Upload folder using huggingface_hub (part 86)

.gitattributes

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+data/UPB_00001416/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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+data/UPB_00001417/plys/model.ply filter=lfs diff=lfs merge=lfs -text

data/UPB_00001416/plys/8.ply

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+size 160242

data/UPB_00001416/plys/9.ply

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

data/UPB_00001416/plys/model.ply

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+version https://git-lfs.github.com/spec/v1
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+size 1600243

data/UPB_00001417/annotations/object.json

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+{
+    "object_name": "Two-Door Wardrobe Cabinet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        90.0,
+        50.0,
+        180.0
+    ],
+    "mass": 55.0
+}

data/UPB_00001417/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001417",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Door Panel",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Tall laminated particle-board door panel (~170*45*1.8 cm) with four recessed squares, mounted on the cabinet's left side by hinges.",
+        "functional_description": "Covers the left half of the wardrobe opening and provides privacy and dust protection.",
+        "movement_description": "Rotates about vertical hinges fixed to the cabinet body, opening outward up to about 120 degrees.",
+        "grasp_description": "Usually pushed/pulled via its knob; the panel itself is seldom grasped directly except at the edge."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminated",
+        "density": 0.7,
+        "young": 3.2,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                3
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.4644095003604889,
+                    -0.24784399569034576,
+                    0.4104998707771301
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+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001417/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001417",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Right Door Panel",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Tall laminated particle-board door panel (~170*45*1.8 cm) with matching recessed squares, mounted on the cabinet's right side by hinges.",
+        "functional_description": "Covers the right half of the wardrobe opening, closing against the left door at center.",
+        "movement_description": "Rotates about vertical hinges attached to the cabinet body, opening outward similar to the left door.",
+        "grasp_description": "Operated by the right door knob; edge may be touched but not typically grasped."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminated",
+        "density": 0.7,
+        "young": 3.2,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                4
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.45917829871177673,
+                    -0.2498997002840042,
+                    -7.7895547789808e-09
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+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001417/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001417",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Left Door Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Small rounded powder-coated stainless-steel knob fixed near the inner edge of the left door.",
+        "functional_description": "Provides a comfortable handhold to pull or push the left door.",
+        "movement_description": "Rigidly fixed to the left door; it does not move relative to the door.",
+        "grasp_description": "Pinch or hook with fingers to open/close the left door; textured coating improves grip."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_Powder_Coated",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 180,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001417/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001417",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Right Door Knob",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Matching rounded powder-coated stainless-steel knob mounted near the inner edge of the right door.",
+        "functional_description": "Serves as the primary handhold to operate the right door.",
+        "movement_description": "Rigidly fixed to the right door; moves only as the door rotates.",
+        "grasp_description": "Pinched or pulled by hand when opening/closing the right door."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_Powder_Coated",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 180,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001417/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001417",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Cabinet Body (Carcass, Shelves, Rod, Legs)",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Main wardrobe carcass built from laminated particle board with fixed shelves, a hanging rod, back panel, and four short legs (~90*50*180 cm overall).",
+        "functional_description": "Provides structural support and storage space for clothing; contains internal shelving and a hanging compartment.",
+        "movement_description": "Static frame; serves as the hinge parent for both doors which rotate about vertical axes attached to the body.",
+        "grasp_description": "Usually not grasped directly; users interact mainly with the knobs and occasionally push against the body when moving the furniture."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminated",
+        "density": 0.7,
+        "young": 3.5,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001417/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_00001417/meta_data.json

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+{
+    "id": "UPB_00001417",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Two-Door Wardrobe Cabinet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 5,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001417/model.urdf

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+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.957447 0.957447 0.957447"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.957447 0.957447 0.957447"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.957447 0.957447 0.957447"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.957447 0.957447 0.957447"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.957447 0.957447 0.957447"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.957447 0.957447 0.957447"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.957447 0.957447 0.957447"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.957447 0.957447 0.957447"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.957447 0.957447 0.957447"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.957447 0.957447 0.957447"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_5"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.444647 -0.237297 0.393032" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.444647 0.237297 -0.393032" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_5"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.439639 -0.239266 -0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.439639 0.239266 0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001417/parts/wardrobe_YVIPKMBVALG3CPTUKE888888_Be7FY.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_696e750e86d5e369b8bc69ce
+Kd 1 1 1
+illum 1
+map_Kd ./T_696e750e86d5e369b8bc69ce_color.jpg
+bump ./T_696e750e86d5e369b8bc69ce_normal.jpg
+map_bump ./T_696e750e86d5e369b8bc69ce_normal.jpg
+
+newmtl MI_696e750e2f71860666d70559
+Kd 0.0471264012 0.0471264012 0.0471264012
+illum 1
+

data/UPB_00001417/plys/1.ply

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+version https://git-lfs.github.com/spec/v1
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+size 199922

data/UPB_00001417/plys/2.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001417/plys/3.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001417/plys/4.ply

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

data/UPB_00001417/plys/5.ply

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+version https://git-lfs.github.com/spec/v1
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+size 1200066

data/UPB_00001417/plys/model.ply

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+version https://git-lfs.github.com/spec/v1
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+size 1600243

data/UPB_00001418/annotations/object.json

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+{
+    "object_name": "Arched Wardrobe Cabinet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        90.0,
+        45.0,
+        180.0
+    ],
+    "mass": 50.0
+}

data/UPB_00001418/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Door Leaf",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Tall arched left door panel made of laminated MDF, approx 170*40*2 cm, part of a double-door wardrobe.",
+        "functional_description": "Provides access to the cabinet; closes the left half of the front opening and offers a finished fa\u00e7ade.",
+        "movement_description": "Rotates about a vertical hinge axis relative to the cabinet body, typical swing range up to 120 degrees.",
+        "grasp_description": "Users pull or push the door via the attached handle when opening/closing."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                3
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.4722614288330078,
+                    -0.25534313917160034,
+                    -1.616481881683285e-08
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001418/annotations/part_10.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Top Arch Crown Frame",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Curved crown frame spanning the cabinet top arch, approx 90*45*4 cm hardwood assembly.",
+        "functional_description": "Provides top rim stiffness and defines the arched silhouette.",
+        "movement_description": "Rigidly fixed to the carcass.",
+        "grasp_description": "Not used for grasping; only touched during assembly."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 12.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001418/annotations/part_11.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Left Top Arch Segment",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Curved left rib of the arched top, approx arc length ~60 cm, hardwood.",
+        "functional_description": "Reinforces the left side of the arch and ties into the crown.",
+        "movement_description": "Rigidly connected to the body; no motion.",
+        "grasp_description": "Not intended to be held."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 12.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001418/annotations/part_12.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Clothing Rod",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Straight stainless-steel hanging rod with end cups, approx 80*2*2 cm.",
+        "functional_description": "Supports hangers and garments inside the cabinet.",
+        "movement_description": "Rigidly mounted to the side walls; no relative motion.",
+        "grasp_description": "Occasionally grasped to place or slide hangers; smooth low-friction surface."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193.0,
+        "hardness": 200,
+        "poisson": 0.3,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001418/annotations/part_13.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "13"
+    },
+    "part_level": {
+        "part_name": "Left Front Side Frame Trim",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Narrow decorative vertical frame on the left front side, approx 165*6*2 cm hardwood.",
+        "functional_description": "Balances the right trim visually and adds stiffness to the front side panel.",
+        "movement_description": "Rigidly attached; stationary.",
+        "grasp_description": "Not a grip point; may be touched inadvertently."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 12.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001418/annotations/part_14.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "14"
+    },
+    "part_level": {
+        "part_name": "Front Right Foot",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Rounded wooden foot/peg at the front-right bottom, approx \u00d85*8 cm.",
+        "functional_description": "Supports and levels the cabinet.",
+        "movement_description": "Rigidly fixed; no motion.",
+        "grasp_description": "Not grasped; may contact the floor during repositioning."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 12.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001418/annotations/part_15.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "15"
+    },
+    "part_level": {
+        "part_name": "Right Top Arch Segment",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Curved right rib of the arched top, hardwood, arc length ~60 cm.",
+        "functional_description": "Stiffens the right side of the arch and completes the crown assembly.",
+        "movement_description": "Rigidly connected to the body; stationary.",
+        "grasp_description": "Not intended for grasping."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 12.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001418/annotations/part_16.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "16"
+    },
+    "part_level": {
+        "part_name": "Rear Right Foot",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Rounded wooden foot/peg at the rear-right bottom, approx \u00d85*8 cm.",
+        "functional_description": "Supports rear corner and stabilizes the cabinet.",
+        "movement_description": "Rigidly fixed to the body; no motion.",
+        "grasp_description": "Not grasped; only contacts the floor."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 12.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.6
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001418/annotations/part_17.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "17"
+    },
+    "part_level": {
+        "part_name": "Rear Left Foot",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Rounded wooden foot/peg at the rear-left bottom, approx \u00d85*8 cm.",
+        "functional_description": "Supports rear corner and stabilizes the cabinet.",
+        "movement_description": "Rigidly fixed to the body; no motion.",
+        "grasp_description": "Not grasped; only contacts the floor."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 12.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.6
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001418/annotations/part_2.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Right Door Leaf",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Tall arched right door panel, laminated MDF, approx 170*40*2 cm.",
+        "functional_description": "Closes the right half of the cabinet\u2019s front opening and provides access to interior storage.",
+        "movement_description": "Swings on a vertical hinge relative to the cabinet body; similar range to the left door.",
+        "grasp_description": "Pulled or pushed using its handle for regular operation."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                4
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.4533877968788147,
+                    -0.26135072112083435,
+                    -1.5518804019620802e-08
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001418/annotations/part_3.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Left Door Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Curved stainless-steel pull handle, approx 16*2*3 cm, mounted on the left door.",
+        "functional_description": "Primary grasp point for opening and closing the left door.",
+        "movement_description": "Rigidly fixed to the left door; moves exactly with it.",
+        "grasp_description": "Gripped by fingers; surface allows comfortable pulling with moderate friction."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193.0,
+        "hardness": 200,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001418/annotations/part_4.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Right Door Handle",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Curved stainless-steel pull handle, approx 16*2*3 cm, mounted on the right door.",
+        "functional_description": "Primary grasp point for opening and closing the right door.",
+        "movement_description": "Rigidly fixed to the right door; moves together with it.",
+        "grasp_description": "Gripped by fingers for pulling/pushing the door."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193.0,
+        "hardness": 200,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001418/annotations/part_5.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Cabinet Body (Carcass)",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Main plywood carcass with arched top and one internal shelf; approx 90*45*180 cm overall.",
+        "functional_description": "Provides structural enclosure for storage, supports doors, rod, decorative frames, cubby and feet.",
+        "movement_description": "Stationary reference for all movable parts; hinges mount to the body enabling door rotation.",
+        "grasp_description": "Not normally grasped directly; users interact via doors/handles."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.65,
+        "young": 8.0,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001418/annotations/part_6.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Lower Cubby/Shelf Unit",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Rectangular open cubby with a middle divider shelf, approx 80*40*30 cm, fitted at the cabinet bottom.",
+        "functional_description": "Holds folded items or boxes and stiffens the base of the cabinet.",
+        "movement_description": "Rigidly fixed to the carcass; no relative motion.",
+        "grasp_description": "Users place items on it; edges may be touched but it is not a handle."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.65,
+        "young": 8.0,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001418/annotations/part_7.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Right Front Side Frame Trim",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Narrow decorative vertical frame on the right front side, approx 165*6*2 cm hardwood.",
+        "functional_description": "Provides visual segmentation and reinforces the front side panel.",
+        "movement_description": "Rigidly attached to the body; no motion.",
+        "grasp_description": "Occasionally touched near the edge but not used for grasping."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 12.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001418/annotations/part_8.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Front Arch Lattice Panel",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Arched decorative grille with horizontal muntins sized for the upper front opening, approx 85*60*2 cm hardwood.",
+        "functional_description": "Adds rigidity and aesthetic detail to the arched top fa\u00e7ade above the doors.",
+        "movement_description": "Fixed to the carcass; stationary.",
+        "grasp_description": "Not intended for grasping."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 12.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001418/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Front Left Foot",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Rounded wooden foot/peg, approx \u00d85*8 cm, positioned at the front-left bottom.",
+        "functional_description": "Supports the cabinet, distributes load to the floor.",
+        "movement_description": "Rigidly fixed; no motion.",
+        "grasp_description": "Rarely touched; may be used when lifting the cabinet slightly."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 12.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001418/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