Upload folder using huggingface_hub (part 67)

.gitattributes

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+{
+    "object_name": "TV Stand with Drawers",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        150.0,
+        40.0,
+        45.0
+    ],
+    "mass": 27.0
+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000849",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Drawer Box",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Rectangular drawer box made of MDF with a front cutout. Approximate size 45*35*12 cm.",
+        "functional_description": "Provides enclosed storage on the left bay of the stand.",
+        "movement_description": "Slides in and out of the cabinet on rails relative to the main body.",
+        "grasp_description": "Usually pulled using the attached handle; can be pushed by palm to close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneer",
+        "density": 0.75,
+        "young": 3.5,
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+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000849",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Center Drawer Box",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "MDF drawer box located at the center bay, about 45*35*12 cm.",
+        "functional_description": "Central storage drawer for remotes or accessories.",
+        "movement_description": "Linear translation relative to the cabinet on drawer slides.",
+        "grasp_description": "Pulled by the center handle; closed by pushing the front."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneer",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.35,
+        "friction": 0.4
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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000849",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Right Drawer Box",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Right-side MDF drawer box, roughly 45*35*12 cm.",
+        "functional_description": "Right bay storage for small items.",
+        "movement_description": "Translates in/out relative to the cabinet body.",
+        "grasp_description": "Pulled using its handle; guided shut with fingertips."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneer",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.35,
+        "friction": 0.4
+    },
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+            "B"
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+                6
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+        }
+    }
+}

data/UPB_00000849/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000849",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Left Drawer Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Curved steel pull attached to the left drawer front, about 10*2*1.5 cm.",
+        "functional_description": "Provides a comfortable grip to operate the left drawer.",
+        "movement_description": "Rigidly fixed to the drawer; no independent motion.",
+        "grasp_description": "Pinch or hook grip with fingers to pull the drawer open."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Black_Painted",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.3,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+        "motion_info": {}
+    }
+}

data/UPB_00000849/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000849",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Center Drawer Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Curved steel pull for the center drawer, approx. 10*2*1.5 cm.",
+        "functional_description": "Primary interface for opening the center drawer.",
+        "movement_description": "Rigidly fastened to the drawer front; moves together with the drawer.",
+        "grasp_description": "Fingers curl under the pull; pull outward to translate the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Black_Painted",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.3,
+        "friction": 0.55
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+    "kinematic_info": {
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+            "D"
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+        "motion_info": {}
+    }
+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000849",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Right Drawer Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Steel pull handle mounted to the right drawer front.",
+        "functional_description": "Enables gripping and pulling the right drawer.",
+        "movement_description": "Rigidly attached; no motion other than that of the drawer.",
+        "grasp_description": "Pinch or hook grip to open and close the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Black_Painted",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.3,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000849/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000849",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Angled Leg Set",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Four angled hardwood legs supporting the cabinet; approx. 15 cm tall each.",
+        "functional_description": "Provide elevation and load-bearing support for the cabinet.",
+        "movement_description": "Rigidly fixed to the cabinet body; no relative motion.",
+        "grasp_description": "Not intended to be grasped; occasionally touched when moving the unit."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Generic",
+        "density": 0.65,
+        "young": 10.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+        "motion_info": {}
+    }
+}

data/UPB_00000849/annotations/part_8.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000849",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Main Cabinet Body",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "The MDF cabinet carcass with top open compartments and lower drawer bays. Approx. 150*40*35 cm excluding legs.",
+        "functional_description": "Provides structure, shelves, and guides for drawers; supports loads placed on top.",
+        "movement_description": "Acts as the parent for the drawers' sliding motion; rigidly connected to legs and rear panels.",
+        "grasp_description": "Not typically grasped except when lifting/moving the furniture as a whole."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneer",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000849/annotations/part_9.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000849",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Rear Cable Panels",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Set of four thin MDF back panels with circular pass-through holes, each about 37*18*0.5 cm.",
+        "functional_description": "Close the rear of the top compartments and route cables through the holes.",
+        "movement_description": "Rigidly attached to the cabinet body; no motion.",
+        "grasp_description": "Rarely touched after assembly; may be handled when connecting cables."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Thin",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 22,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
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+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000849/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_00000849/meta_data.json

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+{
+    "id": "UPB_00000849",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "TV Stand with Drawers"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 9,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000849/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>
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+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.907853 0.907853 0.907853"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.907853 0.907853 0.907853"/>
+      </geometry>
+    </visual>
+    <collision>
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+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
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+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.907853 0.907853 0.907853"/>
+      </geometry>
+    </collision>
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