Upload folder using huggingface_hub (part 65)

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+{
+    "object_name": "Bedside Table with Drawer",
+    "category": "Furniture/TableFurniture",
+    "volume": [
+        48.0,
+        38.0,
+        45.0
+    ],
+    "mass": 12.0
+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000840",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Drawer Box and Front Panel",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "MDF drawer box with integrated front panel, beige finish; approx. 40 cm wide, 30 cm deep, 12 cm tall.",
+        "functional_description": "Provides enclosed storage and forms the moving component of the table.",
+        "movement_description": "Slides in and out relative to the cabinet body on runners/wood guides along the longitudinal axis.",
+        "grasp_description": "Pulled primarily via the knob; users may also grasp the front panel edges to open/close."
+    },
+    "basic_info": {
+        "material": "wood/MDF",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
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+                1,
+                2
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+    }
+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000840",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Pull Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Small round matte-black ABS knob mounted at the drawer front center; ~3 cm diameter.",
+        "functional_description": "Human interface used to apply force to the drawer for opening and closing.",
+        "movement_description": "Rigidly fixed to the drawer front; moves exactly with the drawer during translation.",
+        "grasp_description": "Pinched between fingers or hooked with fingertips for comfortable pulling and pushing."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 12,
+        "poisson": 0.35,
+        "friction": 0.6
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+        "motion_info": {}
+    }
+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000840",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Cabinet Body with Shelf and Legs",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "MDF cabinet carcass with rounded corners, one internal shelf creating two bays, and four short feet; beige finish.",
+        "functional_description": "Provides structure, supports the shelf and runners, and houses the sliding drawer and open storage space.",
+        "movement_description": "Static reference frame; the drawer translates relative to this rigid body.",
+        "grasp_description": "Normally not grasped during use, except when moving the whole table."
+    },
+    "basic_info": {
+        "material": "wood/MDF",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.5
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+            "D"
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+}

data/UPB_00000840/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_00000840/meta_data.json

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+{
+    "id": "UPB_00000840",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/TableFurniture",
+        "object_name": "Bedside Table with Drawer"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 3,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

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+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.724241 0.724241 0.724241"/>
+      </geometry>
+    </visual>
+    <collision>
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+      </geometry>
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+  </link>
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+    <visual>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
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+      </geometry>
+    </collision>
+  </link>
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+    <collision>
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+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_3"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.012881 -0.138044 -0.047514" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.1883025313820488" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.012881 0.138044 0.047514" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_696d24f96958b97aeca8fbc4
+Kd 1 1 1
+illum 1
+map_Kd ./T_696d24f96958b97aeca8fbc4_color.jpg
+
+newmtl MI_696d24f9b44fbb5df51e084c
+Kd 0.0471264012 0.0471264012 0.0471264012
+illum 1
+

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data/UPB_00000840/plys/2.ply

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data/UPB_00000840/plys/model.ply

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data/UPB_00000841/annotations/object.json

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+{
+    "object_name": "Floating Three-Cubby Wall Console",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        160.0,
+        28.0,
+        30.0
+    ],
+    "mass": 21.0
+}

data/UPB_00000841/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000841",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Storage Bin",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Open-top walnut bin sized roughly 45*20*15 cm that nests in the left opening of the console.",
+        "functional_description": "Holds small items inside the left cubby; provides warm wood interior.",
+        "movement_description": "No independent motion; it is rigidly fixed to the frame.",
+        "grasp_description": "Not normally grasped\u2014accessed by opening the door and placing items inside."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Walnut",
+        "density": 0.65,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
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+    }
+}

data/UPB_00000841/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000841",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Center Storage Bin",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Open-top walnut bin for the center cubby, about 45*20*15 cm.",
+        "functional_description": "Provides storage in the middle compartment.",
+        "movement_description": "Rigidly attached to the frame; does not move.",
+        "grasp_description": "Normally not grasped directly."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Walnut",
+        "density": 0.65,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.45
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+    "kinematic_info": {
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+        "motion_info": {
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+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000841/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000841",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Right Storage Bin",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Open-top walnut bin for the right cubby, around 45*20*15 cm.",
+        "functional_description": "Right-hand storage for the console.",
+        "movement_description": "Rigidly fixed to the main frame.",
+        "grasp_description": "Not intended to be grasped."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Walnut",
+        "density": 0.65,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
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+            "B"
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+        "motion_info": {
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+                6
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+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000841/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000841",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Left Door Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Matte black ABS pull, roughly 3*3*2 cm, mounted at the center of the left door panel.",
+        "functional_description": "Provides a small, high-friction handle to open/close the left door.",
+        "movement_description": "No independent motion; moves rigidly with the door panel it is mounted to.",
+        "grasp_description": "User pinches or hooks fingers around the knob to pull the door open."
+    },
+    "basic_info": {
+        "material": "metal",
+        "density": 7.095321614455091,
+        "young": 162.66640479230088,
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+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+        "motion_info": {}
+    }
+}

data/UPB_00000841/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000841",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Center Door Knob",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Matte black ABS pull, ~3*3*2 cm, fixed to the center door panel.",
+        "functional_description": "Allows the user to open the center door easily.",
+        "movement_description": "Rigid with the door; no independent motion.",
+        "grasp_description": "Commonly pinched and pulled during use."
+    },
+    "basic_info": {
+        "material": "metal",
+        "density": 7.095321614455091,
+        "young": 162.66640479230088,
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+    "kinematic_info": {
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+            "D"
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+        "motion_info": {}
+    }
+}

data/UPB_00000841/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000841",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Right Door Knob",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Matte black ABS pull, ~3*3*2 cm, fixed to the right door panel.",
+        "functional_description": "Handle for opening the right door.",
+        "movement_description": "Moves together with the door panel.",
+        "grasp_description": "User grasps/pulls this piece to operate the door."
+    },
+    "basic_info": {
+        "material": "metal",
+        "density": 7.095321614455091,
+        "young": 162.66640479230088,
+        "hardness": 160.52450162034765,
+        "poisson": 0.3059805558283549,
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+    "kinematic_info": {
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+            "D"
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+        "motion_info": {}
+    }
+}

data/UPB_00000841/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000841",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Main Frame and Top Shelf",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Painted MDF structure with a long top shelf and three oval openings; approx. 160*28*30 cm overall.",
+        "functional_description": "Provides the structural support, mounting points to the wall, and tracks/hinge points for the doors; houses the three storage bins.",
+        "movement_description": "Stationary reference. Doors rotate relative to this frame on bottom hinges with soft-close damping.",
+        "grasp_description": "Not typically grasped except when moving or installing the console."
+    },
+    "basic_info": {
+        "material": "wood/MDF",
+        "density": 0.75,
+        "young": 4.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000841/annotations/part_8.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000841",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Front Door Panels (set of three)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Three thin walnut-faced rounded-rectangle doors, each about 45*15*1.2 cm, covering the cubby openings.",
+        "functional_description": "Conceal and protect the contents of the three compartments; provide a surface for attaching the knobs.",
+        "movement_description": "Each door panel rotates downward about a bottom edge hinge relative to the frame; typical opening up to about 90 degrees with light damping.",
+        "grasp_description": "Users pull on the attached knobs (or edges) to swing the doors open and push to close."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Walnut",
+        "density": 0.65,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000841/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_00000841/meta_data.json

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+{
+    "id": "UPB_00000841",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Floating Three-Cubby Wall Console"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 8,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000841/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="0.912548 0.912548 0.912548"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.912548 0.912548 0.912548"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.912548 0.912548 0.912548"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.912548 0.912548 0.912548"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.912548 0.912548 0.912548"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.912548 0.912548 0.912548"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.912548 0.912548 0.912548"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.912548 0.912548 0.912548"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.912548 0.912548 0.912548"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.912548 0.912548 0.912548"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.912548 0.912548 0.912548"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.912548 0.912548 0.912548"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.912548 0.912548 0.912548"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.912548 0.912548 0.912548"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.912548 0.912548 0.912548"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.912548 0.912548 0.912548"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="base_link"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.522114 -0.101869 0.012368" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.16425862904988534" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.522114 0.101869 -0.012368" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="base_link"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.008497 -0.100380 0.011863" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.16425862904988534" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.008497 0.100380 -0.011863" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="base_link"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.539252 -0.100380 0.011863" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.16425862904988534" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.539252 0.100380 -0.011863" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>