Upload folder using huggingface_hub (part 200)

.gitattributes

@@ -11612,3 +11612,16 @@ data/UPB_00001608/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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 data/UPB_00001608/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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+data/UPB_00001610/plys/9.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001609/plys/1.ply

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+size 160242

data/UPB_00001609/plys/2.ply

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data/UPB_00001609/plys/3.ply

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data/UPB_00001609/plys/model.ply

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

data/UPB_00001610/annotations/object.json

@@ -0,0 +1,10 @@
+{
+    "object_name": "Office Desk with Pedestal and Back Screen",
+    "category": "Furniture/OfficeFurniture",
+    "volume": [
+        150.0,
+        60.0,
+        110.0
+    ],
+    "mass": 45.0
+}

data/UPB_00001610/annotations/part_1.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001610",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Top Drawer Front with Knob",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Small rectangular MDF laminate drawer front with a round metal knob, approx 40*12*1.5 cm.",
+        "functional_description": "Provides the handleable face for the top shallow drawer in the pedestal.",
+        "movement_description": "Slides in and out on rails relative to the pedestal cabinet.",
+        "grasp_description": "Users grasp the knob to pull or push the drawer."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.594386637210846,
+                    -0.3047668933868408,
+                    0.0636325255036354
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001610/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001610",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Middle Drawer Front",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Rectangular MDF laminate drawer face, approx 40*18*1.5 cm.",
+        "functional_description": "Front panel for the mid-height drawer of the pedestal.",
+        "movement_description": "Translates relative to the pedestal on slide rails.",
+        "grasp_description": "Pulled by its edge or attached pull to access contents."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
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+            "B": {
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+                    1.0,
+                    0.0
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+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001610/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001610",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Bottom Drawer Front",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Large MDF laminate drawer face, approx 40*22*1.5 cm.",
+        "functional_description": "Front panel for the deep lower drawer (files or bulk storage).",
+        "movement_description": "Slides outward/inward relative to the pedestal body.",
+        "grasp_description": "Pulled by users to access the deep drawer."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                3
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.594386637210846,
+                    -0.3047668933868408,
+                    -0.3585752546787262
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001610/annotations/part_4.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001610",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Pedestal Cabinet Body",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Box-shaped MDF cabinet shell housing three drawers, approx 45*50*55 cm.",
+        "functional_description": "Supports and guides the drawers; mounts under the left side of the desk.",
+        "movement_description": "Rigidly fixed to the steel frame; internal drawers translate on slides.",
+        "grasp_description": "Not typically grasped; touched only during cleaning or moving."
+    },
+    "basic_info": {
+        "material": "wood/MDF",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001610/annotations/part_5.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001610",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Steel Frame and Legs",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Rectangular steel tube frame with four legs and cross-members, supports the desktop and attachments.",
+        "functional_description": "Provides structural rigidity and load-bearing support for the desk, pedestal, and back screen.",
+        "movement_description": "No relative motion; all mounted components are rigidly fixed to this frame.",
+        "grasp_description": "Seldom grasped; contacted by feet or during relocation."
+    },
+    "basic_info": {
+        "material": "metal/Steel_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 160,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001610/annotations/part_7.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001610",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Desktop Panel (Left Half)",
+        "affordance": 1,
+        "graspable": false,
+        "basic_description": "Melamine-faced particle board desktop slab, approx 75*60*2.5 cm, forming the left half of the work surface.",
+        "functional_description": "Primary contact surface for writing, typing, and placing objects.",
+        "movement_description": "Rigidly fixed to the steel frame; no motion.",
+        "grasp_description": "Touched frequently by hands and forearms; not grasped as a separate piece."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Melamine",
+        "density": 0.65,
+        "young": 2.5,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001610/annotations/part_8.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001610",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Desktop Panel (Right Half)",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Melamine-faced particle board desktop slab, approx 75*60*2.5 cm, forming the right half of the work surface.",
+        "functional_description": "Completes the main work surface and supports equipment and materials.",
+        "movement_description": "Rigidly attached to the steel frame.",
+        "grasp_description": "Frequently touched during use; not grasped as a separate part."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Melamine",
+        "density": 0.65,
+        "young": 2.5,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001610/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001610",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Back Privacy Screen Panel",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Long narrow laminated MDF panel above the rear edge of the desk, approx 150*2*30 cm, segmented into three sections.",
+        "functional_description": "Acts as a privacy/notice board and visual divider along the back of the desk.",
+        "movement_description": "Rigidly fixed to the steel frame using metal fasteners/brackets.",
+        "grasp_description": "Occasionally touched to pin notes or clean; not grasped during typical use."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.7,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001610/full_model/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

data/UPB_00001610/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001610",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/OfficeFurniture",
+        "object_name": "Office Desk with Pedestal and Back Screen"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 8,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001610/model.urdf

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+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="helper_link_2"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_4"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.516627 -0.264896 0.055308" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2607527674132768" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.516627 0.264896 -0.055308" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_4"/>
+    <child link="helper_link_1"/>
+    <origin xyz="-0.516627 -0.264896 -0.137027" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2607527674132768" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0.516627 0.264896 0.137027" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_4"/>
+    <child link="helper_link_2"/>
+    <origin xyz="-0.516627 -0.264896 -0.311665" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2607527674132768" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0.516627 0.264896 0.311665" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001610/parts/1.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 1.png

data/UPB_00001610/parts/5.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 5.png

data/UPB_00001610/parts/Desk_YU6YNLJVALZB6PTUJU888888_zdj9e.mtl

@@ -0,0 +1,49 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_6903220d0171f747c996113e
+Kd 0.470600009 0.447100013 0.439200014
+illum 1
+bump ./T_6903220d0171f747c996113e_normal.jpg
+map_bump ./T_6903220d0171f747c996113e_normal.jpg
+
+newmtl MI_6903220d2976ef4c3de1b766
+Kd 0.505900025 0.462700009 0.447100013
+illum 1
+bump ./T_6903220d2976ef4c3de1b766_normal.jpg
+map_bump ./T_6903220d2976ef4c3de1b766_normal.jpg
+
+newmtl MI_6903220da0f3d129e8b9a6d8
+Kd 1 1 1
+illum 1
+map_Kd ./T_6903220da0f3d129e8b9a6d8_color.jpg
+bump ./T_6903220da0f3d129e8b9a6d8_normal.jpg
+map_bump ./T_6903220da0f3d129e8b9a6d8_normal.jpg
+
+newmtl MI_6903220ddc148149a3b8ced9
+Kd 1 1 1
+illum 1
+map_Kd ./T_6903220ddc148149a3b8ced9_color.jpg
+bump ./T_6903220ddc148149a3b8ced9_normal.jpg
+map_bump ./T_6903220ddc148149a3b8ced9_normal.jpg
+
+newmtl MI_6903220d411d12007898da86
+Kd 1 1 1
+illum 1
+map_Kd ./T_6903220d411d12007898da86_color.jpg
+bump ./T_6903220d411d12007898da86_normal.jpg
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