Upload folder using huggingface_hub (part 105)

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data/UPB_00001442/plys/model.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001443/annotations/object.json

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+{
+    "object_name": "Segmented Front Cabinet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        80.0,
+        40.0,
+        120.0
+    ],
+    "mass": 32.0
+}

data/UPB_00001443/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001443",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Front Panel Segment 1 (far left)",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Tall narrow MDF laminate board, approx 10*1.5*116 cm, forming the far-left vertical front strip of the cabinet.",
+        "functional_description": "Decorative/covering segment of the cabinet\u2019s front face; helps protect and finish the fa\u00e7ade.",
+        "movement_description": "Rigidly fixed to the cabinet body with glue and dowels; no relative motion.",
+        "grasp_description": "Can be touched or used as a surface to push the cabinet during repositioning, but not intended as a handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate_Oak",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.52
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+    "kinematic_info": {
+        "motion_types": [
+            "C"
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+                1
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+}

data/UPB_00001443/annotations/part_10.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001443",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Front Corner Edge Trim",
+        "affordance": 7,
+        "graspable": true,
+        "basic_description": "Slim L-shaped aluminum corner guard running along the front edge; approx 118*3*3 cm leg lengths.",
+        "functional_description": "Protects the exposed front corner from impacts and wear; also provides a crisp visual edge.",
+        "movement_description": "Rigidly fixed to the cabinet body with screws/adhesive; no motion.",
+        "grasp_description": "Can be held as a sturdy edge when repositioning; not a handle."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_6061_Extrusion",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001443/annotations/part_11.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001443",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Main Cabinet Body (Carcass)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Primary MDF-laminate cabinet carcass (top, bottom, internal back, and structural frame), approx 80*40*120 cm overall.",
+        "functional_description": "Houses and supports all attached panels and trim; provides storage volume and structural integrity.",
+        "movement_description": "Stationary structure; all other parts are rigidly fixed to it.",
+        "grasp_description": "Users grasp the sides, top edges, or bottom to carry or reposition the cabinet; surfaces are smooth wood laminate."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate_Oak",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001443/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001443",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Front Panel Segment 2",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Front vertical MDF-laminate strip, approx 10*1.5*116 cm.",
+        "functional_description": "Acts as part of the decorative front cladding, distributing light impacts and hiding joints.",
+        "movement_description": "Rigidly attached to the main carcass; no motion.",
+        "grasp_description": "Occasionally touched; not a dedicated handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate_Oak",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.52
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
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+            "C": {
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+                    1.0
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+                    0.0
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+                "range": [
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+                    1.9198621771937625
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+                "damping": 0.03
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+        }
+    }
+}

data/UPB_00001443/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001443",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Front Panel Segment 3",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Narrow laminated wood strip, approx 10*1.5*116 cm, located left-center on the fa\u00e7ade.",
+        "functional_description": "Completes the segmented front appearance and provides minor surface protection.",
+        "movement_description": "Rigidly secured to the body with fasteners/adhesive.",
+        "grasp_description": "Touchable surface when moving or cleaning the cabinet."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate_Oak",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.52
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
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+        "motion_info": {
+            "dependency": [
+                3
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+            "C": {
+                "axis": [
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+                    0.0,
+                    -1.0
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+                "pos": [
+                    0.003919872920960188,
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+                    0.0
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+                "range": [
+                    0.0,
+                    1.9198621771937625
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+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001443/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001443",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Front Panel Segment 4",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Vertical MDF laminate front strip, mid-left position, approx 10*1.5*116 cm.",
+        "functional_description": "Front cladding segment improving stiffness and appearance.",
+        "movement_description": "Rigid joint to the main carcass; no relative movement.",
+        "grasp_description": "Surface may be used to steady the hand; not a handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate_Oak",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.52
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                4
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+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
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+                "pos": [
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+                    -1.5409444387159965e-08
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+                "range": [
+                    0.0,
+                    1.9198621771937625
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+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001443/annotations/part_5.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001443",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Front Panel Segment 5",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Central front laminated panel strip, approx 10*1.5*116 cm.",
+        "functional_description": "Part of the segmented decorative fa\u00e7ade; also guards the inner panel joints.",
+        "movement_description": "Rigidly bonded and pinned to the cabinet body.",
+        "grasp_description": "Touchable during cleaning or when shifting the unit."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate_Oak",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                5
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+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
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+                "pos": [
+                    0.9108636379241943,
+                    0.2812871038913727,
+                    0.0
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+                "range": [
+                    0.0,
+                    1.9198621771937625
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+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001443/annotations/part_6.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001443",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Front Panel Segment 6",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Right-center vertical fa\u00e7ade strip, approx 10*1.5*116 cm.",
+        "functional_description": "Completes the front segmentation and contributes minor front rigidity.",
+        "movement_description": "No motion; rigid connection to carcass.",
+        "grasp_description": "May be touched but is not a purposeful handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate_Oak",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                6
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.00588134303689003,
+                    0.2812871038913727,
+                    0.0
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+                "range": [
+                    0.0,
+                    1.9198621771937625
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+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001443/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001443",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Front Panel Segment 7",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Near-right laminated front strip, approx 10*1.5*116 cm.",
+        "functional_description": "Front cladding; protects edges of adjacent panels.",
+        "movement_description": "Rigidly fixed; no motion.",
+        "grasp_description": "Only incidental contact expected."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate_Oak",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                7
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
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+                "pos": [
+                    -0.00491593312472105,
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+                    0.0
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+                "range": [
+                    0.0,
+                    1.9198621771937625
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+                "damping": 0.03
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+        }
+    }
+}

data/UPB_00001443/annotations/part_8.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001443",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Front Panel Segment 8 (far right)",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Far-right vertical fa\u00e7ade strip, approx 10*1.5*116 cm.",
+        "functional_description": "Edge segment finishing the right side of the front panel assembly.",
+        "movement_description": "Rigid with the main cabinet body.",
+        "grasp_description": "Edge area can be held when repositioning the unit."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate_Oak",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                8
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+            "C": {
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+                    1.0
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+                    0.0
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+                "damping": 0.03
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+        }
+    }
+}

data/UPB_00001443/annotations/part_9.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001443",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Left Side Panel",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Full-height MDF laminated side wall panel with a beveled lower front edge; approx 120*40*1.5 cm.",
+        "functional_description": "Provides structural support, resisting racking and enclosing the cabinet.",
+        "movement_description": "Rigidly fastened (screws/dowels) to the carcass and other panels.",
+        "grasp_description": "Commonly grasped at the side edges when lifting or moving the cabinet."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate_Oak",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                9
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+            "C": {
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+    }
+}

data/UPB_00001443/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_00001443/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001443",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Segmented Front Cabinet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 11,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001443/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="helper_link_4"/>
+  <link name="helper_link_5"/>
+  <link name="helper_link_6"/>
+  <link name="helper_link_7"/>
+  <link name="helper_link_8"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </visual>
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