Upload folder using huggingface_hub (part 202)

.gitattributes

@@ -11645,3 +11645,20 @@ data/UPB_00001613/plys/3.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001613/plys/4.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001613/plys/5.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001613/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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+data/UPB_00001617/full_model/model.obj filter=lfs diff=lfs merge=lfs -text

data/UPB_00001614/parts/5.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 5.png

data/UPB_00001614/parts/Desk_ZKBAKCJVAIMZOPTUK4888888_iimXe.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_66bc9ff68693bc0001221ef0
+Kd 1 1 1
+illum 1
+map_Kd ./T_66bc9ff68693bc0001221ef0_color.jpg
+bump ./T_66bc9ff68693bc0001221ef0_normal.jpg
+map_bump ./T_66bc9ff68693bc0001221ef0_normal.jpg
+
+newmtl MI_66bc9ff6ddbd0d000166dbfa
+Kd 1 1 1
+illum 1
+map_Kd ./T_66bc9ff6ddbd0d000166dbfa_color.jpg
+bump ./T_66bc9ff6ddbd0d000166dbfa_normal.jpg
+map_bump ./T_66bc9ff6ddbd0d000166dbfa_normal.jpg
+
+newmtl MI_66bc9ff64875c6000173d385
+Kd 0.0274999999 0.0196000002 0.0196000002
+illum 1
+

data/UPB_00001614/plys/1.ply

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+version https://git-lfs.github.com/spec/v1
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+size 160242

data/UPB_00001614/plys/2.ply

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+version https://git-lfs.github.com/spec/v1
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+size 160242

data/UPB_00001614/plys/4.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:0c1a9511b7e8142c66e6d539d46d5fd5ca2eba39b040cbc1fad8dac3f899028a
+size 160242

data/UPB_00001614/plys/5.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:8f8b4a75e5771b8d32c771bcaab2f84eb6c248c8f3287b200dcbca9dd249b372
+size 1500354

data/UPB_00001614/plys/model.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:9283c0861a1d18ee8479bc18b0dca084fd6bc62c3d530a36b88f0855f7670fd2
+size 1600243

data/UPB_00001615/annotations/object.json

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+{
+    "object_name": "Computer Desk with Hutch and Drawers",
+    "category": "Furniture/OfficeFurniture",
+    "volume": [
+        120.0,
+        60.0,
+        90.0
+    ],
+    "mass": 35.0
+}

data/UPB_00001615/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001615",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Accessory Drawer",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "A small ABS plastic tray-like drawer located on the left side of the desktop opening (approx. 25*20*6 cm).",
+        "functional_description": "Holds small stationery items and slides in and out for access.",
+        "movement_description": "Translates along side rails relative to the main desktop/hutch assembly; smooth sliding with light damping.",
+        "grasp_description": "Typically grasped by the front edge or pull tabs to open and close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.3,
+        "hardness": 25,
+        "poisson": 0.25,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.4189443588256836,
+                    -0.05050409212708473,
+                    0.026715481653809547
+                ],
+                "range": [
+                    -0.029999999329447746,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001615/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001615",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Main Center Drawer",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "A shallow plastic drawer tray positioned centrally beneath the desktop (approx. 60*40*6 cm).",
+        "functional_description": "Provides primary storage for notebooks, keyboards, or accessories.",
+        "movement_description": "Slides along rails relative to the desktop assembly with limited travel to prevent full removal.",
+        "grasp_description": "Users pull the drawer front to open and push to close."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.2,
+        "hardness": 10,
+        "poisson": 0.37,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.15138466656208038,
+                    -0.05050409212708473,
+                    0.026715481653809547
+                ],
+                "range": [
+                    -0.029999999329447746,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001615/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001615",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Hutch Back Panel with Cable Slot",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "An MDF back panel set for the upper hutch area, including a long cable pass-through slot (approx. 110*35*1.5 cm combined).",
+        "functional_description": "Stiffens the hutch, provides a back stop for items, and allows cables to route through the slot.",
+        "movement_description": "Rigidly fastened to the desktop/hutch uprights using screws or dowels; no relative motion.",
+        "grasp_description": "Rarely handled during normal use; touched only during assembly or cleaning."
+    },
+    "basic_info": {
+        "material": "wood/MDF",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.25,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001615/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001615",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Metal Leg Frame and Crossbar",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "A powder-coated steel base with two T-shaped legs and a connecting crossbar (span ~110 cm, height ~70 cm).",
+        "functional_description": "Supports the desktop, ensuring rigidity and load-bearing capacity.",
+        "movement_description": "Rigidly bolted to the underside of the desktop assembly; no designed relative motion.",
+        "grasp_description": "Occasionally touched when repositioning the desk, but not intended for frequent hand contact."
+    },
+    "basic_info": {
+        "material": "metal/Steel_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001615/annotations/part_5.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001615",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Desktop and Hutch Assembly",
+        "affordance": 1,
+        "graspable": false,
+        "basic_description": "The main MDF laminated desktop with side uprights and upper hutch shelf surfaces (top ~120*60*2.5 cm; hutch height ~30 cm above top).",
+        "functional_description": "Provides the primary working surface and shelves, houses drawers, and interfaces with the base and back panel.",
+        "movement_description": "Acts as the structural parent for sliding drawers and is fixed to both the back panel and the metal frame.",
+        "grasp_description": "Users rest arms and place items on it; edges may be held when moving or assembling the desk."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.3,
+        "hardness": 25,
+        "poisson": 0.25,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001615/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_00001615/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001615",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/OfficeFurniture",
+        "object_name": "Computer Desk with Hutch and Drawers"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 5,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001615/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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="9.712907 9.712907 9.712907"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="9.712907 9.712907 9.712907"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="9.712907 9.712907 9.712907"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="9.712907 9.712907 9.712907"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="9.712907 9.712907 9.712907"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="9.712907 9.712907 9.712907"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="9.712907 9.712907 9.712907"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="9.712907 9.712907 9.712907"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="9.712907 9.712907 9.712907"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="9.712907 9.712907 9.712907"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_5"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-4.069168 -0.490542 0.259485" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.29138721845589455" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="4.069168 0.490542 -0.259485" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_5"/>
+    <child link="helper_link_1"/>
+    <origin xyz="1.470385 -0.490542 0.259485" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.29138721845589455" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-1.470385 0.490542 -0.259485" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001615/parts/1.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl MI_66bc1a869ca5eb00010785f7
+Ka 0.40000000 0.40000000 0.40000000
+Kd 1.00000000 1.00000000 1.00000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 1.jpeg

data/UPB_00001615/parts/2.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl MI_66bc1a869ca5eb00010785f7
+Ka 0.40000000 0.40000000 0.40000000
+Kd 1.00000000 1.00000000 1.00000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 2.jpeg

data/UPB_00001615/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_00001615/parts/Desk_ZKBIEHRVAIIGCPTUKI888888_lTTAP.mtl

@@ -0,0 +1,21 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_66bc1a86bb0d090001aa5df2
+Kd 1 1 1
+illum 1
+map_Kd ./T_66bc1a86bb0d090001aa5df2_color.jpg
+
+newmtl MI_66bc1a869ca5eb00010785f7
+Kd 1 1 1
+illum 1
+map_Kd ./T_66bc1a869ca5eb00010785f7_color.jpg
+
+newmtl MI_66bc1a86c0491900017bec89
+Kd 0 0 0
+illum 1
+
+newmtl MI_66bc1a854750b400014513ee
+Kd 0.732901514 0.732901514 0.732901514
+illum 1
+

data/UPB_00001615/plys/1.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:9ca6eb68b1f24f9820401a3c938ac3941b46c6e6c044d9b6eb7f6638ed0b8cb2
+size 160242

data/UPB_00001615/plys/2.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:dfcd3ac8f2e1260dac78722d557e5b69b261b707ab95e63721ae8e37a72dfb50
+size 269426

data/UPB_00001615/plys/3.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:83753326c10ee2186bd6b3b750fd27da4178987cd4e8ce3a8dbc83b3c9230629
+size 210242

data/UPB_00001615/plys/4.ply

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+version https://git-lfs.github.com/spec/v1
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+size 161762

data/UPB_00001615/plys/5.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b33e31fc3aceae2c34fae0d12d73b5a865a8261164469e7e36cdf07930f983fa
+size 821714

data/UPB_00001615/plys/model.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:6137958c5ba5c04cbb712490f1727b2e4f9c48da9d491b23be996e514f2755bd
+size 1600243

data/UPB_00001616/annotations/object.json

@@ -0,0 +1,10 @@
+{
+    "object_name": "Writing Desk with Two Drawers",
+    "category": "Furniture/OfficeFurniture",
+    "volume": [
+        150.0,
+        65.0,
+        75.0
+    ],
+    "mass": 32.0
+}