Upload folder using huggingface_hub (part 56)

.gitattributes

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+{
+    "object_name": "Tall Four-Drawer Cabinet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        45.0,
+        40.0,
+        180.0
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+    "mass": 40.0
+}

data/UPB_00001366/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001366",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Top Drawer Box",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Plywood drawer with walnut veneer front; approx 38W*35D*12H cm, fits the top drawer bay.",
+        "functional_description": "Provides enclosed storage for small items near the top of the cabinet.",
+        "movement_description": "Slides in and out of the carcass along linear rails; travel roughly the cabinet depth.",
+        "grasp_description": "Typically pulled via its ring handle; the box itself is rarely grasped unless removed for cleaning."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Veneer_Walnut",
+        "density": 0.65,
+        "young": 9.5,
+        "hardness": 20,
+        "poisson": 0.35,
+        "friction": 0.45
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+            "B"
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+                5
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+}

data/UPB_00001366/annotations/part_10.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001366",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Cabinet Body (Carcass and Shelves)",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Tall MDF cabinet carcass with walnut veneer, integrated shelves and a slatted base frame.",
+        "functional_description": "Provides the main structure, supports the four drawers and shelves, and transfers loads to the floor.",
+        "movement_description": "Stationary structural member; acts as the parent reference for drawer sliding motion.",
+        "grasp_description": "Touched on outer panels when moving or cleaning the furniture; not a primary handhold in daily use."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneer_Walnut",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 15,
+        "poisson": 0.3,
+        "friction": 0.5
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+    "kinematic_info": {
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+            "D"
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+}

data/UPB_00001366/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001366",
+        "label": "2"
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+    "part_level": {
+        "part_name": "Second Drawer Box",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Middle-upper plywood drawer with walnut veneer front.",
+        "functional_description": "Stores everyday items; depth supports utensils, tools, or accessories.",
+        "movement_description": "Linear translation relative to the cabinet body using slides/rails.",
+        "grasp_description": "Pulled by its handle; edges may be held when removing the drawer."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Veneer_Walnut",
+        "density": 0.65,
+        "young": 9.5,
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+        "poisson": 0.35,
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+}

data/UPB_00001366/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001366",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Third Drawer Box",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Lower-middle plywood drawer, walnut veneer face.",
+        "functional_description": "Additional storage for medium-weight items.",
+        "movement_description": "Slides in/out on straight guides with light damping to prevent slam.",
+        "grasp_description": "User interacts via the ring pull; the box is handled only during maintenance."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Veneer_Walnut",
+        "density": 0.65,
+        "young": 9.5,
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+}

data/UPB_00001366/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001366",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Bottom Drawer Box",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Lowest drawer box constructed from plywood with walnut veneer.",
+        "functional_description": "Holds heavier or less frequently accessed items near the base.",
+        "movement_description": "Translates along the cabinet depth on runners; similar range to other drawers.",
+        "grasp_description": "Pulled by its handle; users may support the underside when fully extended."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Veneer_Walnut",
+        "density": 0.65,
+        "young": 9.5,
+        "hardness": 20,
+        "poisson": 0.35,
+        "friction": 0.45
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+    "kinematic_info": {
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+}

data/UPB_00001366/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001366",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Top Drawer Ring Pull",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Decorative brass ring pull with a small backplate, mounted to the top drawer front.",
+        "functional_description": "Primary touchpoint for opening/closing the top drawer.",
+        "movement_description": "Handle assembly is rigid to the drawer; the ring pivots about its pin relative to its own backplate.",
+        "grasp_description": "User hooks fingers through or around the ring and pulls to slide the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001366/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001366",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Second Drawer Ring Pull",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Brass ring handle attached to the second drawer.",
+        "functional_description": "Human interface for actuating the second drawer.",
+        "movement_description": "Rigid to drawer; ring itself swings freely on a small hinge pin.",
+        "grasp_description": "Pinch or hook the ring and pull outward to open."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+        "motion_info": {}
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+}

data/UPB_00001366/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001366",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Third Drawer Ring Pull",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Brass ring pull mounted on the third drawer front.",
+        "functional_description": "Serves as the tactile control to open the third drawer.",
+        "movement_description": "Handle is fixed to the drawer; the ring can pivot relative to its backplate.",
+        "grasp_description": "Fingers curl around the ring to pull the drawer open."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+        "motion_info": {}
+    }
+}

data/UPB_00001366/annotations/part_8.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001366",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Bottom Drawer Ring Pull",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Lower drawer brass ring handle.",
+        "functional_description": "Provides a grip to actuate the bottom drawer.",
+        "movement_description": "Rigidly fixed to the drawer face; ring pivots on its pin.",
+        "grasp_description": "User grasps the ring and pulls upward/outward to start motion."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001366/annotations/part_9.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001366",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Base Fastener Set",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Set of small steel screws/pegs located around the lower frame of the cabinet.",
+        "functional_description": "Secure the base rack and side trim to the cabinet body; provide structural rigidity.",
+        "movement_description": "No relative motion\u2014fasteners clamp components together rigidly.",
+        "grasp_description": "Not intended for direct handling except during assembly with a screwdriver."
+    },
+    "basic_info": {
+        "material": "metal/Low_Carbon_Steel",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 180,
+        "poisson": 0.29,
+        "friction": 0.45
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+    "kinematic_info": {
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+            "D"
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+    }
+}

data/UPB_00001366/full_model/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

data/UPB_00001366/full_model/model.obj

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+version https://git-lfs.github.com/spec/v1
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+size 11809205

data/UPB_00001366/meta_data.json

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+{
+    "id": "UPB_00001366",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Tall Four-Drawer Cabinet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 10,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001366/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="helper_link_3"/>
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+    </collision>
+  </link>
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+  </link>
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+    <collision>
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+    </collision>
+  </link>
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+    </collision>
+  </link>
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+    <visual>
+      <geometry>
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+    </visual>
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+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.818182 0.818182 0.818182"/>
+      </geometry>
+    </collision>
+  </link>
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+    <visual>
+      <geometry>
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+      </geometry>
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+        <mesh filename="parts/part_9.obj" scale="0.818182 0.818182 0.818182"/>
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+        <mesh filename="parts/part_10.obj" scale="0.818182 0.818182 0.818182"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.818182 0.818182 0.818182"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_10"/>
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+    <parent link="helper_link_0"/>
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+    <origin xyz="-0.000000 0.241285 0.021376" rpy="0 0 0"/>
+  </joint>
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+    <parent link="link_10"/>
+    <child link="helper_link_1"/>
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+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.3272727261990578" upper="0.0"/>
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+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 0.241285 0.146230" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_10"/>
+    <child link="helper_link_2"/>
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+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.3272727261990578" upper="0.0"/>
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+    <parent link="helper_link_2"/>
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+  </joint>
+  <joint name="joint_6" type="prismatic">
+    <parent link="link_10"/>
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+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.3272727261990578" upper="0.0"/>
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+    <parent link="link_1"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <parent link="link_3"/>
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+  <joint name="joint_11" type="fixed">
+    <parent link="link_4"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
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+  <joint name="joint_12" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
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+  <joint name="joint_13" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

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