Upload folder using huggingface_hub (part 108)

.gitattributes

@@ -10032,3 +10032,19 @@ data/UPB_00001446/plys/3.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001446/plys/4.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001446/plys/5.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001446/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001447/parts/3.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 3.png

data/UPB_00001447/parts/part_1.obj

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data/UPB_00001448/annotations/object.json

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+{
+    "object_name": "Two-compartment Metal Locker",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        45.0,
+        38.0,
+        180.0
+    ],
+    "mass": 28.0
+}

data/UPB_00001448/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001448",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Upper Door Panel",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Large steel sheet door (approx 36*0.1*140 cm) with a recessed lock and small vent slots, finished with powder coat.",
+        "functional_description": "Provides access to the main upper storage compartment and secures contents with the lock.",
+        "movement_description": "Rotates about a vertical hinge line fixed to the left side panel (part 6).",
+        "grasp_description": "Users grasp the handle area to open/close; commonly contacted surface."
+    },
+    "basic_info": {
+        "material": "metal/Cold_Rolled_Steel_Sheet",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.45
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+            "C"
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+}

data/UPB_00001448/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001448",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Lower Door Panel",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Smaller steel sheet door (approx 36*0.1*30 cm) with a recessed handle/lock and vent slots.",
+        "functional_description": "Access door to the lower compartment; can be independently opened and locked.",
+        "movement_description": "Rotates about a vertical hinge on the left side panel (part 6).",
+        "grasp_description": "Grasped at the recessed pull to operate; frequent human interaction."
+    },
+    "basic_info": {
+        "material": "metal/Cold_Rolled_Steel_Sheet",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.45
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+            "C"
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+}

data/UPB_00001448/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001448",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Internal Shelf",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Flat steel shelf (approx 36*43*0.15 cm) seated on side/back supports.",
+        "functional_description": "Supports stored items and divides the interior into upper/lower zones.",
+        "movement_description": "Fixed to side and back panels with screws or tabs; no intended motion during use.",
+        "grasp_description": "Not typically grasped; may be lifted during assembly or reconfiguration."
+    },
+    "basic_info": {
+        "material": "metal/Cold_Rolled_Steel_Sheet",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001448/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001448",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Floor Feet (set of 4)",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Four small rubber feet (each roughly 3*3*2 cm) mounted under the base corners.",
+        "functional_description": "Provide floor grip, vibration damping, and scratch protection.",
+        "movement_description": "Rigidly attached to the bottom panel; no relative motion.",
+        "grasp_description": "Not handled during normal use; touched only when moving or assembling the locker."
+    },
+    "basic_info": {
+        "material": "metal/Cold_Rolled_Steel_Sheet",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
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+            "D"
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+        "motion_info": {}
+    }
+}

data/UPB_00001448/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001448",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Bottom Base Panel",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Flat steel base panel (approx 36*43*0.15 cm) forming the locker floor.",
+        "functional_description": "Carries the load of stored items and transfers it to the feet and side/back panels.",
+        "movement_description": "Rigidly fastened to side and back panels; no movement.",
+        "grasp_description": "Rarely touched directly; cleaned occasionally."
+    },
+    "basic_info": {
+        "material": "metal/Cold_Rolled_Steel_Sheet",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001448/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001448",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Left Side Panel (Hinge Frame)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Tall steel side wall (approx 180*45*0.1 cm) with front-edge hinge mounts.",
+        "functional_description": "Provides structural stiffness and the hinge support for both doors.",
+        "movement_description": "Stationary structural member; serves as the fixed axis for door rotation.",
+        "grasp_description": "Not intended for grasping; touched during moving or cleaning."
+    },
+    "basic_info": {
+        "material": "metal/Cold_Rolled_Steel_Sheet",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001448/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001448",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Right Side Panel",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Steel side wall (approx 180*45*0.1 cm) opposite the hinge side.",
+        "functional_description": "Closes the cabinet and contributes to overall stiffness and load transfer.",
+        "movement_description": "Rigidly attached; no motion.",
+        "grasp_description": "Normally not grasped, except when repositioning the locker."
+    },
+    "basic_info": {
+        "material": "metal/Cold_Rolled_Steel_Sheet",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001448/annotations/part_8.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001448",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Back Panel",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Full-height steel rear wall (approx 180*38*0.1 cm).",
+        "functional_description": "Provides shear stiffness, encloses the cabinet, and anchors internal components.",
+        "movement_description": "Rigid panel, fastened along its perimeter.",
+        "grasp_description": "Not interacted with during normal use."
+    },
+    "basic_info": {
+        "material": "metal/Cold_Rolled_Steel_Sheet",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001448/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001448",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Top Cover Panel",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Flat steel top panel (approx 36*43*0.15 cm) finishing the enclosure.",
+        "functional_description": "Closes the cabinet and ties side and back panels together for rigidity.",
+        "movement_description": "Fixed with screws or spot welds; no motion.",
+        "grasp_description": "Occasionally touched when placing items on top; not a primary touch surface."
+    },
+    "basic_info": {
+        "material": "metal/Cold_Rolled_Steel_Sheet",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001448/full_model/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

data/UPB_00001448/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001448",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Two-compartment Metal Locker"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 9,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001448/model.urdf

@@ -0,0 +1,173 @@
+<?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="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_6"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.162586 -0.256108 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_1"/>
+    <origin xyz="-0.162586 0.256108 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_6"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.162586 -0.256108 -0.569649" 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_2"/>
+    <origin xyz="-0.162586 0.256108 0.569649" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <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>
+  <joint name="joint_7" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001448/parts/1.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 1.png

data/UPB_00001448/parts/2.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 2.png

data/UPB_00001448/parts/part_3.obj

@@ -0,0 +1,242 @@
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