Upload folder using huggingface_hub (part 208)

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data/UPB_00001635/parts/part_2.obj

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data/UPB_00001636/annotations/object.json

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+{
+    "object_name": "Two-Drawer Nightstand",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        60.0,
+        40.0,
+        50.0
+    ],
+    "mass": 23.0
+}

data/UPB_00001636/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001636",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Upper Drawer (front and box)",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "MDF drawer with a laminated front panel (approx. face 56\u00d718\u00d71.6 cm) and a full drawer box behind.",
+        "functional_description": "Provides upper storage; the visible panel is the drawer face attached to the full drawer box.",
+        "movement_description": "Slides in and out along runners relative to the cabinet body (part 4) with about 35 cm of travel; motion is damped by friction of the slides.",
+        "grasp_description": "Users pull this drawer using the handle (part 3) rather than gripping the panel directly."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                3
+            ],
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+                    1.0,
+                    0.0
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+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001636/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001636",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Lower Drawer (front and box)",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "MDF lower drawer with laminated front (approx. face 56\u00d720\u00d71.6 cm) and complete drawer box.",
+        "functional_description": "Provides lower storage; front panel is part of the drawer assembly.",
+        "movement_description": "Translates along the same slide axis as the upper drawer relative to the cabinet body (part 4).",
+        "grasp_description": "Typically actuated via a pull or integrated grip; users rarely grasp the panel edges directly."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
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+            "B": {
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+}

data/UPB_00001636/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001636",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Drawer Handle/Pull",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Small powder-coated aluminum pull (approx. 6\u00d73\u00d71.5 cm) mounted on the upper drawer front.",
+        "functional_description": "Provides a comfortable point for human grasp to pull or push the upper drawer.",
+        "movement_description": "Rigidly fixed to the upper drawer; it moves exactly as the drawer moves.",
+        "grasp_description": "The main human contact point\u2014fingers wrap around or pinch this pull to operate the drawer."
+    },
+    "basic_info": {
+        "material": "plastic",
+        "density": 1.0620871407760706,
+        "young": 2.2253158522050236,
+        "hardness": 13.668123427360614,
+        "poisson": 0.3764176930207783,
+        "friction": 0.4458561779896716
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001636/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001636",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Cabinet Carcass (sides and bottom)",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "U-shaped MDF structure (two sides and bottom; panel thickness ~1.6 cm) forming the main body of the nightstand.",
+        "functional_description": "Provides structural support and guides for the drawers; bears loads from the top and contents.",
+        "movement_description": "Stationary reference frame for the object; drawers translate relative to this carcass.",
+        "grasp_description": "Occasionally pushed when moving the furniture but not a primary grasp surface."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001636/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001636",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Top Panel",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Flat laminated MDF board forming the top surface (approx. 60\u00d740\u00d72 cm).",
+        "functional_description": "Provides a horizontal surface for placing items and helps tie the carcass sides together.",
+        "movement_description": "Rigidly fixed to the cabinet carcass (part 4); does not move relative to the body.",
+        "grasp_description": "Touched for cleaning or when lifting the whole unit; not typically grasped to actuate any function."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
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+            "D"
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+}

data/UPB_00001636/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

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data/UPB_00001636/meta_data.json

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+{
+    "id": "UPB_00001636",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Two-Drawer Nightstand"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 5,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001636/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="1.067616 1.067616 1.067616"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.067616 1.067616 1.067616"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.067616 1.067616 1.067616"/>
+      </geometry>
+    </visual>
+    <collision>
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+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.067616 1.067616 1.067616"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.067616 1.067616 1.067616"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.067616 1.067616 1.067616"/>
+      </geometry>
+    </collision>
+  </link>
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+        <mesh filename="parts/part_5.obj" scale="1.067616 1.067616 1.067616"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_4"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.199568 0.112197" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.32028472391350665" upper="0.0"/>
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data/UPB_00001637/annotations/part_1.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001637",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Upper Drawer Front (with recessed pull)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Solid hardwood walnut front panel, about 40*14*1.6 cm, finished surface with an integrated recessed handle.",
+        "functional_description": "Serves as the face and pull of the upper drawer, providing a handhold and closing off the drawer cavity.",
+        "movement_description": "Rigidly attached to the upper drawer box which translates in and out of the cabinet on wooden runners or slides; typical travel up to ~30 cm.",
+        "grasp_description": "Users grasp the recessed pull with fingers to open/close the upper drawer."
+    },
+    "basic_info": {
+        "material": "wood/Walnut",
+        "density": 0.64,
+        "young": 11.5,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.18168267607688904,
+                    0.11257605999708176
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001637/annotations/part_2.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001637",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Lower Drawer Front (with recessed pull)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Walnut drawer front panel, roughly 40*15*1.6 cm, matching finish and integrated recessed handle.",
+        "functional_description": "Acts as the handle and closure for the lower drawer, matching the upper panel.",
+        "movement_description": "Rigidly fixed to the lower drawer box which slides in translation relative to the cabinet body on guides, with similar travel to the upper drawer.",
+        "grasp_description": "Pulled by hand at the recessed grip to access the lower storage space."
+    },
+    "basic_info": {
+        "material": "wood/Walnut",
+        "density": 0.64,
+        "young": 11.5,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.18168267607688904,
+                    -0.03197871521115303
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001637/annotations/part_3.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001637",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Cabinet Body (top, sides, legs, internal frame)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Walnut nightstand carcass with rounded top, four tapered legs, and internal rails supporting two drawers; external size ~45*40*50 cm.",
+        "functional_description": "Provides structural support, houses the two sliding drawers, and bears the loads placed on the tabletop.",
+        "movement_description": "Acts as the fixed reference frame for both drawers; defines linear slide paths and stops for their travel.",
+        "grasp_description": "Typically not grasped during use; may be held at the sides or underside only when moving the entire nightstand."
+    },
+    "basic_info": {
+        "material": "wood/Walnut",
+        "density": 0.64,
+        "young": 12.0,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001637/full_model/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl MI_5d4b9e19447e4e0001a690ac
+Ka 0.40000000 0.40000000 0.40000000
+Kd 1.00000000 1.00000000 1.00000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd MI_5d4b9e19447e4e0001a690ac.jpeg

data/UPB_00001637/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001637",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Two-Drawer Nightstand"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 3,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001637/model.urdf

@@ -0,0 +1,71 @@
+<?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="1.059156 1.059156 1.059156"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.059156 1.059156 1.059156"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.059156 1.059156 1.059156"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.059156 1.059156 1.059156"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.059156 1.059156 1.059156"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.059156 1.059156 1.059156"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_3"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.192430 0.119236" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.31774680521479864" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.192430 -0.119236" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_3"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 -0.192430 -0.033870" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.31774680521479864" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 0.192430 0.033870" 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>
+</robot>

data/UPB_00001637/parts/Nightstand_6F2QKBUTD5TGKPTULQ888888_dVEY4.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5d4b9e19447e4e0001a690ac
+Kd 1 1 1
+illum 1
+map_Kd ./T_5d4b9e19447e4e0001a690ac_color.jpg
+

data/UPB_00001637/parts/part_1.obj

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+{
+    "object_name": "Three-Drawer Wooden Nightstand",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
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data/UPB_00001638/annotations/part_1.json

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+        "label": "1"
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+    "part_level": {
+        "part_name": "Top Drawer Front Panel",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "A rectangular oak front panel for the top drawer, approx. 46*10*1.8 cm, with a central mounting point for a knob.",
+        "functional_description": "Provides the facade of the small top drawer and carries the pull knob.",
+        "movement_description": "Slides in and out of the cabinet body (part 7) along wooden runners with limited depth travel.",
+        "grasp_description": "Users pull the attached knob (part 4) rather than grasping the panel itself."
+    },
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+        "material": "wood/Hardwood_Oak",
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data/UPB_00001638/annotations/part_2.json

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+        "entity": "UPB_00001638",
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+        "part_name": "Middle Drawer Front Panel",
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+        "basic_description": "A rectangular oak front panel for the middle drawer, approx. 46*12*1.8 cm, with two mounting bosses for a bail pull.",
+        "functional_description": "Acts as the visible face of the middle drawer and supports the decorative swinging handle.",
+        "movement_description": "Drawer translates in and out relative to the cabinet (part 7). The bail handle (part 5) rotates about its pins for pulling.",
+        "grasp_description": "Users typically grasp the bail handle to operate the drawer."
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