Upload folder using huggingface_hub (part 4)

.gitattributes

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+{
+    "object_name": "Sliding-Door Cabinet with Shelves",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        160.0,
+        40.0,
+        120.0
+    ],
+    "mass": 65.0
+}

data/UPB_00000474/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000474",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Cabinet carcass with cubby shelves",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Main wooden carcass made from laminated particle board, about 160\u00d740\u00d7120 cm overall, incorporating a grid of cubby shelves in the center-left and providing structural support for sliding doors.",
+        "functional_description": "Provides the structural frame, storage volume and mounting faces for tracks and doors.",
+        "movement_description": "The carcass is fixed; sliding doors move relative to the track assembly that is rigidly mounted to it.",
+        "grasp_description": "Not typically grasped directly during use."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminate",
+        "density": 0.65,
+        "young": 2.5,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
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+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+        "motion_info": {}
+    }
+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000474",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Handle for panel D",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Powder-coated aluminum handle mounted on the rightmost sliding panel.",
+        "functional_description": "Provides a secure grip for moving panel D.",
+        "movement_description": "Rigidly fixed; moves solely with the attached door.",
+        "grasp_description": "Frequently grasped when opening the right side of the cabinet."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 110,
+        "poisson": 0.33,
+        "friction": 0.35
+    },
+    "kinematic_info": {
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+            "D"
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+        "motion_info": {}
+    }
+}

data/UPB_00000474/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000474",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Sliding door track frame (top & bottom rails with side trims)",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Powder-coated aluminum track and perimeter frame guiding multiple sliding panels; spans nearly the full cabinet opening.",
+        "functional_description": "Guides the door panels on low-friction channels and keeps them aligned; mounts rigidly to the carcass.",
+        "movement_description": "Stationary; provides horizontal translation paths for the four door panels.",
+        "grasp_description": "Not intended to be grasped."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.25
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+            "D"
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+    }
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data/UPB_00000474/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000474",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Sliding door panel A (leftmost)",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Laminated MDF door panel (~150\u00d730\u00d72 cm) that rides in the track.",
+        "functional_description": "Covers part of the cabinet front and can be slid to access shelves.",
+        "movement_description": "Translates horizontally along the track frame with soft damping.",
+        "grasp_description": "Usually moved by its attached handle; can also be pushed along its edge."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                7
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+            "C": {
+                "axis": [
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+                    -1.0
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+                "pos": [
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+                "range": [
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+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000474/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000474",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Sliding door panel B (mid-left)",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Second laminated MDF sliding panel (~150\u00d730\u00d72 cm).",
+        "functional_description": "Provides additional coverage and overlaps neighboring panels to close the cabinet.",
+        "movement_description": "Slides left-right within the aluminum tracks.",
+        "grasp_description": "Grasped via its vertical handle to open or close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                8
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+            "C": {
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+                    1.0
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+                "pos": [
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+                    0.0
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+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000474/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000474",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Sliding door panel C (mid-right)",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Third laminated MDF sliding panel (~150\u00d730\u00d72 cm).",
+        "functional_description": "Opens access to the central cubbies when translated aside.",
+        "movement_description": "Moves horizontally along the tracks with moderate damping for smooth stops.",
+        "grasp_description": "Pulled or pushed by the attached vertical handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
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+            "dependency": [
+                5,
+                9
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+            "C": {
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+                    -1.0
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+                "pos": [
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+                "damping": 0.03
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+        }
+    }
+}

data/UPB_00000474/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000474",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Sliding door panel D (rightmost)",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Fourth laminated MDF sliding panel (~150\u00d730\u00d72 cm).",
+        "functional_description": "Completes the set of overlapping doors to close the cabinet opening.",
+        "movement_description": "Slides left-right within the track assembly.",
+        "grasp_description": "Operated by the rigidly attached handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                6,
+                10
+            ],
+            "C": {
+                "axis": [
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+                    1.0
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+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000474/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000474",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Handle for panel A",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Powder-coated aluminum bar handle (~25\u00d72\u00d72 cm) mounted vertically on the leftmost sliding panel.",
+        "functional_description": "Provides a comfortable grip to move panel A.",
+        "movement_description": "Rigidly fixed to its door and moves only when the door translates.",
+        "grasp_description": "Common grip point for opening and closing the leftmost door."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 110,
+        "poisson": 0.33,
+        "friction": 0.35
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+}

data/UPB_00000474/annotations/part_8.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000474",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Handle for panel B",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Black anodized aluminum bar handle fitted to panel B.",
+        "functional_description": "Primary user interface for sliding panel B.",
+        "movement_description": "Rigidly fixed; follows the translation of its panel.",
+        "grasp_description": "Users pull or push here to reposition the mid-left panel."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 110,
+        "poisson": 0.33,
+        "friction": 0.35
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+}

data/UPB_00000474/annotations/part_9.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000474",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Handle for panel C",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Vertical aluminum handle attached to panel C.",
+        "functional_description": "Enables controlled sliding of the mid-right panel.",
+        "movement_description": "No independent motion; rigid to its door panel.",
+        "grasp_description": "Comfortable bar for the right-hand reach."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 110,
+        "poisson": 0.33,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000474/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_00000474/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00000474",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Sliding-Door Cabinet with Shelves"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 10,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000474/model.urdf

@@ -0,0 +1,206 @@
+<?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="0.551724 0.551724 0.551724"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.551724 0.551724 0.551724"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.551724 0.551724 0.551724"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.551724 0.551724 0.551724"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.551724 0.551724 0.551724"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.551724 0.551724 0.551724"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.551724 0.551724 0.551724"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.551724 0.551724 0.551724"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.551724 0.551724 0.551724"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.551724 0.551724 0.551724"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.551724 0.551724 0.551724"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.551724 0.551724 0.551724"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.551724 0.551724 0.551724"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.551724 0.551724 0.551724"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.551724 0.551724 0.551724"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.551724 0.551724 0.551724"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.551724 0.551724 0.551724"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.551724 0.551724 0.551724"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.551724 0.551724 0.551724"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.551724 0.551724 0.551724"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_2"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.765502 -0.159537 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_3"/>
+    <origin xyz="0.765502 0.159537 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_2"/>
+    <child link="helper_link_1"/>
+    <origin xyz="-0.334664 -0.159537 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_4"/>
+    <origin xyz="0.334664 0.159537 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="link_2"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.336798 -0.159537 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_5"/>
+    <origin xyz="-0.336798 0.159537 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="revolute">
+    <parent link="link_2"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.768410 -0.159537 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_6"/>
+    <origin xyz="-0.768410 0.159537 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="link_5"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="link_6"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00000474/parts/Bookcase_6KPTAYBVAVOM2PTUJU888888_HNc55.mtl

@@ -0,0 +1,12 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5ea1ace600e3a30001a7281f
+Kd 1 1 1
+illum 1
+map_Kd ./T_5ea1ace600e3a30001a7281f_color.jpg
+
+newmtl MI_5ea1ace6c6ff5a0001c60b2b
+Kd 0 0 0
+illum 1
+

data/UPB_00000474/parts/part_1.obj

@@ -0,0 +1,1774 @@
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+{
+    "object_name": "Corner Wall Unit Desk with Wardrobe",
+    "category": "Furniture/OfficeFurniture",
+    "volume": [
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+    ],
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+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000475",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "L-shaped Desk Base with Right Shelf Tower",
+        "affordance": 1,
+        "graspable": false,
+        "basic_description": "Main desk assembly made from melamine-laminated particle board; includes an L-shaped worktop, a left pedestal opening for a drawer, and a narrow vertical shelf tower at the rear-right. Approx footprint 150\u00d7150 cm, top thickness 2.5 cm.",
+        "functional_description": "Provides the primary work surface and supports the drawer module. The right tower gives vertical storage/display.",
+        "movement_description": "Stationary structure; provides the fixed rails/housing for the sliding drawer (part 8) and a rigid seat for the cable grommet (part 3).",
+        "grasp_description": "Users rest forearms and place objects on it; it is not typically grasped and is too bulky to handle directly."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Melamine",
+        "density": 0.65,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
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+}

data/UPB_00000475/annotations/part_10.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000475",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Handle for Center Upper Door",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Vertical powder-coated steel pull sized for the center door (part 6), approx 12 cm long.",
+        "functional_description": "Grip point for opening/closing the center cabinet.",
+        "movement_description": "Rigid with its door; no relative movement.",
+        "grasp_description": "Grasped with fingertips to actuate the hinged door."
+    },
+    "basic_info": {
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+}