Upload folder using huggingface_hub (part 107)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +16 -0
- data/UPB_00001445/annotations/part_6.json +51 -0
- data/UPB_00001445/annotations/part_7.json +51 -0
- data/UPB_00001445/annotations/part_8.json +51 -0
- data/UPB_00001445/annotations/part_9.json +30 -0
- data/UPB_00001445/full_model/material.mtl +8 -0
- data/UPB_00001445/full_model/material_0.png +3 -0
- data/UPB_00001445/full_model/model.obj +0 -0
- data/UPB_00001445/meta_data.json +22 -0
- data/UPB_00001445/model.urdf +221 -0
- data/UPB_00001445/parts/2.mtl +8 -0
- data/UPB_00001445/parts/2.png +3 -0
- data/UPB_00001445/parts/4.mtl +8 -0
- data/UPB_00001445/parts/4.png +3 -0
- data/UPB_00001445/parts/6.mtl +8 -0
- data/UPB_00001445/parts/6.png +3 -0
- data/UPB_00001445/parts/8.mtl +8 -0
- data/UPB_00001445/parts/8.png +3 -0
- data/UPB_00001445/parts/T_648c964a140fd600011ef4ef_roughness.jpg +3 -0
- data/UPB_00001445/parts/T_648c964a872b5e00015eceb3_color_front.jpg +3 -0
- data/UPB_00001445/parts/part_1.obj +0 -0
- data/UPB_00001445/parts/part_2.obj +0 -0
- data/UPB_00001445/parts/part_3.obj +0 -0
- data/UPB_00001445/parts/part_4.obj +0 -0
- data/UPB_00001445/parts/part_5.obj +0 -0
- data/UPB_00001445/parts/part_6.obj +0 -0
- data/UPB_00001445/parts/part_7.obj +0 -0
- data/UPB_00001445/parts/part_8.obj +0 -0
- data/UPB_00001445/parts/part_9.obj +0 -0
- data/UPB_00001445/parts/wardrobe_ZCZBNRRVAIIGSPTUJU888888_r3AyH.mtl +16 -0
- data/UPB_00001445/plys/1.ply +3 -0
- data/UPB_00001445/plys/2.ply +3 -0
- data/UPB_00001445/plys/3.ply +3 -0
- data/UPB_00001445/plys/4.ply +3 -0
- data/UPB_00001445/plys/5.ply +3 -0
- data/UPB_00001445/plys/6.ply +3 -0
- data/UPB_00001445/plys/7.ply +3 -0
- data/UPB_00001445/plys/8.ply +3 -0
- data/UPB_00001445/plys/9.ply +3 -0
- data/UPB_00001445/plys/model.ply +3 -0
- data/UPB_00001446/annotations/object.json +10 -0
- data/UPB_00001446/annotations/part_1.json +51 -0
- data/UPB_00001446/annotations/part_2.json +51 -0
- data/UPB_00001446/annotations/part_3.json +51 -0
- data/UPB_00001446/annotations/part_4.json +51 -0
- data/UPB_00001446/annotations/part_5.json +30 -0
- data/UPB_00001446/full_model/material.mtl +7 -0
- data/UPB_00001446/full_model/model.obj +1848 -0
- data/UPB_00001446/meta_data.json +22 -0
- data/UPB_00001446/model.urdf +121 -0
.gitattributes
CHANGED
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@@ -10016,3 +10016,19 @@ data/UPB_00001444/plys/7.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001444/plys/8.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001444/plys/9.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001444/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001444/plys/8.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001444/plys/9.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001444/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001445/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001445/plys/2.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001445/plys/3.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001445/plys/4.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001445/plys/5.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001445/plys/6.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001445/plys/7.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001445/plys/8.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001445/plys/9.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001445/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001446/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001446/plys/2.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001446/plys/3.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001446/plys/4.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001446/plys/5.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001446/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001445/annotations/part_6.json
ADDED
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@@ -0,0 +1,51 @@
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{
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"index": {
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"type_name": "default",
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"entity": "UPB_00001445",
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"label": "6"
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| 6 |
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},
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| 7 |
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"part_level": {
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| 8 |
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"part_name": "Tall Left-Center Door",
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| 9 |
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"affordance": 1,
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| 10 |
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"graspable": true,
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| 11 |
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"basic_description": "Central tall door, approx. 45*2*180 cm, laminated wood with slim vertical handle.",
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"functional_description": "Frequent-use access to central hanging or shelving section.",
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| 13 |
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"movement_description": "Rotates about vertical hinges relative to the carcass frame.",
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"grasp_description": "Most frequently grasped door; users pull the handle to open."
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},
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"basic_info": {
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"material": "wood/Particle_Board_Laminate",
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"density": 0.68,
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"young": 3.3,
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"hardness": 18,
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"poisson": 0.3,
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"friction": 0.5
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},
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"kinematic_info": {
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"motion_types": [
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"C"
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],
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"motion_info": {
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"dependency": [
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6
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],
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"C": {
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"axis": [
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0.0,
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0.0,
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1.0
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],
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"pos": [
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-0.0014060626272112131,
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-0.2661169469356537,
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0.0
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],
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"range": [
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0.0,
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1.9198621771937625
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],
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"damping": 0.05
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}
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}
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}
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}
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data/UPB_00001445/annotations/part_7.json
ADDED
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@@ -0,0 +1,51 @@
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{
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"index": {
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"type_name": "default",
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"entity": "UPB_00001445",
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"label": "7"
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},
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"part_level": {
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"part_name": "Tall Right-Center Door",
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"affordance": 2,
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"graspable": true,
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"basic_description": "Tall door panel adjacent to the center, roughly 45*2*180 cm laminated board.",
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"functional_description": "Provides access to the right-center storage bay.",
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"movement_description": "Outward swinging motion about its side hinges on the frame.",
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"grasp_description": "Gripped by the vertical pull for regular opening and closing."
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},
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"basic_info": {
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"material": "wood/Particle_Board_Laminate",
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"density": 0.68,
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"young": 3.3,
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"hardness": 18,
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"poisson": 0.3,
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"friction": 0.5
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},
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"kinematic_info": {
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"motion_types": [
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"C"
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],
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"motion_info": {
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"dependency": [
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7
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],
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"C": {
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"axis": [
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0.0,
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0.0,
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-1.0
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],
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"pos": [
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0.00331687368452549,
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-0.2661169469356537,
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0.0
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],
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"range": [
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0.0,
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1.9198621771937625
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],
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"damping": 0.05
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}
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}
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}
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}
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data/UPB_00001445/annotations/part_8.json
ADDED
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@@ -0,0 +1,51 @@
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{
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"index": {
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"type_name": "default",
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"entity": "UPB_00001445",
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| 5 |
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"label": "8"
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},
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"part_level": {
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| 8 |
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"part_name": "Tall Right Door",
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| 9 |
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"affordance": 4,
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"graspable": true,
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| 11 |
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"basic_description": "Rightmost full-height laminated door, about 45*2*180 cm with a slim pull.",
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| 12 |
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"functional_description": "Closes the far-right wardrobe bay to protect clothing.",
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| 13 |
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"movement_description": "Hinged rotation relative to the main frame.",
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"grasp_description": "User pulls the handle to open; commonly used for the right compartment."
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},
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| 16 |
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"basic_info": {
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| 17 |
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"material": "wood/Particle_Board_Laminate",
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| 18 |
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"density": 0.68,
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| 19 |
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"young": 3.3,
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| 20 |
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"hardness": 18,
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| 21 |
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"poisson": 0.3,
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| 22 |
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"friction": 0.5
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| 23 |
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},
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| 24 |
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"kinematic_info": {
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| 25 |
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"motion_types": [
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| 26 |
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"C"
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| 27 |
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],
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| 28 |
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"motion_info": {
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| 29 |
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"dependency": [
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| 30 |
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8
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| 31 |
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],
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| 32 |
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"C": {
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| 33 |
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"axis": [
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| 34 |
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0.0,
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| 35 |
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0.0,
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| 36 |
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1.0
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| 37 |
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],
|
| 38 |
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"pos": [
|
| 39 |
+
0.8678730726242065,
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| 40 |
+
-0.2661169469356537,
|
| 41 |
+
0.0
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| 42 |
+
],
|
| 43 |
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"range": [
|
| 44 |
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0.0,
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| 45 |
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1.9198621771937625
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| 46 |
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],
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| 47 |
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"damping": 0.05
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| 48 |
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}
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}
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}
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}
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data/UPB_00001445/annotations/part_9.json
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{
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"index": {
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"type_name": "default",
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| 4 |
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"entity": "UPB_00001445",
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| 5 |
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"label": "9"
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| 6 |
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},
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| 7 |
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"part_level": {
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| 8 |
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"part_name": "Wardrobe Carcass Frame",
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| 9 |
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"affordance": 10,
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| 10 |
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"graspable": false,
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| 11 |
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"basic_description": "Rectangular wardrobe carcass/frame in laminated particle board, overall about 180*60*220 cm with a front face frame.",
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| 12 |
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"functional_description": "Provides the structural support for all doors and internal storage; anchors the hinges.",
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| 13 |
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"movement_description": "Rigid reference body; other parts rotate relative to it.",
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| 14 |
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"grasp_description": "Not usually grasped directly; contacted only during assembly or moving."
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| 15 |
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},
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| 16 |
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"basic_info": {
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| 17 |
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"material": "wood/Particle_Board_Laminate",
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| 18 |
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"density": 0.68,
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| 19 |
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"young": 3.6,
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| 20 |
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"hardness": 20,
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| 21 |
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"poisson": 0.3,
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| 22 |
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"friction": 0.4
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| 23 |
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},
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| 24 |
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"kinematic_info": {
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| 25 |
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"motion_types": [
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| 26 |
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"D"
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| 27 |
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],
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| 28 |
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"motion_info": {}
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| 29 |
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}
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| 30 |
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}
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data/UPB_00001445/full_model/material.mtl
ADDED
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# https://github.com/mikedh/trimesh
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newmtl material_0
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| 4 |
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Ka 0.40000000 0.40000000 0.40000000
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| 5 |
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Kd 0.40000000 0.40000000 0.40000000
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| 6 |
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Ks 0.40000000 0.40000000 0.40000000
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| 7 |
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Ns 1.00000000
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| 8 |
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map_Kd material_0.png
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data/UPB_00001445/full_model/material_0.png
ADDED
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Git LFS Details
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data/UPB_00001445/full_model/model.obj
ADDED
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The diff for this file is too large to render.
See raw diff
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data/UPB_00001445/meta_data.json
ADDED
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@@ -0,0 +1,22 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"id": "UPB_00001445",
|
| 3 |
+
"source": [
|
| 4 |
+
{
|
| 5 |
+
"dataset": "UniPhys-Bench",
|
| 6 |
+
"organization": "Manycore Tech Inc.",
|
| 7 |
+
"license_ref": "UniPhys-Bench"
|
| 8 |
+
}
|
| 9 |
+
],
|
| 10 |
+
"object": {
|
| 11 |
+
"category": "Furniture/StorageFurniture",
|
| 12 |
+
"object_name": "Four-door Wardrobe with Overhead Cabinets"
|
| 13 |
+
},
|
| 14 |
+
"geometry": {
|
| 15 |
+
"asset_type": "decomposed_parts",
|
| 16 |
+
"num_parts": 9,
|
| 17 |
+
"format": "obj"
|
| 18 |
+
},
|
| 19 |
+
"annotation": {
|
| 20 |
+
"version": "v1.0"
|
| 21 |
+
}
|
| 22 |
+
}
|
data/UPB_00001445/model.urdf
ADDED
|
@@ -0,0 +1,221 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="robot">
|
| 3 |
+
<link name="base_link"/>
|
| 4 |
+
<link name="helper_link_0"/>
|
| 5 |
+
<link name="helper_link_1"/>
|
| 6 |
+
<link name="helper_link_2"/>
|
| 7 |
+
<link name="helper_link_3"/>
|
| 8 |
+
<link name="helper_link_4"/>
|
| 9 |
+
<link name="helper_link_5"/>
|
| 10 |
+
<link name="helper_link_6"/>
|
| 11 |
+
<link name="helper_link_7"/>
|
| 12 |
+
<link name="link_1">
|
| 13 |
+
<visual>
|
| 14 |
+
<geometry>
|
| 15 |
+
<mesh filename="parts/part_1.obj" scale="0.897380 0.897380 0.897380"/>
|
| 16 |
+
</geometry>
|
| 17 |
+
</visual>
|
| 18 |
+
<collision>
|
| 19 |
+
<geometry>
|
| 20 |
+
<mesh filename="parts/part_1.obj" scale="0.897380 0.897380 0.897380"/>
|
| 21 |
+
</geometry>
|
| 22 |
+
</collision>
|
| 23 |
+
</link>
|
| 24 |
+
<link name="link_2">
|
| 25 |
+
<visual>
|
| 26 |
+
<geometry>
|
| 27 |
+
<mesh filename="parts/part_2.obj" scale="0.897380 0.897380 0.897380"/>
|
| 28 |
+
</geometry>
|
| 29 |
+
</visual>
|
| 30 |
+
<collision>
|
| 31 |
+
<geometry>
|
| 32 |
+
<mesh filename="parts/part_2.obj" scale="0.897380 0.897380 0.897380"/>
|
| 33 |
+
</geometry>
|
| 34 |
+
</collision>
|
| 35 |
+
</link>
|
| 36 |
+
<link name="link_3">
|
| 37 |
+
<visual>
|
| 38 |
+
<geometry>
|
| 39 |
+
<mesh filename="parts/part_3.obj" scale="0.897380 0.897380 0.897380"/>
|
| 40 |
+
</geometry>
|
| 41 |
+
</visual>
|
| 42 |
+
<collision>
|
| 43 |
+
<geometry>
|
| 44 |
+
<mesh filename="parts/part_3.obj" scale="0.897380 0.897380 0.897380"/>
|
| 45 |
+
</geometry>
|
| 46 |
+
</collision>
|
| 47 |
+
</link>
|
| 48 |
+
<link name="link_4">
|
| 49 |
+
<visual>
|
| 50 |
+
<geometry>
|
| 51 |
+
<mesh filename="parts/part_4.obj" scale="0.897380 0.897380 0.897380"/>
|
| 52 |
+
</geometry>
|
| 53 |
+
</visual>
|
| 54 |
+
<collision>
|
| 55 |
+
<geometry>
|
| 56 |
+
<mesh filename="parts/part_4.obj" scale="0.897380 0.897380 0.897380"/>
|
| 57 |
+
</geometry>
|
| 58 |
+
</collision>
|
| 59 |
+
</link>
|
| 60 |
+
<link name="link_5">
|
| 61 |
+
<visual>
|
| 62 |
+
<geometry>
|
| 63 |
+
<mesh filename="parts/part_5.obj" scale="0.897380 0.897380 0.897380"/>
|
| 64 |
+
</geometry>
|
| 65 |
+
</visual>
|
| 66 |
+
<collision>
|
| 67 |
+
<geometry>
|
| 68 |
+
<mesh filename="parts/part_5.obj" scale="0.897380 0.897380 0.897380"/>
|
| 69 |
+
</geometry>
|
| 70 |
+
</collision>
|
| 71 |
+
</link>
|
| 72 |
+
<link name="link_6">
|
| 73 |
+
<visual>
|
| 74 |
+
<geometry>
|
| 75 |
+
<mesh filename="parts/part_6.obj" scale="0.897380 0.897380 0.897380"/>
|
| 76 |
+
</geometry>
|
| 77 |
+
</visual>
|
| 78 |
+
<collision>
|
| 79 |
+
<geometry>
|
| 80 |
+
<mesh filename="parts/part_6.obj" scale="0.897380 0.897380 0.897380"/>
|
| 81 |
+
</geometry>
|
| 82 |
+
</collision>
|
| 83 |
+
</link>
|
| 84 |
+
<link name="link_7">
|
| 85 |
+
<visual>
|
| 86 |
+
<geometry>
|
| 87 |
+
<mesh filename="parts/part_7.obj" scale="0.897380 0.897380 0.897380"/>
|
| 88 |
+
</geometry>
|
| 89 |
+
</visual>
|
| 90 |
+
<collision>
|
| 91 |
+
<geometry>
|
| 92 |
+
<mesh filename="parts/part_7.obj" scale="0.897380 0.897380 0.897380"/>
|
| 93 |
+
</geometry>
|
| 94 |
+
</collision>
|
| 95 |
+
</link>
|
| 96 |
+
<link name="link_8">
|
| 97 |
+
<visual>
|
| 98 |
+
<geometry>
|
| 99 |
+
<mesh filename="parts/part_8.obj" scale="0.897380 0.897380 0.897380"/>
|
| 100 |
+
</geometry>
|
| 101 |
+
</visual>
|
| 102 |
+
<collision>
|
| 103 |
+
<geometry>
|
| 104 |
+
<mesh filename="parts/part_8.obj" scale="0.897380 0.897380 0.897380"/>
|
| 105 |
+
</geometry>
|
| 106 |
+
</collision>
|
| 107 |
+
</link>
|
| 108 |
+
<link name="link_9">
|
| 109 |
+
<visual>
|
| 110 |
+
<geometry>
|
| 111 |
+
<mesh filename="parts/part_9.obj" scale="0.897380 0.897380 0.897380"/>
|
| 112 |
+
</geometry>
|
| 113 |
+
</visual>
|
| 114 |
+
<collision>
|
| 115 |
+
<geometry>
|
| 116 |
+
<mesh filename="parts/part_9.obj" scale="0.897380 0.897380 0.897380"/>
|
| 117 |
+
</geometry>
|
| 118 |
+
</collision>
|
| 119 |
+
</link>
|
| 120 |
+
<joint name="joint_0" type="revolute">
|
| 121 |
+
<parent link="link_9"/>
|
| 122 |
+
<child link="helper_link_0"/>
|
| 123 |
+
<origin xyz="-0.779864 -0.238808 0.804271" rpy="0 0 0"/>
|
| 124 |
+
<axis xyz="0.0 0.0 -1.0"/>
|
| 125 |
+
<limit lower="0.0" upper="1.9198621771937625"/>
|
| 126 |
+
</joint>
|
| 127 |
+
<joint name="joint_1" type="fixed">
|
| 128 |
+
<parent link="helper_link_0"/>
|
| 129 |
+
<child link="link_1"/>
|
| 130 |
+
<origin xyz="0.779864 0.238808 -0.804271" rpy="0 0 0"/>
|
| 131 |
+
</joint>
|
| 132 |
+
<joint name="joint_2" type="revolute">
|
| 133 |
+
<parent link="link_9"/>
|
| 134 |
+
<child link="helper_link_1"/>
|
| 135 |
+
<origin xyz="-0.002132 -0.238808 0.805138" rpy="0 0 0"/>
|
| 136 |
+
<axis xyz="0.0 0.0 1.0"/>
|
| 137 |
+
<limit lower="0.0" upper="1.9198621771937625"/>
|
| 138 |
+
</joint>
|
| 139 |
+
<joint name="joint_3" type="fixed">
|
| 140 |
+
<parent link="helper_link_1"/>
|
| 141 |
+
<child link="link_2"/>
|
| 142 |
+
<origin xyz="0.002132 0.238808 -0.805138" rpy="0 0 0"/>
|
| 143 |
+
</joint>
|
| 144 |
+
<joint name="joint_4" type="revolute">
|
| 145 |
+
<parent link="link_9"/>
|
| 146 |
+
<child link="helper_link_2"/>
|
| 147 |
+
<origin xyz="0.002510 -0.238808 0.802978" rpy="0 0 0"/>
|
| 148 |
+
<axis xyz="0.0 0.0 -1.0"/>
|
| 149 |
+
<limit lower="0.0" upper="1.9198621771937625"/>
|
| 150 |
+
</joint>
|
| 151 |
+
<joint name="joint_5" type="fixed">
|
| 152 |
+
<parent link="helper_link_2"/>
|
| 153 |
+
<child link="link_3"/>
|
| 154 |
+
<origin xyz="-0.002510 0.238808 -0.802978" rpy="0 0 0"/>
|
| 155 |
+
</joint>
|
| 156 |
+
<joint name="joint_6" type="revolute">
|
| 157 |
+
<parent link="link_9"/>
|
| 158 |
+
<child link="helper_link_3"/>
|
| 159 |
+
<origin xyz="0.780772 -0.238808 0.804325" rpy="0 0 0"/>
|
| 160 |
+
<axis xyz="0.0 0.0 1.0"/>
|
| 161 |
+
<limit lower="0.0" upper="1.9198621771937625"/>
|
| 162 |
+
</joint>
|
| 163 |
+
<joint name="joint_7" type="fixed">
|
| 164 |
+
<parent link="helper_link_3"/>
|
| 165 |
+
<child link="link_4"/>
|
| 166 |
+
<origin xyz="-0.780772 0.238808 -0.804325" rpy="0 0 0"/>
|
| 167 |
+
</joint>
|
| 168 |
+
<joint name="joint_8" type="revolute">
|
| 169 |
+
<parent link="link_9"/>
|
| 170 |
+
<child link="helper_link_4"/>
|
| 171 |
+
<origin xyz="-0.776411 -0.238808 0.000000" rpy="0 0 0"/>
|
| 172 |
+
<axis xyz="0.0 0.0 -1.0"/>
|
| 173 |
+
<limit lower="0.0" upper="1.9198621771937625"/>
|
| 174 |
+
</joint>
|
| 175 |
+
<joint name="joint_9" type="fixed">
|
| 176 |
+
<parent link="helper_link_4"/>
|
| 177 |
+
<child link="link_5"/>
|
| 178 |
+
<origin xyz="0.776411 0.238808 -0.000000" rpy="0 0 0"/>
|
| 179 |
+
</joint>
|
| 180 |
+
<joint name="joint_10" type="revolute">
|
| 181 |
+
<parent link="link_9"/>
|
| 182 |
+
<child link="helper_link_5"/>
|
| 183 |
+
<origin xyz="-0.001262 -0.238808 0.000000" rpy="0 0 0"/>
|
| 184 |
+
<axis xyz="0.0 0.0 1.0"/>
|
| 185 |
+
<limit lower="0.0" upper="1.9198621771937625"/>
|
| 186 |
+
</joint>
|
| 187 |
+
<joint name="joint_11" type="fixed">
|
| 188 |
+
<parent link="helper_link_5"/>
|
| 189 |
+
<child link="link_6"/>
|
| 190 |
+
<origin xyz="0.001262 0.238808 -0.000000" rpy="0 0 0"/>
|
| 191 |
+
</joint>
|
| 192 |
+
<joint name="joint_12" type="revolute">
|
| 193 |
+
<parent link="link_9"/>
|
| 194 |
+
<child link="helper_link_6"/>
|
| 195 |
+
<origin xyz="0.002976 -0.238808 0.000000" rpy="0 0 0"/>
|
| 196 |
+
<axis xyz="0.0 0.0 -1.0"/>
|
| 197 |
+
<limit lower="0.0" upper="1.9198621771937625"/>
|
| 198 |
+
</joint>
|
| 199 |
+
<joint name="joint_13" type="fixed">
|
| 200 |
+
<parent link="helper_link_6"/>
|
| 201 |
+
<child link="link_7"/>
|
| 202 |
+
<origin xyz="-0.002976 0.238808 -0.000000" rpy="0 0 0"/>
|
| 203 |
+
</joint>
|
| 204 |
+
<joint name="joint_14" type="revolute">
|
| 205 |
+
<parent link="link_9"/>
|
| 206 |
+
<child link="helper_link_7"/>
|
| 207 |
+
<origin xyz="0.778812 -0.238808 0.000000" rpy="0 0 0"/>
|
| 208 |
+
<axis xyz="0.0 0.0 1.0"/>
|
| 209 |
+
<limit lower="0.0" upper="1.9198621771937625"/>
|
| 210 |
+
</joint>
|
| 211 |
+
<joint name="joint_15" type="fixed">
|
| 212 |
+
<parent link="helper_link_7"/>
|
| 213 |
+
<child link="link_8"/>
|
| 214 |
+
<origin xyz="-0.778812 0.238808 -0.000000" rpy="0 0 0"/>
|
| 215 |
+
</joint>
|
| 216 |
+
<joint name="joint_16" type="fixed">
|
| 217 |
+
<parent link="base_link"/>
|
| 218 |
+
<child link="link_9"/>
|
| 219 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 220 |
+
</joint>
|
| 221 |
+
</robot>
|
data/UPB_00001445/parts/2.mtl
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
|
| 3 |
+
newmtl material_0
|
| 4 |
+
Ka 0.40000000 0.40000000 0.40000000
|
| 5 |
+
Kd 0.40000000 0.40000000 0.40000000
|
| 6 |
+
Ks 0.40000000 0.40000000 0.40000000
|
| 7 |
+
Ns 1.00000000
|
| 8 |
+
map_Kd 2.png
|
data/UPB_00001445/parts/2.png
ADDED
|
Git LFS Details
|
data/UPB_00001445/parts/4.mtl
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
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# https://github.com/mikedh/trimesh
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newmtl material_0
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version https://git-lfs.github.com/spec/v1
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|
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|
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version https://git-lfs.github.com/spec/v1
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data/UPB_00001446/annotations/object.json
ADDED
|
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|
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|
|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"object_name": "Four-door Storage Cabinet",
|
| 3 |
+
"category": "Furniture/StorageFurniture",
|
| 4 |
+
"volume": [
|
| 5 |
+
120.0,
|
| 6 |
+
40.0,
|
| 7 |
+
90.0
|
| 8 |
+
],
|
| 9 |
+
"mass": 40.0
|
| 10 |
+
}
|
data/UPB_00001446/annotations/part_1.json
ADDED
|
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|
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| 1 |
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{
|
| 2 |
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"index": {
|
| 3 |
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"type_name": "default",
|
| 4 |
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"entity": "UPB_00001446",
|
| 5 |
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"label": "1"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Leftmost Door Panel",
|
| 9 |
+
"affordance": 3,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "A melamine-laminated MDF door panel, approx. 28*1.8*90 cm (W*T*H).",
|
| 12 |
+
"functional_description": "Provides access to the left storage bay and closes to protect contents.",
|
| 13 |
+
"movement_description": "Rotates about a vertical hinge axis mounted to the cabinet body (part 5).",
|
| 14 |
+
"grasp_description": "Grasped at the vertical edge/finger pull to open or close."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "wood/MDF_Laminate",
|
| 18 |
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"density": 0.75,
|
| 19 |
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"young": 3.0,
|
| 20 |
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"hardness": 20,
|
| 21 |
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|
| 22 |
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"friction": 0.45
|
| 23 |
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},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
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"C"
|
| 27 |
+
],
|
| 28 |
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"motion_info": {
|
| 29 |
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"dependency": [
|
| 30 |
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1
|
| 31 |
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],
|
| 32 |
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"C": {
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| 33 |
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"axis": [
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| 34 |
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|
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|
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-1.0
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| 37 |
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],
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"pos": [
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| 39 |
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|
| 40 |
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],
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"range": [
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|
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],
|
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"damping": 0.05
|
| 48 |
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}
|
| 49 |
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}
|
| 50 |
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}
|
| 51 |
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}
|
data/UPB_00001446/annotations/part_2.json
ADDED
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
| 1 |
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{
|
| 2 |
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"index": {
|
| 3 |
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"type_name": "default",
|
| 4 |
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"entity": "UPB_00001446",
|
| 5 |
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"label": "2"
|
| 6 |
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},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Left-Center Door Panel",
|
| 9 |
+
"affordance": 2,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Melamine-faced MDF door, approx. 28*1.8*90 cm, positioned second from the left.",
|
| 12 |
+
"functional_description": "Covers a central compartment and opens for access.",
|
| 13 |
+
"movement_description": "Hinged rotation relative to the cabinet body (part 5).",
|
| 14 |
+
"grasp_description": "Pulled from its free edge to swing open; pushed to close."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "wood/MDF_Laminate",
|
| 18 |
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"density": 0.75,
|
| 19 |
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"young": 3.0,
|
| 20 |
+
"hardness": 20,
|
| 21 |
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"poisson": 0.3,
|
| 22 |
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"friction": 0.45
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
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"motion_types": [
|
| 26 |
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"C"
|
| 27 |
+
],
|
| 28 |
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"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
2
|
| 31 |
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],
|
| 32 |
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"C": {
|
| 33 |
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"axis": [
|
| 34 |
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0.0,
|
| 35 |
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0.0,
|
| 36 |
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1.0
|
| 37 |
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],
|
| 38 |
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"pos": [
|
| 39 |
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|
| 40 |
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|
| 41 |
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| 42 |
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],
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"range": [
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| 44 |
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|
| 45 |
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|
| 46 |
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],
|
| 47 |
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"damping": 0.05
|
| 48 |
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}
|
| 49 |
+
}
|
| 50 |
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}
|
| 51 |
+
}
|
data/UPB_00001446/annotations/part_3.json
ADDED
|
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|
|
|
|
|
|
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|
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|
| 1 |
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{
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"index": {
|
| 3 |
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"type_name": "default",
|
| 4 |
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"entity": "UPB_00001446",
|
| 5 |
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"label": "3"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
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"part_name": "Right-Center Door Panel",
|
| 9 |
+
"affordance": 1,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Third door from the left; MDF with melamine surface, about 28*1.8*90 cm.",
|
| 12 |
+
"functional_description": "Acts as a primary access door for central storage space.",
|
| 13 |
+
"movement_description": "Opens by rotating about a vertical hinge mounted to part 5.",
|
| 14 |
+
"grasp_description": "Typically pulled at the edge or small handle cutout."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "wood/MDF_Laminate",
|
| 18 |
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"density": 0.75,
|
| 19 |
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"young": 3.0,
|
| 20 |
+
"hardness": 20,
|
| 21 |
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"poisson": 0.3,
|
| 22 |
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"friction": 0.45
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"C"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
3
|
| 31 |
+
],
|
| 32 |
+
"C": {
|
| 33 |
+
"axis": [
|
| 34 |
+
0.0,
|
| 35 |
+
0.0,
|
| 36 |
+
-1.0
|
| 37 |
+
],
|
| 38 |
+
"pos": [
|
| 39 |
+
0.004860139451920986,
|
| 40 |
+
-0.23317889869213104,
|
| 41 |
+
0.0
|
| 42 |
+
],
|
| 43 |
+
"range": [
|
| 44 |
+
0.0,
|
| 45 |
+
1.9198621771937625
|
| 46 |
+
],
|
| 47 |
+
"damping": 0.05
|
| 48 |
+
}
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
data/UPB_00001446/annotations/part_4.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001446",
|
| 5 |
+
"label": "4"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Rightmost Door Panel",
|
| 9 |
+
"affordance": 3,
|
| 10 |
+
"graspable": true,
|
| 11 |
+
"basic_description": "Rightmost melamine-laminated MDF door panel, approx. 28*1.8*90 cm.",
|
| 12 |
+
"functional_description": "Closes the right compartment and swings open for access.",
|
| 13 |
+
"movement_description": "Hinged rotation relative to the cabinet body (part 5).",
|
| 14 |
+
"grasp_description": "Grasped at the free edge or integrated pull near the lower edge."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "wood/MDF_Laminate",
|
| 18 |
+
"density": 0.75,
|
| 19 |
+
"young": 3.0,
|
| 20 |
+
"hardness": 20,
|
| 21 |
+
"poisson": 0.3,
|
| 22 |
+
"friction": 0.45
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"C"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {
|
| 29 |
+
"dependency": [
|
| 30 |
+
4
|
| 31 |
+
],
|
| 32 |
+
"C": {
|
| 33 |
+
"axis": [
|
| 34 |
+
0.0,
|
| 35 |
+
0.0,
|
| 36 |
+
1.0
|
| 37 |
+
],
|
| 38 |
+
"pos": [
|
| 39 |
+
1.1556909084320068,
|
| 40 |
+
-0.23317889869213104,
|
| 41 |
+
0.0
|
| 42 |
+
],
|
| 43 |
+
"range": [
|
| 44 |
+
0.0,
|
| 45 |
+
1.9198621771937625
|
| 46 |
+
],
|
| 47 |
+
"damping": 0.05
|
| 48 |
+
}
|
| 49 |
+
}
|
| 50 |
+
}
|
| 51 |
+
}
|
data/UPB_00001446/annotations/part_5.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"index": {
|
| 3 |
+
"type_name": "default",
|
| 4 |
+
"entity": "UPB_00001446",
|
| 5 |
+
"label": "5"
|
| 6 |
+
},
|
| 7 |
+
"part_level": {
|
| 8 |
+
"part_name": "Cabinet Body (Carcass)",
|
| 9 |
+
"affordance": 8,
|
| 10 |
+
"graspable": false,
|
| 11 |
+
"basic_description": "Main cabinet carcass including sides, top, bottom, and back panel; melamine-faced MDF. Approx. 120*40*90 cm overall, panel thickness ~1.6 cm.",
|
| 12 |
+
"functional_description": "Provides structural support, houses internal storage space, and anchors the door hinges.",
|
| 13 |
+
"movement_description": "Rigid reference frame; four doors rotate relative to this body.",
|
| 14 |
+
"grasp_description": "Not typically grasped; may be touched when moving the cabinet during installation."
|
| 15 |
+
},
|
| 16 |
+
"basic_info": {
|
| 17 |
+
"material": "wood/MDF_Laminate",
|
| 18 |
+
"density": 0.75,
|
| 19 |
+
"young": 3.0,
|
| 20 |
+
"hardness": 20,
|
| 21 |
+
"poisson": 0.3,
|
| 22 |
+
"friction": 0.5
|
| 23 |
+
},
|
| 24 |
+
"kinematic_info": {
|
| 25 |
+
"motion_types": [
|
| 26 |
+
"D"
|
| 27 |
+
],
|
| 28 |
+
"motion_info": {}
|
| 29 |
+
}
|
| 30 |
+
}
|
data/UPB_00001446/full_model/material.mtl
ADDED
|
@@ -0,0 +1,7 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
|
| 3 |
+
newmtl MI_64fd92f07a627f0001eb2f57
|
| 4 |
+
Ka 0.40000000 0.40000000 0.40000000
|
| 5 |
+
Kd 0.66666667 0.61960784 0.55294118
|
| 6 |
+
Ks 0.40000000 0.40000000 0.40000000
|
| 7 |
+
Ns 1.00000000
|
data/UPB_00001446/full_model/model.obj
ADDED
|
@@ -0,0 +1,1848 @@
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
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|
|
|
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|
|
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|
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
mtllib material.mtl
|
| 3 |
+
usemtl MI_64fd92f07a627f0001eb2f57
|
| 4 |
+
v -0.58207101 -0.23062600 -0.22266699
|
| 5 |
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v -0.64242798 -0.23100101 -1.17848003
|
| 6 |
+
v -1.15535998 -0.23179300 -0.21241200
|
| 7 |
+
v -0.58207101 -0.23062600 -0.22266699
|
| 8 |
+
v -0.58207101 -0.23062600 -0.30150199
|
| 9 |
+
v -0.64242798 -0.23100101 -1.17848003
|
| 10 |
+
v -0.58207101 -0.23062600 -1.17857003
|
| 11 |
+
v -0.64242798 -0.23100101 -1.17848003
|
| 12 |
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v -0.58207101 -0.23062600 -0.30150199
|
| 13 |
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v -0.64252698 -0.24901100 -1.17848003
|
| 14 |
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v -0.64242798 -0.23100101 -1.17848003
|
| 15 |
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v -0.58207101 -0.23062600 -1.17857003
|
| 16 |
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v -0.58207101 -0.23062600 -0.30150199
|
| 17 |
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v -0.58207101 -0.24863601 -1.17857003
|
| 18 |
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v -0.58207101 -0.23062600 -1.17857003
|
| 19 |
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v -0.58207101 -0.23314901 -0.22266699
|
| 20 |
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v -0.58207101 -0.23314901 -0.21241200
|
| 21 |
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v -0.64243501 -0.23352400 -0.21241200
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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v -0.64256197 -0.25534600 -0.30141199
|
| 39 |
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v -0.64252698 -0.24901100 -0.30141199
|
| 40 |
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|
| 41 |
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v -0.64256197 -0.25534600 -0.30141199
|
| 42 |
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v -0.64252698 -0.24901100 -0.22266699
|
| 43 |
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v -0.64256197 -0.25534600 -0.22266699
|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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v -1.15549004 -0.25613800 1.19836998
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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v -0.58207101 -0.23062500 1.19836998
|
| 80 |
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v -1.15535998 -0.23179300 -0.21241200
|
| 81 |
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v -1.15535998 -0.23179300 1.19836998
|
| 82 |
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|
| 83 |
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v -0.58207101 -0.23062600 -0.21241200
|
| 84 |
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v -0.58207101 -0.23062600 -0.22266699
|
| 85 |
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v -0.64244097 -0.23352400 -0.22266699
|
| 86 |
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v -0.64252698 -0.24901100 -0.22266699
|
| 87 |
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v -0.64252698 -0.24901100 -0.30141199
|
| 88 |
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v -0.58207101 -0.23062600 -0.21241200
|
| 89 |
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v -0.58207101 -0.23314901 -0.21241200
|
| 90 |
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v -0.58207101 -0.23314901 -0.22266699
|
| 91 |
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v -0.58207101 -0.23062500 1.19836998
|
| 92 |
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v -0.58207101 -0.23314901 1.19836998
|
| 93 |
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v -0.58207101 -0.23314901 -0.21241200
|
| 94 |
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v -0.64251900 -0.24901100 -0.21241200
|
| 95 |
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|
| 96 |
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v -0.64244097 -0.23352400 -0.22266699
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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v -0.58207101 -0.23062500 1.19836998
|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
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|
| 109 |
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|
| 110 |
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v -0.64251900 -0.24901100 -0.21241200
|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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v -1.15535998 -0.23179300 -0.22266699
|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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v -0.58207101 -0.25497100 -0.21241200
|
| 123 |
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v -0.58207101 -0.24863601 -0.22266699
|
| 124 |
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v -0.58207101 -0.24863499 1.19836998
|
| 125 |
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v -0.58207101 -0.25497100 1.19836998
|
| 126 |
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|
| 127 |
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v -0.58207101 -0.24863499 1.19836998
|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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| 134 |
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|
| 135 |
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|
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|
| 137 |
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| 143 |
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|
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|
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+
|
data/UPB_00001446/meta_data.json
ADDED
|
@@ -0,0 +1,22 @@
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"id": "UPB_00001446",
|
| 3 |
+
"source": [
|
| 4 |
+
{
|
| 5 |
+
"dataset": "UniPhys-Bench",
|
| 6 |
+
"organization": "Manycore Tech Inc.",
|
| 7 |
+
"license_ref": "UniPhys-Bench"
|
| 8 |
+
}
|
| 9 |
+
],
|
| 10 |
+
"object": {
|
| 11 |
+
"category": "Furniture/StorageFurniture",
|
| 12 |
+
"object_name": "Four-door Storage Cabinet"
|
| 13 |
+
},
|
| 14 |
+
"geometry": {
|
| 15 |
+
"asset_type": "decomposed_parts",
|
| 16 |
+
"num_parts": 5,
|
| 17 |
+
"format": "obj"
|
| 18 |
+
},
|
| 19 |
+
"annotation": {
|
| 20 |
+
"version": "v1.0"
|
| 21 |
+
}
|
| 22 |
+
}
|
data/UPB_00001446/model.urdf
ADDED
|
@@ -0,0 +1,121 @@
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|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="robot">
|
| 3 |
+
<link name="base_link"/>
|
| 4 |
+
<link name="helper_link_0"/>
|
| 5 |
+
<link name="helper_link_1"/>
|
| 6 |
+
<link name="helper_link_2"/>
|
| 7 |
+
<link name="helper_link_3"/>
|
| 8 |
+
<link name="link_1">
|
| 9 |
+
<visual>
|
| 10 |
+
<geometry>
|
| 11 |
+
<mesh filename="parts/part_1.obj" scale="0.500142 0.500142 0.500142"/>
|
| 12 |
+
</geometry>
|
| 13 |
+
</visual>
|
| 14 |
+
<collision>
|
| 15 |
+
<geometry>
|
| 16 |
+
<mesh filename="parts/part_1.obj" scale="0.500142 0.500142 0.500142"/>
|
| 17 |
+
</geometry>
|
| 18 |
+
</collision>
|
| 19 |
+
</link>
|
| 20 |
+
<link name="link_2">
|
| 21 |
+
<visual>
|
| 22 |
+
<geometry>
|
| 23 |
+
<mesh filename="parts/part_2.obj" scale="0.500142 0.500142 0.500142"/>
|
| 24 |
+
</geometry>
|
| 25 |
+
</visual>
|
| 26 |
+
<collision>
|
| 27 |
+
<geometry>
|
| 28 |
+
<mesh filename="parts/part_2.obj" scale="0.500142 0.500142 0.500142"/>
|
| 29 |
+
</geometry>
|
| 30 |
+
</collision>
|
| 31 |
+
</link>
|
| 32 |
+
<link name="link_3">
|
| 33 |
+
<visual>
|
| 34 |
+
<geometry>
|
| 35 |
+
<mesh filename="parts/part_3.obj" scale="0.500142 0.500142 0.500142"/>
|
| 36 |
+
</geometry>
|
| 37 |
+
</visual>
|
| 38 |
+
<collision>
|
| 39 |
+
<geometry>
|
| 40 |
+
<mesh filename="parts/part_3.obj" scale="0.500142 0.500142 0.500142"/>
|
| 41 |
+
</geometry>
|
| 42 |
+
</collision>
|
| 43 |
+
</link>
|
| 44 |
+
<link name="link_4">
|
| 45 |
+
<visual>
|
| 46 |
+
<geometry>
|
| 47 |
+
<mesh filename="parts/part_4.obj" scale="0.500142 0.500142 0.500142"/>
|
| 48 |
+
</geometry>
|
| 49 |
+
</visual>
|
| 50 |
+
<collision>
|
| 51 |
+
<geometry>
|
| 52 |
+
<mesh filename="parts/part_4.obj" scale="0.500142 0.500142 0.500142"/>
|
| 53 |
+
</geometry>
|
| 54 |
+
</collision>
|
| 55 |
+
</link>
|
| 56 |
+
<link name="link_5">
|
| 57 |
+
<visual>
|
| 58 |
+
<geometry>
|
| 59 |
+
<mesh filename="parts/part_5.obj" scale="0.500142 0.500142 0.500142"/>
|
| 60 |
+
</geometry>
|
| 61 |
+
</visual>
|
| 62 |
+
<collision>
|
| 63 |
+
<geometry>
|
| 64 |
+
<mesh filename="parts/part_5.obj" scale="0.500142 0.500142 0.500142"/>
|
| 65 |
+
</geometry>
|
| 66 |
+
</collision>
|
| 67 |
+
</link>
|
| 68 |
+
<joint name="joint_0" type="revolute">
|
| 69 |
+
<parent link="link_5"/>
|
| 70 |
+
<child link="helper_link_0"/>
|
| 71 |
+
<origin xyz="-0.577004 -0.116622 0.000000" rpy="0 0 0"/>
|
| 72 |
+
<axis xyz="0.0 0.0 -1.0"/>
|
| 73 |
+
<limit lower="0.0" upper="1.9198621771937625"/>
|
| 74 |
+
</joint>
|
| 75 |
+
<joint name="joint_1" type="fixed">
|
| 76 |
+
<parent link="helper_link_0"/>
|
| 77 |
+
<child link="link_1"/>
|
| 78 |
+
<origin xyz="0.577004 0.116622 -0.000000" rpy="0 0 0"/>
|
| 79 |
+
</joint>
|
| 80 |
+
<joint name="joint_2" type="revolute">
|
| 81 |
+
<parent link="link_5"/>
|
| 82 |
+
<child link="helper_link_1"/>
|
| 83 |
+
<origin xyz="-0.002046 -0.116622 0.000000" rpy="0 0 0"/>
|
| 84 |
+
<axis xyz="0.0 0.0 1.0"/>
|
| 85 |
+
<limit lower="0.0" upper="1.9198621771937625"/>
|
| 86 |
+
</joint>
|
| 87 |
+
<joint name="joint_3" type="fixed">
|
| 88 |
+
<parent link="helper_link_1"/>
|
| 89 |
+
<child link="link_2"/>
|
| 90 |
+
<origin xyz="0.002046 0.116622 -0.000000" rpy="0 0 0"/>
|
| 91 |
+
</joint>
|
| 92 |
+
<joint name="joint_4" type="revolute">
|
| 93 |
+
<parent link="link_5"/>
|
| 94 |
+
<child link="helper_link_2"/>
|
| 95 |
+
<origin xyz="0.002431 -0.116622 0.000000" rpy="0 0 0"/>
|
| 96 |
+
<axis xyz="0.0 0.0 -1.0"/>
|
| 97 |
+
<limit lower="0.0" upper="1.9198621771937625"/>
|
| 98 |
+
</joint>
|
| 99 |
+
<joint name="joint_5" type="fixed">
|
| 100 |
+
<parent link="helper_link_2"/>
|
| 101 |
+
<child link="link_3"/>
|
| 102 |
+
<origin xyz="-0.002431 0.116622 -0.000000" rpy="0 0 0"/>
|
| 103 |
+
</joint>
|
| 104 |
+
<joint name="joint_6" type="revolute">
|
| 105 |
+
<parent link="link_5"/>
|
| 106 |
+
<child link="helper_link_3"/>
|
| 107 |
+
<origin xyz="0.578009 -0.116622 0.000000" rpy="0 0 0"/>
|
| 108 |
+
<axis xyz="0.0 0.0 1.0"/>
|
| 109 |
+
<limit lower="0.0" upper="1.9198621771937625"/>
|
| 110 |
+
</joint>
|
| 111 |
+
<joint name="joint_7" type="fixed">
|
| 112 |
+
<parent link="helper_link_3"/>
|
| 113 |
+
<child link="link_4"/>
|
| 114 |
+
<origin xyz="-0.578009 0.116622 -0.000000" rpy="0 0 0"/>
|
| 115 |
+
</joint>
|
| 116 |
+
<joint name="joint_8" type="fixed">
|
| 117 |
+
<parent link="base_link"/>
|
| 118 |
+
<child link="link_5"/>
|
| 119 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 120 |
+
</joint>
|
| 121 |
+
</robot>
|