Upload folder using huggingface_hub (part 48)

.gitattributes

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data/UPB_00000748/parts/1.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 1.png

data/UPB_00000748/parts/2.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 2.png

data/UPB_00000748/parts/Sideboard_6ISORLRVAVREGPTUKQ888888_urwNr.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5e1a749c00e3a300017e6ce6
+Kd 0.188199997 0.254900008 0.247099996
+illum 1
+
+newmtl MI_5e1a749c7d6a630001240a41
+Kd 1 1 1
+illum 1
+map_Kd ./T_5e1a749c7d6a630001240a41_color.jpg
+bump ./T_5e1a749c7d6a630001240a41_normal.jpg
+map_bump ./T_5e1a749c7d6a630001240a41_normal.jpg
+
+newmtl MI_5e1a749cb1d8ad0001477436
+Kd 0.662500024 0.470674992 0.298424989
+illum 1
+
+newmtl MI_5e1a749c5974ed00019dfd3b
+Kd 0.0567018017 0.0567018017 0.0567018017
+illum 1
+

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

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

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

data/UPB_00000749/annotations/object.json

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+{
+    "object_name": "Display Cabinet with Shelves and Doors",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        80.0,
+        35.0,
+        150.0
+    ],
+    "mass": 32.0
+}

data/UPB_00000749/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000749",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Ventilated Door (barred)",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Wood-framed barred door with small metal latch; approx. 40*2.5*30 cm; furniture door panel.",
+        "functional_description": "Provides a ventilated closure for the mid-level cubby, allowing airflow while retaining items.",
+        "movement_description": "Door rotates about a vertical hinge axis on the cabinet frame; opens outward to roughly 120 degrees.",
+        "grasp_description": "User grasps the small handle/latch on the right edge to swing the door open or closed."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Walnut_Veneer",
+        "density": 0.65,
+        "young": 10.0,
+        "hardness": 40,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
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+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000749/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000749",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Lower Left Cabinet Door",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Solid wooden cabinet door panel with small pull; approx. 35*2*40 cm; furniture door.",
+        "functional_description": "Closes the lower-left storage compartment to conceal and protect stored items.",
+        "movement_description": "Rotates about a vertical hinge axis fixed to the cabinet frame.",
+        "grasp_description": "User pulls the knob to open; pushes the outer face to close."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Walnut_Veneer",
+        "density": 0.65,
+        "young": 10.0,
+        "hardness": 40,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
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+            "C": {
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+                "range": [
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+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000749/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000749",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Lower Right Cabinet Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Solid wooden door panel matching the left door; approx. 35*2*40 cm.",
+        "functional_description": "Closes the lower-right storage compartment of the cabinet.",
+        "movement_description": "Hinged to the cabinet frame for outward swing about a vertical axis.",
+        "grasp_description": "User operates via the small handle to open and close."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Walnut_Veneer",
+        "density": 0.65,
+        "young": 10.0,
+        "hardness": 40,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                3
+            ],
+            "C": {
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+                    0.0,
+                    0.0,
+                    1.0
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+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000749/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000749",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Cabinet Frame and Shelves",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Main wooden carcass with open shelves and compartments; approx. 80*35*150 cm overall.",
+        "functional_description": "Provides structural support and the storage/display spaces; receives hinges and hardware for the doors.",
+        "movement_description": "Rigid structure; acts as the fixed parent for all hinged doors.",
+        "grasp_description": "Grasped at side rails or shelf edges when moving or repositioning the furniture."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Walnut_Veneer",
+        "density": 0.65,
+        "young": 10.0,
+        "hardness": 40,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000749/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_00000749/meta_data.json

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+{
+    "id": "UPB_00000749",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Display Cabinet with Shelves and Doors"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 4,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000749/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="helper_link_2"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.982912 0.982912 0.982912"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.982912 0.982912 0.982912"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.982912 0.982912 0.982912"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.982912 0.982912 0.982912"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.982912 0.982912 0.982912"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.982912 0.982912 0.982912"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.982912 0.982912 0.982912"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.982912 0.982912 0.982912"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.400938 -0.176379 0.204866" 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="0.400938 0.176379 -0.204866" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_1"/>
+    <origin xyz="-0.400089 -0.175424 -0.411023" 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="0.400089 0.175424 0.411023" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.400240 -0.175424 -0.409681" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.400240 0.175424 0.409681" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00000749/parts/1.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 1.png

data/UPB_00000749/parts/2.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 2.png

data/UPB_00000749/parts/3.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 3.png

data/UPB_00000749/parts/Sideboard_6IU5G3ZVAVARCPTULY888888_ksokB.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5e174877b1d8ad0001472ac0
+Kd 1 1 1
+illum 1
+map_Kd ./T_5e174877b1d8ad0001472ac0_color.jpg
+
+newmtl MI_5e174877e113f60001bfe34b
+Kd 0.433212399 0.362245202 0.171681404
+illum 1
+
+newmtl MI_5e17487717e93b00011471dc
+Kd 1 1 1
+illum 1
+map_Kd ./T_5e17487717e93b00011471dc_color.jpg
+
+newmtl MI_5e1748775974ed00019db469
+Kd 0.433212399 0.362245202 0.171681404
+illum 1
+

data/UPB_00000749/plys/1.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:abaf0c11e550a4ad50652deec11058cc8326fde4d27d221df2eba6d80a22bac5
+size 160242

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

data/UPB_00000749/plys/3.ply

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

data/UPB_00000749/plys/4.ply

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+version https://git-lfs.github.com/spec/v1
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+size 1369378

data/UPB_00000749/plys/model.ply

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

data/UPB_00000750/annotations/object.json

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+{
+    "object_name": "Two-door Lattice Cabinet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        65.0,
+        35.0,
+        85.0
+    ],
+    "mass": 14.0
+}

data/UPB_00000750/annotations/part_1.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000750",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Lattice Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Left hinged door made of stained hardwood with vertical slats; approx 28\u00d72\u00d750 cm.",
+        "functional_description": "Covers the left half of the cabinet opening; provides access and visual ventilation through slats.",
+        "movement_description": "Rotates about its left-side hinges relative to the wooden frame; typical swing up to about 110 degrees with light damping from the hinges.",
+        "grasp_description": "User pulls the door open/closed using the attached handle."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Generic_Stained",
+        "density": 0.68,
+        "young": 11.5,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                3
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
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+                    -0.3348561227321625,
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+                    0.0
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+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00000750/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000750",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Right Lattice Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Right hinged door of stained hardwood, lattice style; approx 28\u00d72\u00d750 cm.",
+        "functional_description": "Covers the right half of the storage bay.",
+        "movement_description": "Rotates on right-side hinges relative to the frame; similar range and damping to the left door.",
+        "grasp_description": "Pulled by the right handle to open/close."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Generic_Stained",
+        "density": 0.68,
+        "young": 11.5,
+        "hardness": 35,
+        "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": [
+                    0.335833340883255,
+                    -0.20131909847259521,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}