Upload folder using huggingface_hub (part 106)

.gitattributes

@@ -9999,3 +9999,20 @@ data/UPB_00001443/plys/7.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001443/plys/8.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001443/plys/9.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001443/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001444/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001444/plys/10.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001444/plys/11.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001444/plys/12.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001444/plys/16.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001444/plys/19.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001444/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001444/plys/22.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001444/plys/24.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001444/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001444/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001444/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001444/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001444/plys/7.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001444/plys/8.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001444/plys/9.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001444/plys/model.ply filter=lfs diff=lfs merge=lfs -text

data/UPB_00001444/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001444",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Vertical Handle C (for Door C)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Stainless steel handle, ~40 cm long.",
+        "functional_description": "Grip for opening Door C.",
+        "movement_description": "Rigidly fastened to the door skin.",
+        "grasp_description": "Usually grasped with a power grip."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.3,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001444/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_00001444/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001444",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Six-door Wardrobe Closet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 16,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001444/model.urdf

@@ -0,0 +1,324 @@
+<?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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_16">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_19">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_19.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_19.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_22">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_22.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_22.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_24">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_24.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_24.obj" scale="0.753428 0.753428 0.753428"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-1.030451 -0.206295 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_1"/>
+    <origin xyz="1.030451 0.206295 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_1"/>
+    <origin xyz="-0.358120 -0.206295 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_2"/>
+    <origin xyz="0.358120 0.206295 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_2"/>
+    <origin xyz="-0.317348 -0.206295 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_3"/>
+    <origin xyz="0.317348 0.206295 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.354294 -0.206295 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_4"/>
+    <origin xyz="-0.354294 0.206295 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_4"/>
+    <origin xyz="0.358440 -0.206295 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_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_5"/>
+    <origin xyz="-0.358440 0.206295 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_5"/>
+    <origin xyz="1.030365 -0.206295 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_11" type="fixed">
+    <parent link="helper_link_5"/>
+    <child link="link_6"/>
+    <origin xyz="-1.030365 0.206295 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_16" type="fixed">
+    <parent link="link_5"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_17" type="fixed">
+    <parent link="link_6"/>
+    <child link="link_12"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_18" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_16"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_19" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_19"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_20" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_22"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_21" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_24"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001444/parts/16.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 16.png

data/UPB_00001444/parts/19.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 19.png

data/UPB_00001444/parts/wardrobe_ZCZAXBJVAJTUSPTULM888888_b2xDU.mtl

@@ -0,0 +1,78 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_648c964a4334bd0001dab969
+Kd 0.896688998 0.868962824 0.827461779
+illum 1
+
+newmtl MI_648c964a794abe0001b62199
+Kd 0.865171611 0.70331496 0.472491801
+illum 1
+
+newmtl MI_648c964a8d5a8c000163e338
+Kd 0.205167294 0.178194702 0.141171798
+illum 1
+
+newmtl MI_648c964a5861b50001e31562
+Kd 0.239199996 0.529399991 0.0234999992
+illum 1
+
+newmtl MI_648c964a63bcb40001fbe5ab
+Kd 0.239199996 0.529399991 0.0234999992
+illum 1
+
+newmtl MI_648c964a1ded44000164059e
+Kd 0 0 0
+Ke 1 1 1
+illum 1
+
+newmtl MI_648c964aa6f3610001899d61
+Kd 0.239199996 0.529399991 0.0234999992
+illum 1
+
+newmtl MI_648c964a7689b60001adbe0a
+Kd 0.125390798 0.107319601 0.0711771995
+illum 1
+
+newmtl MI_648c9649c4f6ee000115999e
+Kd 0.909799993 0.909799993 0.909799993
+Ks 0.100000001 0.100000001 0.100000001
+d 1
+illum 1
+
+newmtl MI_648c964ab382f80001816c78
+Kd 0.239199996 0.529399991 0.0234999992
+illum 1
+
+newmtl MI_648c964ad8a43a0001a861cb
+Kd 0.239199996 0.529399991 0.0234999992
+illum 1
+
+newmtl MI_648c964a872b5e00015eceb2
+Kd 0.239199996 0.529399991 0.0234999992
+illum 1
+
+newmtl MI_648c9649872b5e00015eceb1
+Kd 0.239199996 0.529399991 0.0234999992
+illum 1
+
+newmtl MI_648c9649140fd600011ef4ee
+Kd 0.239199996 0.529399991 0.0234999992
+illum 1
+
+newmtl MI_648c964a36f53b0001b5877f
+Kd 0.239199996 0.529399991 0.0234999992
+illum 1
+
+newmtl MI_648c964a337dbc0001d08e65
+Kd 0.239199996 0.529399991 0.0234999992
+illum 1
+
+newmtl MI_648c964ac899b00001e7580b
+Kd 0.239199996 0.529399991 0.0234999992
+illum 1
+
+newmtl MI_648c964abc4f57000113ba74
+Kd 0.239199996 0.529399991 0.0234999992
+illum 1
+

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data/UPB_00001445/annotations/object.json

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+{
+    "object_name": "Four-door Wardrobe with Overhead Cabinets",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
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data/UPB_00001445/annotations/part_1.json

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+        "entity": "UPB_00001445",
+        "label": "1"
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+    "part_level": {
+        "part_name": "Upper Left Cabinet Door",
+        "affordance": 7,
+        "graspable": true,
+        "basic_description": "Small rectangular door panel made of laminated particle board, about 45*2*40 cm.",
+        "functional_description": "Provides access to the upper-left overhead storage compartment.",
+        "movement_description": "Rotates about vertical hinges attached to the wardrobe frame.",
+        "grasp_description": "User grasps the edge/handle and pulls to swing the door open or closed."
+    },
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data/UPB_00001445/annotations/part_2.json

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+        "basic_description": "Overhead cabinet door with a slim vertical pull integrated, roughly 45*2*40 cm.",
+        "functional_description": "Covers the upper-left-center cubby for seasonal or infrequently used items.",
+        "movement_description": "Hinged rotation relative to the frame; opens outward.",
+        "grasp_description": "Pulled by the small vertical handle to open and close."
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data/UPB_00001445/annotations/part_3.json

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+        "entity": "UPB_00001445",
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+        "basic_description": "Small laminated-wood door panel, around 45*2*40 cm.",
+        "functional_description": "Covers the upper right-center compartment to keep contents dust-free.",
+        "movement_description": "Opens by rotating on hinges fixed to the frame.",
+        "grasp_description": "Grasp the edge/handle to swing open; light force required."
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data/UPB_00001445/annotations/part_4.json

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+{
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+        "entity": "UPB_00001445",
+        "label": "4"
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+    "part_level": {
+        "part_name": "Upper Right Cabinet Door",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Rightmost overhead door with a slim integrated pull, approx. 45*2*40 cm laminated board.",
+        "functional_description": "Closes the upper-right storage cubby.",
+        "movement_description": "Hinged rotation about a vertical axis relative to the main frame.",
+        "grasp_description": "User pulls the edge/handle to access the overhead storage."
+    },
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+}