Upload folder using huggingface_hub (part 66)

.gitattributes

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+{
+    "object_name": "Low TV Stand with 4 Drawers",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        160.0,
+        45.0,
+        45.0
+    ],
+    "mass": 28.0
+}

data/UPB_00000845/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000845",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Top-Left Drawer",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Rectangular oak drawer box (approx 30*35*12 cm) that fits in the upper-left bay of the TV stand.",
+        "functional_description": "Provides enclosed storage for small items on the left side.",
+        "movement_description": "Slides in and out along wooden runners inside the cabinet with limited extension (~30 cm).",
+        "grasp_description": "Typically pulled by the dedicated handle (part 5) rather than grasping the drawer edges."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.45
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+                5
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+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000845",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Bottom-Left Drawer",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Lower-left oak drawer (approx 30*35*12 cm).",
+        "functional_description": "Lower storage drawer on the left column.",
+        "movement_description": "Translates outward on guides relative to the cabinet body.",
+        "grasp_description": "Pulled via the handle (part 6)."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.45
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+    "kinematic_info": {
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+            "B"
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+                2
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+    }
+}

data/UPB_00000845/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000845",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Top-Right Drawer",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Upper-right oak drawer (approx 30*35*12 cm).",
+        "functional_description": "Provides enclosed storage on the right side of the stand.",
+        "movement_description": "Slides linearly relative to the cabinet body on wooden/nylon runners.",
+        "grasp_description": "User pulls the attached knob (part 7)."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                7
+            ],
+            "B": {
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+                    0.0,
+                    1.0,
+                    0.0
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+                "pos": [
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+                    -0.18000000715255737,
+                    0.1600000113248825
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+                "range": [
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+                    0.0
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+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00000845/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000845",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Bottom-Right Drawer",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Lower-right oak drawer (approx 30*35*12 cm).",
+        "functional_description": "Second drawer on the right column for organizing accessories.",
+        "movement_description": "Translational sliding motion constrained by the cabinet rails.",
+        "grasp_description": "Pulled using its handle (part 8)."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                8
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
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+                "pos": [
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+                    -0.18000000715255737,
+                    0.005188269075006247
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+                "range": [
+                    -0.25999999046325684,
+                    0.0
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+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00000845/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000845",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Top-Left Drawer Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Black powder-coated zinc-alloy pull knob (approx 8*3*3 cm) fixed to the top-left drawer front.",
+        "functional_description": "Primary hand interface to pull or push the top-left drawer.",
+        "movement_description": "Does not move independently; rigidly fixed to drawer 1.",
+        "grasp_description": "Pinch or hook with fingers to pull the drawer open; rounded profile for comfort."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Zamak",
+        "density": 6.6,
+        "young": 83.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000845/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000845",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Bottom-Left Drawer Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Black zinc-alloy knob attached to the bottom-left drawer (approx 8*3*3 cm).",
+        "functional_description": "Handhold to operate the bottom-left drawer.",
+        "movement_description": "Rigidly fastened; moves only with drawer 2.",
+        "grasp_description": "Gripped with fingers to slide the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Zamak",
+        "density": 6.6,
+        "young": 83.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000845/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000845",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Top-Right Drawer Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Black zinc-alloy knob for the top-right drawer.",
+        "functional_description": "User interface for opening and closing drawer 3.",
+        "movement_description": "No independent motion; rigid with the drawer front.",
+        "grasp_description": "Pulled by one or two fingers; textured surface improves grip."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Zamak",
+        "density": 6.6,
+        "young": 83.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000845/annotations/part_8.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000845",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Bottom-Right Drawer Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Black zinc-alloy knob attached to the bottom-right drawer.",
+        "functional_description": "Allows the user to actuate drawer 4.",
+        "movement_description": "Rigid attachment; follows drawer motion only.",
+        "grasp_description": "Finger-pinch pull to open or push to close."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Zamak",
+        "density": 6.6,
+        "young": 83.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000845/annotations/part_9.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000845",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Cabinet Body",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Main oak cabinet including top, sides, legs, internal dividers and open center shelves (approx 160*45*45 cm).",
+        "functional_description": "Supports a TV on top, provides open shelves for media components and guides the four drawers.",
+        "movement_description": "Stationary reference frame; provides linear slide rails/pockets for drawers 1\u20134.",
+        "grasp_description": "Normally not grasped during use; contact occurs when placing items on top or inside shelves."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000845/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_00000845/meta_data.json

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+{
+    "id": "UPB_00000845",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Low TV Stand with 4 Drawers"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 9,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000845/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"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.800000 0.800000 0.800000"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.800000 0.800000 0.800000"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.800000 0.800000 0.800000"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.800000 0.800000 0.800000"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.800000 0.800000 0.800000"/>
+      </geometry>
+    </visual>
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data/UPB_00000845/parts/TvCabinet_YVJ3T6MTQ32TYPTULY888888_EgLDb.mtl

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+map_Kd ./T_696d276729b3bf203c64ecd9_color_front.jpg
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