the right top drawer face and connects to the sliding drawer box.",
+        "movement_description": "Translates relative to the carcass on slides; ~30 cm of travel.",
+        "grasp_description": "Pulled by the attached knob for opening and closing."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneered",
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+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001876",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Left Drawer Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Turned hardwood (beech) knob, ~3 cm diameter \u00d7 2.5 cm projection, fixed to the left drawer front.",
+        "functional_description": "Provides a comfortable grip to pull the left drawer.",
+        "movement_description": "No independent motion; rigidly attached to the drawer front which translates on slides.",
+        "grasp_description": "Grasped by fingers to pull or push the drawer."
+    },
+    "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": {}
+    }
+}

data/UPB_00001876/annotations/part_8.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001876",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Right Drawer Knob",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Hardwood knob, ~3 cm diameter, mounted to the right drawer front.",
+        "functional_description": "Grip point for operating the right drawer.",
+        "movement_description": "Rigidly connected to the drawer; follows its sliding motion.",
+        "grasp_description": "Held between fingers to open or close the drawer."
+    },
+    "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": {}
+    }
+}

data/UPB_00001876/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001876",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Left Door Pull",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Shaped wooden pull with finger opening, approx. 6\u00d74\u00d71.8 cm, fixed to the left door.",
+        "functional_description": "Offers a finger-hold to swing the left lower door open.",
+        "movement_description": "No motion of its own; moves with the door as it rotates on hinges.",
+        "grasp_description": "Finger slips into the opening to pull the door outward."
+    },
+    "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": {}
+    }
+}

data/UPB_00001876/full_model/material.mtl

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

data/UPB_00001876/full_model/model.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:8d5a66091b39076819c7c431f7cf4e1a05786bd04974d7008e51d49d38a6bc76
+size 49781055

data/UPB_00001876/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001876",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Three-door Sideboard with Two Drawers"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 11,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001876/model.urdf

@@ -0,0 +1,231 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="helper_link_2"/>
+  <link name="helper_link_3"/>
+  <link name="helper_link_4"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.916577 0.916577 0.916577"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.916577 0.916577 0.916577"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.916577 0.916577 0.916577"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.916577 0.916577 0.916577"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.916577 0.916577 0.916577"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.916577 0.916577 0.916577"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.916577 0.916577 0.916577"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.916577 0.916577 0.916577"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.916577 0.916577 0.916577"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.916577 0.916577 0.916577"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.916577 0.916577 0.916577"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.916577 0.916577 0.916577"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.916577 0.916577 0.916577"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.916577 0.916577 0.916577"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.916577 0.916577 0.916577"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.916577 0.916577 0.916577"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.916577 0.916577 0.916577"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.916577 0.916577 0.916577"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.916577 0.916577 0.916577"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.916577 0.916577 0.916577"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.916577 0.916577 0.916577"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.916577 0.916577 0.916577"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_1"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.509005 -0.162918 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_2"/>
+    <origin xyz="0.509005 0.162918 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_1"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.168356 -0.159430 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_3"/>
+    <origin xyz="-0.168356 0.159430 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="link_1"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.510261 -0.159868 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_4"/>
+    <origin xyz="-0.510261 0.159868 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="prismatic">
+    <parent link="link_1"/>
+    <child link="helper_link_3"/>
+    <origin xyz="-0.258150 -0.168382 0.367690" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.1833153183081019" upper="0.0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_5"/>
+    <origin xyz="0.258150 0.168382 -0.367690" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="prismatic">
+    <parent link="link_1"/>
+    <child link="helper_link_4"/>
+    <origin xyz="0.256532 -0.164637 0.366145" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.1833153183081019" upper="0.0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_6"/>
+    <origin xyz="-0.256532 0.164637 -0.366145" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="link_5"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="link_6"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001876/parts/WineCabinet_6EDWUKUTD5TGEPTUJQ888888_Fclxb.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5d39fd1adcc7dc0001569604
+Kd 1 1 1
+illum 1
+map_Kd ./T_5d39fd1adcc7dc0001569604_color.jpg
+
+newmtl MI_5d39fd1adcc7dc0001569605
+Kd 1 1 1
+illum 1
+map_Kd ./T_5d39fd1adcc7dc0001569605_color.jpg
+

data/UPB_00001876/parts/part_1.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:8e4d9b351ea3a686b077b7aec96243f5aa69b186b46a839628a51dd4f4d792af
+size 24771343

data/UPB_00001876/parts/part_10.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:7f40c36ba229ec56a4f9c4b16dc45be5b27eb3ad1207e018bc005af23ef7acc1
+size 23026659

data/UPB_00001876/parts/part_11.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:44fe3450f387de22fbfebd3c4ade6ec3a54c10e8fb859035f7c07266d2019a97
+size 22707729

data/UPB_00001876/parts/part_9.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:65cc0d5d792d0095c3d407037eb02439f8b3c2f3d5043e0f1c75718af3d71c2b
+size 23043345

data/UPB_00001876/plys/1.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:4e3808bf7101241dc6706cc313adb9e21bdb0d298a1371c98a4e73c73ccf0907
+size 1107058

data/UPB_00001876/plys/10.ply

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+version https://git-lfs.github.com/spec/v1
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+size 160242