diff --git a/.gitattributes b/.gitattributes index c4413c3e58ccd5fe1195b42ffa0f0b7918a81827..03640361d92224dabab7a5cd80a634a023fb9596 100644 --- a/.gitattributes +++ b/.gitattributes @@ -8582,3 +8582,30 @@ data/UPB_00001363/plys/7.ply filter=lfs diff=lfs merge=lfs -text data/UPB_00001363/plys/8.ply filter=lfs diff=lfs merge=lfs -text data/UPB_00001363/plys/9.ply filter=lfs diff=lfs merge=lfs -text data/UPB_00001363/plys/model.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001364/full_model/model.obj filter=lfs diff=lfs merge=lfs -text +data/UPB_00001364/parts/part_22.obj filter=lfs diff=lfs merge=lfs -text +data/UPB_00001364/plys/1.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001364/plys/10.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001364/plys/11.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001364/plys/12.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001364/plys/13.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001364/plys/14.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001364/plys/15.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001364/plys/16.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001364/plys/17.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001364/plys/18.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001364/plys/19.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001364/plys/2.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001364/plys/20.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001364/plys/21.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001364/plys/22.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001364/plys/3.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001364/plys/4.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001364/plys/5.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001364/plys/6.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001364/plys/7.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001364/plys/8.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001364/plys/9.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001364/plys/model.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001365/plys/1.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001365/plys/10.ply filter=lfs diff=lfs merge=lfs -text diff --git a/data/UPB_00001364/annotations/part_13.json b/data/UPB_00001364/annotations/part_13.json new file mode 100644 index 0000000000000000000000000000000000000000..e518c76d9c289ffdad2cf80ad06e5a3fd05145fe --- /dev/null +++ b/data/UPB_00001364/annotations/part_13.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001364", + "label": "13" + }, + "part_level": { + "part_name": "Handle - Right Tall Door", + "affordance": 2, + "graspable": true, + "basic_description": "Tall wooden handle fixed to the rightmost main door.", + "functional_description": "Primary grip for the large right side compartment.", + "movement_description": "No relative motion; follows the door rotation.", + "grasp_description": "Firm hook or power grip to swing the 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_00001364/annotations/part_14.json b/data/UPB_00001364/annotations/part_14.json new file mode 100644 index 0000000000000000000000000000000000000000..14c9e96629626d280b82ba76005c6d630393e8fd --- /dev/null +++ b/data/UPB_00001364/annotations/part_14.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001364", + "label": "14" + }, + "part_level": { + "part_name": "Handle - Upper Right Small Door", + "affordance": 5, + "graspable": true, + "basic_description": "Small beech handle mounted on the upper-right door.", + "functional_description": "Allows opening the small right top compartment.", + "movement_description": "Rigidly fixed to its door.", + "grasp_description": "Pinched or pulled with fingers." + }, + "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_00001364/annotations/part_15.json b/data/UPB_00001364/annotations/part_15.json new file mode 100644 index 0000000000000000000000000000000000000000..901dab04cb8b05bb3d5cc9f50c5a47aa36817691 --- /dev/null +++ b/data/UPB_00001364/annotations/part_15.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001364", + "label": "15" + }, + "part_level": { + "part_name": "Handle - Upper Center Door (Left)", + "affordance": 4, + "graspable": true, + "basic_description": "Compact wooden pull for the upper center-left door.", + "functional_description": "Used to open the top middle compartment.", + "movement_description": "Rigid to door 7.", + "grasp_description": "Fingertip or pinch grasp." + }, + "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_00001364/annotations/part_16.json b/data/UPB_00001364/annotations/part_16.json new file mode 100644 index 0000000000000000000000000000000000000000..58ebba23a02f9496fca23e73fdf6463ba82aec8a --- /dev/null +++ b/data/UPB_00001364/annotations/part_16.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001364", + "label": "16" + }, + "part_level": { + "part_name": "Handle - Upper Center Door (Right)", + "affordance": 4, + "graspable": true, + "basic_description": "Compact wooden pull for the upper center-right door.", + "functional_description": "Assists opening of the adjacent top compartment door.", + "movement_description": "Rigid to door 8.", + "grasp_description": "Fingertip or pinch grasp." + }, + "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_00001364/annotations/part_17.json b/data/UPB_00001364/annotations/part_17.json new file mode 100644 index 0000000000000000000000000000000000000000..ebc958f51910740fb86fa7b6fd8e9605c2c1794d --- /dev/null +++ b/data/UPB_00001364/annotations/part_17.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001364", + "label": "17" + }, + "part_level": { + "part_name": "Handle - Center Tall Door (Left)", + "affordance": 1, + "graspable": true, + "basic_description": "Ergonomic wooden handle for the left central tall door.", + "functional_description": "Most frequently used handle for daily access.", + "movement_description": "Moves together with door 9.", + "grasp_description": "Whole-hand pull for comfortable leverage." + }, + "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_00001364/annotations/part_18.json b/data/UPB_00001364/annotations/part_18.json new file mode 100644 index 0000000000000000000000000000000000000000..8451041adc336f0d3af1bcb5b681208e6806f4e9 --- /dev/null +++ b/data/UPB_00001364/annotations/part_18.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001364", + "label": "18" + }, + "part_level": { + "part_name": "Handle - Center Tall Door (Right)", + "affordance": 2, + "graspable": true, + "basic_description": "Ergonomic wooden handle for the right central tall door.", + "functional_description": "Used to open the right leaf of the center bay.", + "movement_description": "Rigid with door 10.", + "grasp_description": "Power or hook grip to pull the door." + }, + "basic_info": { + "material": "wood/Hardwood_Beech", + "density": 0.72, + "young": 12.0, + "hardness": 30, + "poisson": 0.32, + "friction": 0.46 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001364/annotations/part_19.json b/data/UPB_00001364/annotations/part_19.json new file mode 100644 index 0000000000000000000000000000000000000000..7f61fa214c2ec3b214164a593b7e48be8e0906a9 --- /dev/null +++ b/data/UPB_00001364/annotations/part_19.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001364", + "label": "19" + }, + "part_level": { + "part_name": "Brand Badge / Plaque (Left Center Door)", + "affordance": 10, + "graspable": false, + "basic_description": "Small ABS decorative brand plaque clipped to the door surface.", + "functional_description": "Brand identification/trim; no structural role.", + "movement_description": "Rigidly attached to door 9 and moves with it.", + "grasp_description": "Not intended for grasping." + }, + "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_00001364/annotations/part_2.json b/data/UPB_00001364/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..e2799bfee052141d1b90b8e9e0415e07eaadb180 --- /dev/null +++ b/data/UPB_00001364/annotations/part_2.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001364", + "label": "2" + }, + "part_level": { + "part_name": "Lower Drawer B", + "affordance": 3, + "graspable": true, + "basic_description": "Second MDF laminate drawer adjacent in the lower central bay.", + "functional_description": "General storage similar to drawer A, balancing capacity.", + "movement_description": "Translates on ball-bearing slides relative to the carcass.", + "grasp_description": "Pulled from the front to access contents." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 4.0, + "hardness": 15, + "poisson": 0.3, + "friction": 0.36 + }, + "kinematic_info": { + "motion_types": [ + "B" + ], + "motion_info": { + "dependency": [ + 2, + 20 + ], + "B": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + 0.010542739182710648, + -0.14984574913978577, + -1.0392299890518188 + ], + "range": [ + -0.36000001430511475, + 0.0 + ], + "damping": 0.06 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001364/annotations/part_20.json b/data/UPB_00001364/annotations/part_20.json new file mode 100644 index 0000000000000000000000000000000000000000..02ec103611be8831bc93d8c5d319c5ceb7e9b58c --- /dev/null +++ b/data/UPB_00001364/annotations/part_20.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001364", + "label": "20" + }, + "part_level": { + "part_name": "Brand Badge / Plaque (Right Center Door)", + "affordance": 10, + "graspable": false, + "basic_description": "Second ABS decorative plaque, clipped to the right center door.", + "functional_description": "Branding/trim piece only.", + "movement_description": "Rigid with door 10.", + "grasp_description": "Not used by the user." + }, + "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_00001364/annotations/part_21.json b/data/UPB_00001364/annotations/part_21.json new file mode 100644 index 0000000000000000000000000000000000000000..4fe004daf11efd7218b364d88c2f9cad49f7b30e --- /dev/null +++ b/data/UPB_00001364/annotations/part_21.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001364", + "label": "21" + }, + "part_level": { + "part_name": "Right Tall Main Door", + "affordance": 3, + "graspable": true, + "basic_description": "Large MDF laminate door panel on the right-hand side.", + "functional_description": "Closes the right storage column of the wardrobe.", + "movement_description": "Rotates on hinges attached to the carcass side panel.", + "grasp_description": "Opened and closed via its vertical handle." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 4.0, + "hardness": 15, + "poisson": 0.3, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001364/annotations/part_22.json b/data/UPB_00001364/annotations/part_22.json new file mode 100644 index 0000000000000000000000000000000000000000..4cef911c87a42990d72359680a6a06cdc3cc3118 --- /dev/null +++ b/data/UPB_00001364/annotations/part_22.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001364", + "label": "22" + }, + "part_level": { + "part_name": "Wardrobe Carcass (Body with Shelves)", + "affordance": 7, + "graspable": false, + "basic_description": "Main MDF laminate wardrobe carcass including sides, top/bottom panels, backboards and fixed shelves.", + "functional_description": "Provides structural support, defines storage volumes, and houses all moving parts (doors and drawers).", + "movement_description": "Rigid base reference; other parts translate or rotate relative to it.", + "grasp_description": "Not commonly grasped directly; touched when cleaning or moving the furniture." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 4.0, + "hardness": 15, + "poisson": 0.3, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001364/annotations/part_3.json b/data/UPB_00001364/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..ab1baf8821a650d36356465d6dff59f1743c70fd --- /dev/null +++ b/data/UPB_00001364/annotations/part_3.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001364", + "label": "3" + }, + "part_level": { + "part_name": "Upper Left Small Door", + "affordance": 6, + "graspable": true, + "basic_description": "Small MDF door panel on the upper left bay.", + "functional_description": "Covers the upper left compartment to hide and protect items.", + "movement_description": "Swings open about a vertical hinge axis fixed to the carcass.", + "grasp_description": "Opened by its attached handle." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 4.0, + "hardness": 15, + "poisson": 0.3, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 3, + 11 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + -0.4575973451137543, + -0.28590232133865356, + 0.845362663269043 + ], + "range": [ + 0.0, + 1.5707963267948966 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001364/annotations/part_4.json b/data/UPB_00001364/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..17280acd5b7b81b70e0da8be871cc219baea9c79 --- /dev/null +++ b/data/UPB_00001364/annotations/part_4.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001364", + "label": "4" + }, + "part_level": { + "part_name": "Left Tall Door A", + "affordance": 5, + "graspable": true, + "basic_description": "Full-height MDF door on the left side of the wardrobe.", + "functional_description": "Closes the left storage column.", + "movement_description": "Rotates on concealed hinges relative to the carcass.", + "grasp_description": "Pulled by the vertical handle to open/close." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 4.0, + "hardness": 15, + "poisson": 0.3, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 4, + 12 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + -0.45703059434890747, + -0.28590232133865356, + 0.0 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001364/annotations/part_5.json b/data/UPB_00001364/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..8d84471818574f700ed767924e724e9cd7c2b99f --- /dev/null +++ b/data/UPB_00001364/annotations/part_5.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001364", + "label": "5" + }, + "part_level": { + "part_name": "Upper Right Small Door", + "affordance": 6, + "graspable": true, + "basic_description": "Small door panel at the upper right bay.", + "functional_description": "Covers the small top-right compartment.", + "movement_description": "Hinged rotation with soft-close damping.", + "grasp_description": "Operated using its small handle." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 4.0, + "hardness": 15, + "poisson": 0.3, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 5, + 13 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + 0.47323670983314514, + -0.28590232133865356, + 0.8065475225448608 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001364/annotations/part_6.json b/data/UPB_00001364/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..a0ba3790c297565e39707340104cae17afe3fe97 --- /dev/null +++ b/data/UPB_00001364/annotations/part_6.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001364", + "label": "6" + }, + "part_level": { + "part_name": "Left Tall Door B", + "affordance": 5, + "graspable": true, + "basic_description": "Another slim full-height MDF door near the corner side.", + "functional_description": "Closes an adjacent tall compartment on the left-hand section.", + "movement_description": "Swings about a vertical hinge axis on the carcass.", + "grasp_description": "Grasped by edge or knob depending on user preference." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 4.0, + "hardness": 15, + "poisson": 0.3, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 6, + 14 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + 0.47429388761520386, + -0.28590232133865356, + 0.4053419232368469 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001364/annotations/part_7.json b/data/UPB_00001364/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..84177abd7bd8652b54205650fa976d61f41cf056 --- /dev/null +++ b/data/UPB_00001364/annotations/part_7.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001364", + "label": "7" + }, + "part_level": { + "part_name": "Upper Center Small Door (Left)", + "affordance": 5, + "graspable": true, + "basic_description": "Small MDF door at the top middle, left leaf.", + "functional_description": "Covers one half of the top central cabinet.", + "movement_description": "Rotates on a vertical hinge attached to the carcass.", + "grasp_description": "Pulled using its handle." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 4.0, + "hardness": 15, + "poisson": 0.3, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 7, + 15 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.4297870695590973, + -0.24762062728405, + 0.890141487121582 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001364/annotations/part_8.json b/data/UPB_00001364/annotations/part_8.json new file mode 100644 index 0000000000000000000000000000000000000000..ed156c0cac2310a61cf7aeadfb4aa654dbd944c1 --- /dev/null +++ b/data/UPB_00001364/annotations/part_8.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001364", + "label": "8" + }, + "part_level": { + "part_name": "Upper Center Small Door (Right)", + "affordance": 5, + "graspable": true, + "basic_description": "Right leaf of the small upper center cabinet door.", + "functional_description": "Protects items on the top-center shelf space.", + "movement_description": "Hinged rotation relative to the carcass.", + "grasp_description": "Operated with the small wooden handle." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 4.0, + "hardness": 15, + "poisson": 0.3, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 8, + 16 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.4497431814670563, + -0.24762062728405, + 0.890141487121582 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001364/annotations/part_9.json b/data/UPB_00001364/annotations/part_9.json new file mode 100644 index 0000000000000000000000000000000000000000..673e239465131d70bb27b2a945f09a3bfd6a078c --- /dev/null +++ b/data/UPB_00001364/annotations/part_9.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001364", + "label": "9" + }, + "part_level": { + "part_name": "Center Tall Door (Left)", + "affordance": 3, + "graspable": true, + "basic_description": "Left leaf of the main center wardrobe doors, MDF laminate.", + "functional_description": "Provides access to the central hanging/shelving space.", + "movement_description": "Opens by rotating on concealed hinges attached to the carcass.", + "grasp_description": "Primary user interaction via its handle for daily access." + }, + "basic_info": { + "material": "wood/MDF_Laminate", + "density": 0.75, + "young": 4.0, + "hardness": 15, + "poisson": 0.3, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 9, + 17 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.4288143515586853, + -0.24762062728405, + 0.0 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001364/full_model/material.mtl b/data/UPB_00001364/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00001364/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 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a/data/UPB_00001364/meta_data.json b/data/UPB_00001364/meta_data.json new file mode 100644 index 0000000000000000000000000000000000000000..9c6fbed415890921c814fef6ed6e7f87b5ed6c3b --- /dev/null +++ b/data/UPB_00001364/meta_data.json @@ -0,0 +1,22 @@ +{ + "id": "UPB_00001364", + "source": [ + { + "dataset": "UniPhys-Bench", + "organization": "Manycore Tech Inc.", + "license_ref": "UniPhys-Bench" + } + ], + "object": { + "category": "Furniture/StorageFurniture", + "object_name": "Corner Wardrobe Closet" + }, + "geometry": { + "asset_type": "decomposed_parts", + "num_parts": 22, + "format": "obj" + }, + "annotation": { + "version": "v1.0" + } +} \ No newline at end of file diff --git a/data/UPB_00001364/model.urdf b/data/UPB_00001364/model.urdf new file mode 100644 index 0000000000000000000000000000000000000000..d59f1cf56fa7b4b93f62bb01d7acc66488d1efae --- /dev/null +++ b/data/UPB_00001364/model.urdf @@ -0,0 +1,458 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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0000000000000000000000000000000000000000..858b306cc2c2afc931abf6772ddf9ad2e591e25d --- /dev/null +++ b/data/UPB_00001364/plys/8.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9642594f4c93d4011a865a58ad391d6fbeadb60abc819b5df4cfa000706a5913 +size 160242 diff --git a/data/UPB_00001364/plys/9.ply b/data/UPB_00001364/plys/9.ply new file mode 100644 index 0000000000000000000000000000000000000000..8bcc5ca4d1e92067633ff841f7b4a0340a91a22b --- /dev/null +++ b/data/UPB_00001364/plys/9.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b20ac5324e125f4381192a6375773a74eaca6f5fb0fa380450cdf63a1d5aea44 +size 160242 diff --git a/data/UPB_00001364/plys/model.ply b/data/UPB_00001364/plys/model.ply new file mode 100644 index 0000000000000000000000000000000000000000..29062142a42d9b7369d46cf4808c0c60be2f175e --- /dev/null +++ b/data/UPB_00001364/plys/model.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:623dd467403852186bafba410136b4538015e1a47004ed631b999d7fc710e8f0 +size 1600243 diff --git a/data/UPB_00001365/annotations/object.json b/data/UPB_00001365/annotations/object.json new file mode 100644 index 0000000000000000000000000000000000000000..bf234642c4f377c429377a1d56c179712d74a555 --- /dev/null +++ b/data/UPB_00001365/annotations/object.json @@ -0,0 +1,10 @@ +{ + "object_name": "Three-door Wardrobe with Top Cabinets", + "category": "Furniture/StorageFurniture", + "volume": [ + 120.0, + 60.0, + 200.0 + ], + "mass": 70.0 +} \ No newline at end of file diff --git a/data/UPB_00001365/annotations/part_1.json b/data/UPB_00001365/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..7d08ece08a51f8d3c1619f2b85d477c65178a7b3 --- /dev/null +++ b/data/UPB_00001365/annotations/part_1.json @@ -0,0 +1,51 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001365", + "label": "1" + }, + "part_level": { + "part_name": "Upper Left Cabinet Door", + "affordance": 6, + "graspable": true, + "basic_description": "Laminated MDF upper-left cabinet door panel (~40*2*40 cm).", + "functional_description": "Covers the upper-left storage compartment; provides access to the small top space.", + "movement_description": "Side-hinged to the outer frame, rotates outward about a vertical axis.", + "grasp_description": "Usually pulled at the edge to open/close." + }, + "basic_info": { + "material": "wood/MDF_Laminated", + "density": 0.75, + "young": 3.2, + "hardness": 15, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 1 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.58066725730896, + -0.25107094645500183, + 0.7664583325386047 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001365/annotations/part_10.json b/data/UPB_00001365/annotations/part_10.json new file mode 100644 index 0000000000000000000000000000000000000000..54cc82803c24154c4426b9bc88e4fa24fa01577a --- /dev/null +++ b/data/UPB_00001365/annotations/part_10.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001365", + "label": "10" + }, + "part_level": { + "part_name": "Outer Frame (Top and Sides)", + "affordance": 10, + "graspable": false, + "basic_description": "U-shaped laminated MDF frame comprising the two sides and top cap; panel thickness ~18 mm.", + "functional_description": "Provides structural integrity and mounting points for all doors and the base panel.", + "movement_description": "Static structural component; acts as the parent for all hinged motions.", + "grasp_description": "Not typically grasped except when moving the furniture." + }, + "basic_info": { + "material": "wood/MDF_Laminated", + "density": 0.75, + "young": 3.2, + "hardness": 15, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001365/annotations/part_2.json b/data/UPB_00001365/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..29759d0ca4812cd86115c4aaf8f4b434eb8a3666 --- /dev/null +++ b/data/UPB_00001365/annotations/part_2.json @@ -0,0 +1,51 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001365", + "label": "2" + }, + "part_level": { + "part_name": "Upper Middle Cabinet Door", + "affordance": 7, + "graspable": true, + "basic_description": "Laminated MDF upper-middle cabinet door (~40*2*40 cm).", + "functional_description": "Covers the central top compartment above the main doors.", + "movement_description": "Rotates about a vertical hinge on the frame.", + "grasp_description": "Opened by pulling its edge." + }, + "basic_info": { + "material": "wood/MDF_Laminated", + "density": 0.75, + "young": 3.2, + "hardness": 15, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 2 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.19213862717151642, + -0.25107094645500183, + 0.7650257349014282 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001365/annotations/part_3.json b/data/UPB_00001365/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..542f2c4163967bc9fa6c645dddcf36286472549c --- /dev/null +++ b/data/UPB_00001365/annotations/part_3.json @@ -0,0 +1,51 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001365", + "label": "3" + }, + "part_level": { + "part_name": "Upper Right Cabinet Door", + "affordance": 8, + "graspable": true, + "basic_description": "Laminated MDF upper-right cabinet door (~40*2*40 cm).", + "functional_description": "Provides access to the right-side top cubby.", + "movement_description": "Side-hinged to the frame with a vertical rotation.", + "grasp_description": "Pulled at the edge; no separate handle." + }, + "basic_info": { + "material": "wood/MDF_Laminated", + "density": 0.75, + "young": 3.2, + "hardness": 15, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 3 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.5807689428329468, + -0.25107094645500183, + 0.7652767300605774 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001365/annotations/part_4.json b/data/UPB_00001365/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..83970fdaf8d5396ed96828f3b1eabb3ab87a285f --- /dev/null +++ b/data/UPB_00001365/annotations/part_4.json @@ -0,0 +1,51 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001365", + "label": "4" + }, + "part_level": { + "part_name": "Left Tall Door", + "affordance": 5, + "graspable": true, + "basic_description": "Full-height laminated MDF door (~40*2*150 cm).", + "functional_description": "Closes the left section of the wardrobe; prevents dust and provides privacy.", + "movement_description": "Hinged to the left side of the frame; swings outward about a vertical axis.", + "grasp_description": "Grasped at the edge to open; may be opened along the vertical seam." + }, + "basic_info": { + "material": "wood/MDF_Laminated", + "density": 0.75, + "young": 3.2, + "hardness": 15, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 4 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.5806835889816284, + -0.25107094645500183, + 0.0 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001365/annotations/part_5.json b/data/UPB_00001365/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..89df72c6b47754fefd1f91a13189fe1670140eac --- /dev/null +++ b/data/UPB_00001365/annotations/part_5.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001365", + "label": "5" + }, + "part_level": { + "part_name": "Middle Tall Door", + "affordance": 3, + "graspable": true, + "basic_description": "Center full-height MDF door (~40*2*150 cm).", + "functional_description": "Covers the middle storage bay of the wardrobe.", + "movement_description": "Hinged to the frame (likely on its right edge) allowing outward rotation.", + "grasp_description": "Usually pulled using the attached handle." + }, + "basic_info": { + "material": "wood/MDF_Laminated", + "density": 0.75, + "young": 3.2, + "hardness": 15, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 5, + 7 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.19350868463516235, + -0.25107094645500183, + 0.0 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001365/annotations/part_6.json b/data/UPB_00001365/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..06c8d50261fd62c1727550ebae1245fc90206735 --- /dev/null +++ b/data/UPB_00001365/annotations/part_6.json @@ -0,0 +1,52 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001365", + "label": "6" + }, + "part_level": { + "part_name": "Right Tall Door", + "affordance": 4, + "graspable": true, + "basic_description": "Right full-height laminated MDF door (~40*2*150 cm).", + "functional_description": "Closes the right-hand storage section.", + "movement_description": "Hinged to the frame (on its right edge) to rotate outward.", + "grasp_description": "Pulled via the mounted handle." + }, + "basic_info": { + "material": "wood/MDF_Laminated", + "density": 0.75, + "young": 3.2, + "hardness": 15, + "poisson": 0.3, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 6, + 8 + ], + "C": { + "axis": [ + 0.0, + 0.0, + 1.0 + ], + "pos": [ + 0.5806317329406738, + -0.25107094645500183, + 0.0 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001365/annotations/part_7.json b/data/UPB_00001365/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..d6e6be84a4b3ba06ce2c344b9b2e2bba65fb65b6 --- /dev/null +++ b/data/UPB_00001365/annotations/part_7.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001365", + "label": "7" + }, + "part_level": { + "part_name": "Handle for Middle Door", + "affordance": 1, + "graspable": true, + "basic_description": "Slim stainless-steel pull handle (~12*1.2*2 cm) fixed to the middle tall door.", + "functional_description": "Provides a comfortable grasp to open/close the middle door.", + "movement_description": "Rigidly fixed to the door; no independent motion.", + "grasp_description": "Pinch or hook with fingers and pull to swing the door." + }, + "basic_info": { + "material": "metal/Stainless_Steel_304", + "density": 8.0, + "young": 193, + "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_00001365/annotations/part_8.json b/data/UPB_00001365/annotations/part_8.json new file mode 100644 index 0000000000000000000000000000000000000000..d723c32cff77623d047700eb90d6264179bdb547 --- /dev/null +++ b/data/UPB_00001365/annotations/part_8.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001365", + "label": "8" + }, + "part_level": { + "part_name": "Handle for Right Door", + "affordance": 2, + "graspable": true, + "basic_description": "Slim stainless-steel pull handle (~12*1.2*2 cm) fixed to the right tall door.", + "functional_description": "Allows users to comfortably open and close the right door.", + "movement_description": "Rigidly attached; follows the motion of the right door.", + "grasp_description": "Gripped with fingers for pulling/pushing the door." + }, + "basic_info": { + "material": "metal/Stainless_Steel_304", + "density": 8.0, + "young": 193, + "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_00001365/annotations/part_9.json b/data/UPB_00001365/annotations/part_9.json new file mode 100644 index 0000000000000000000000000000000000000000..9e84a12f18a080d39ee40d1b2f8b98efb20e1ff2 --- /dev/null +++ b/data/UPB_00001365/annotations/part_9.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001365", + "label": "9" + }, + "part_level": { + "part_name": "Bottom Base Panel", + "affordance": 9, + "graspable": false, + "basic_description": "Laminated MDF bottom shelf/base (~120*60*1.8 cm).", + "functional_description": "Supports stored items and ties the cabinet square; transfers loads to the sides.", + "movement_description": "Rigidly fixed to the frame; no motion.", + "grasp_description": "Rarely grasped; may be touched during cleaning or placing items." + }, + "basic_info": { + "material": "wood/MDF_Laminated", + "density": 0.75, + "young": 3.2, + "hardness": 15, + "poisson": 0.3, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001365/full_model/material.mtl b/data/UPB_00001365/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..5724b2b45de747aacf452b276b0c60680d42aa31 --- /dev/null +++ b/data/UPB_00001365/full_model/material.mtl @@ -0,0 +1,7 @@ +# https://github.com/mikedh/trimesh + +newmtl MI_5ea9508db1d8ad0001ccb66b +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_00001365/full_model/model.obj b/data/UPB_00001365/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..ff2b639f0f12f7c885afa1acdbd09d7c3b628fa4 --- /dev/null +++ b/data/UPB_00001365/full_model/model.obj @@ -0,0 +1,780 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl MI_5ea9508db1d8ad0001ccb66b +v -0.19532900 -0.24250001 1.20200002 +v -0.58200002 -0.24250001 1.20200002 +v -0.58200002 -0.26050001 1.20200002 +v -0.19532900 -0.26050001 1.20200002 +v -0.58200002 -0.24250001 1.20200002 +v -0.58200002 -0.24250001 0.67299998 +v 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