Upload folder using huggingface_hub (part 242)

.gitattributes

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+{
+    "object_name": "Bookshelf Cabinet with Sliding Doors and Drawers",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        80.0,
+        35.0,
+        180.0
+    ],
+    "mass": 45.0
+}

data/UPB_00001885/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001885",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Decorative brass accents (top grille rods and foot caps)",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Small brass pieces including the five rods in the top back rail and protective caps at the feet, attached to a wooden cabinet body; each element is a few centimeters in size.",
+        "functional_description": "Provide decorative highlight and minor protection at the feet; no independent motion.",
+        "movement_description": "Rigidly fixed to the main wooden frame; they move only when the cabinet moves.",
+        "grasp_description": "Not intended to be grasped during normal use."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy",
+        "density": 8.4,
+        "young": 100.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
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+        "motion_types": [
+            "D"
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+    }
+}

data/UPB_00001885/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001885",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Main wooden frame and shelves",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Dark hardwood cabinet carcass with open upper shelves, two small central drawer bays, and a lower compartment with sliding doors; approx 80\u00d735\u00d7180 cm.",
+        "functional_description": "Provides the structural support for shelves, drawers, and door tracks.",
+        "movement_description": "Stationary reference for the sliding doors and pull-out drawers.",
+        "grasp_description": "Normally not grasped except when moving the entire cabinet."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Generic",
+        "density": 0.7,
+        "young": 12.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
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+            "D"
+        ],
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+    }
+}

data/UPB_00001885/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001885",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Left sliding door (slatted)",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Left-hand wooden slatted panel for the lower compartment; approx 36*2*45 cm.",
+        "functional_description": "Covers and reveals the lower storage by sliding horizontally.",
+        "movement_description": "Translates along a lower track in front of/behind the right door; no rotation.",
+        "grasp_description": "Users slide the door by its slats or attached handle."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Generic",
+        "density": 0.7,
+        "young": 12.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
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+            "C"
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+                3,
+                7
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+    }
+}

data/UPB_00001885/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001885",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Right sliding door (slatted)",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Right-hand wooden slatted panel for the lower compartment; approx 36*2*45 cm.",
+        "functional_description": "Complements the left door to close the lower cabinet; slides horizontally.",
+        "movement_description": "Translates along tracks relative to the main frame.",
+        "grasp_description": "Grasped at the edge or pull to slide open/closed."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Generic",
+        "density": 0.7,
+        "young": 12.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.45
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+            "C"
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+    }
+}

data/UPB_00001885/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001885",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Upper drawer (left)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Left small drawer module with decorative front panel; approx 35*30*12 cm.",
+        "functional_description": "Holds small items in the middle section of the cabinet.",
+        "movement_description": "Slides in and out along wooden/runner guides; straight translation.",
+        "grasp_description": "Pulled by hand at the front edge to access contents."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Generic",
+        "density": 0.7,
+        "young": 12.0,
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+        "poisson": 0.35,
+        "friction": 0.45
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+            "B"
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+                    1.0,
+                    0.0
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+                    0.0
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+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001885/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001885",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Upper drawer (right)",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Right small drawer module with matching front panel; approx 35*30*12 cm.",
+        "functional_description": "Provides additional small-item storage.",
+        "movement_description": "Translates outward/inward along drawer slides relative to the frame.",
+        "grasp_description": "Pulled by hand from the front face."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Generic",
+        "density": 0.7,
+        "young": 12.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.45
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+            "B"
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+                6
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+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001885/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001885",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Left door pull",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Brass decorative handle/knocker attached to the left sliding door; roughly 5*3*9 cm.",
+        "functional_description": "Provides a comfortable grip to slide the left door.",
+        "movement_description": "No independent motion; moves rigidly with the door panel.",
+        "grasp_description": "Users grasp the handle to pull the door along its track."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy",
+        "density": 8.4,
+        "young": 100.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.4
+    },
+    "kinematic_info": {
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+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001885/annotations/part_8.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001885",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Right door pull",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Brass decorative handle/knocker attached to the right sliding door; roughly 5*3*9 cm.",
+        "functional_description": "Provides a grip to slide the right door.",
+        "movement_description": "Rigidly fixed to the right door; no relative motion.",
+        "grasp_description": "Grasped directly to move the right sliding door."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy",
+        "density": 8.4,
+        "young": 100.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.4
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+    "kinematic_info": {
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+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001885/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_00001885/full_model/model.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:c4790e308bafe8779f810984200c451a57c177e6a8a6acd4a6f88693deae3020
+size 35731244

data/UPB_00001885/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001885",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Bookshelf Cabinet with Sliding Doors and Drawers"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 8,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001885/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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.857143 0.857143 0.857143"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.857143 0.857143 0.857143"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.857143 0.857143 0.857143"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.857143 0.857143 0.857143"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.857143 0.857143 0.857143"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.857143 0.857143 0.857143"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.857143 0.857143 0.857143"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.857143 0.857143 0.857143"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.857143 0.857143 0.857143"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.857143 0.857143 0.857143"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.857143 0.857143 0.857143"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.857143 0.857143 0.857143"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.857143 0.857143 0.857143"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.857143 0.857143 0.857143"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.857143 0.857143 0.857143"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.857143 0.857143 0.857143"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_2"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.380636 -0.151624 -0.513707" 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="0.380636 0.151624 0.513707" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_2"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.380711 -0.148863 -0.576254" 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="-0.380711 0.148863 0.576254" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_2"/>
+    <child link="helper_link_2"/>
+    <origin xyz="-0.191110 -0.160861 0.017340" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2571428796056953" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_5"/>
+    <origin xyz="0.191110 0.160861 -0.017340" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="prismatic">
+    <parent link="link_2"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.191936 -0.162276 0.018025" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2571428796056953" upper="0.0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_6"/>
+    <origin xyz="-0.191936 0.162276 -0.018025" 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>
+</robot>

data/UPB_00001885/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_00001885/parts/6.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 6.png

data/UPB_00001885/parts/WineCabinet_6GDN4GETDD52APTULM888888_lw03y.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5db845f0e113f6000115c318
+Kd 1 1 1
+illum 1
+map_Kd ./T_5db845f0e113f6000115c318_color.jpg
+
+newmtl MI_5db845f0b1d8ad000159fe4d
+Kd 1 1 1
+illum 1
+map_Kd ./T_5db845f0b1d8ad000159fe4d_color.jpg
+
+newmtl MI_5db845f07d6a63000120fb75
+Kd 1 1 1
+illum 1
+map_Kd ./T_5db845f07d6a63000120fb75_color.jpg
+

data/UPB_00001885/parts/part_2.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:5bd39d0bce6a7f48c3ba37d214b64e7df9c90a9855676668f19276c8172d1c8c
+size 32542313

data/UPB_00001885/parts/part_7.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78fc2d9f00cdda02782d60776e726828260aff6c7f5caf1103da1c0dba99fdf3
+size 17715231

data/UPB_00001885/parts/part_8.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7395541a3e3384f3d8ad9a7dd481d6811146e8550875153788d946ceebcb9af9
+size 17514245

data/UPB_00001885/plys/1.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1122374f8f66dc5ae01c95702fd2bebcc0162381c915d1d9ac4e65ccb2c9dd17
+size 160242

data/UPB_00001885/plys/2.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b96868323184d8211ec78d215959293381ff5b9c9e28b6bec0cb484a7b6fb521
+size 1386210