Upload folder using huggingface_hub (part 210)

.gitattributes

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data/UPB_00001646/annotations/object.json

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+{
+    "object_name": "Two-Drawer Nightstand",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        50.0,
+        40.0,
+        55.0
+    ],
+    "mass": 17.0
+}

data/UPB_00001646/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001646",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Upper Drawer Front Panel",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Hardwood upper drawer face panel with raised molding, approx. 45 cm wide, 15 cm high, and 1.8 cm thick.",
+        "functional_description": "Serves as the visible face of the upper drawer and connects to the drawer box; provides mounting surface for the knob.",
+        "movement_description": "The drawer assembly attached to this front translates in and out relative to the cabinet on wooden/metal runners, up to ~30 cm.",
+        "grasp_description": "Typically pushed to close; usually pulled by the knob rather than grasping the panel."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak_Varnished",
+        "density": 0.65,
+        "young": 10.0,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                3
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
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+            }
+        }
+    }
+}

data/UPB_00001646/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001646",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Lower Drawer Front Panel",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Hardwood lower drawer face panel with matching raised molding, approx. 45 cm wide, 16 cm high, and 1.8 cm thick.",
+        "functional_description": "Visible front for the lower drawer; supports the lower knob and connects to the drawer box.",
+        "movement_description": "Translates in and out of the cabinet body on slides, similar travel to the upper drawer (~30 cm).",
+        "grasp_description": "Usually pulled by the knob and pushed by hand to close; the panel itself is not normally grasped."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak_Varnished",
+        "density": 0.65,
+        "young": 10.0,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                4
+            ],
+            "B": {
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+                    1.0,
+                    0.0
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+            }
+        }
+    }
+}

data/UPB_00001646/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001646",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Upper Drawer Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Cast zinc-alloy floral knob, roughly 3\u20133.5 cm diameter with a screw boss for mounting.",
+        "functional_description": "Primary handle for pulling and pushing the upper drawer.",
+        "movement_description": "Rigidly fixed to the upper drawer front; moves together with the drawer during translation.",
+        "grasp_description": "Pinched or grasped by fingers to pull the upper drawer open and push it closed."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Cast_Polished",
+        "density": 6.6,
+        "young": 83.0,
+        "hardness": 120,
+        "poisson": 0.33,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001646/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001646",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Lower Drawer Knob",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Cast zinc-alloy floral knob matching the upper, ~3\u20133.5 cm diameter, secured by a through-screw.",
+        "functional_description": "Handle for operating the lower drawer.",
+        "movement_description": "Rigidly attached to the lower drawer front; translates with the drawer as it opens/closes.",
+        "grasp_description": "Grasped between fingers to actuate the lower drawer."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Cast_Polished",
+        "density": 6.6,
+        "young": 83.0,
+        "hardness": 120,
+        "poisson": 0.33,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001646/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001646",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Cabinet Body (Carcass)",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Main wooden carcass of the nightstand with top, sides, back, and internal supports; approximate outer size 50\u00d740\u00d755 cm.",
+        "functional_description": "Provides structural support and houses the two drawers; contains guides/rails for smooth drawer translation and supports decorative feet and top.",
+        "movement_description": "Stationary reference frame; allows relative translation of drawers (parts 1 and 2) along the depth direction within defined travel.",
+        "grasp_description": "Occasionally grasped at the sides or base when moving the furniture; not interacted with during normal drawer use."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak_Varnished",
+        "density": 0.6,
+        "young": 9.0,
+        "hardness": 30,
+        "poisson": 0.32,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001646/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_00001646/meta_data.json

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+{
+    "id": "UPB_00001646",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Two-Drawer Nightstand"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 5,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001646/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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.969474 0.969474 0.969474"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.969474 0.969474 0.969474"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.969474 0.969474 0.969474"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.969474 0.969474 0.969474"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.969474 0.969474 0.969474"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.969474 0.969474 0.969474"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.969474 0.969474 0.969474"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.969474 0.969474 0.969474"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.969474 0.969474 0.969474"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.969474 0.969474 0.969474"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_5"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.171165 0.121406" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2908421734511916" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.171165 -0.121406" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_5"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 -0.171165 -0.042432" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2908421734511916" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 0.171165 0.042432" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001646/parts/Nightstand_6HHA7SBVAZWCGPTUKU888888_BZpfz.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5df095787fdaa40001cd8ded
+Kd 0.5828982 0.5504691 0.515187442
+illum 1
+
+newmtl MI_5df0957817e93b000148bbf7
+Kd 1 1 1
+illum 1
+map_Kd ./T_5df0957817e93b000148bbf7_color.jpg
+

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001647/annotations/object.json

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+{
+    "object_name": "Bedside Cabinet with Drawer",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        45.0,
+        35.0,
+        45.0
+    ],
+    "mass": 13.0
+}

data/UPB_00001647/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001647",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Drawer (front with pull and box)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "A lacquered MDF drawer assembly with a centered curved pull on the front face. Approximate overall size 40*16*30 cm (W*H*D).",
+        "functional_description": "Provides enclosed storage; the front panel with handle allows the drawer to be pulled open and pushed closed.",
+        "movement_description": "Slides linearly in and out on guides within the cabinet carcass. Travel is about 28 cm with light damping from friction/soft-close runners.",
+        "grasp_description": "Users grasp the central pull on the drawer front to open/close the drawer."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Lacquered",
+        "density": 0.75,
+        "young": 4.0,
+        "hardness": 15,
+        "poisson": 0.25,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "B": {
+                "axis": [
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+                    1.0,
+                    0.0
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+                    0.0
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+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001647/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001647",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Cabinet Carcass (body with shelves)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Main plywood carcass with curved side panels and internal shelf rails; forms the structural frame. Approximate size 45*35*45 cm.",
+        "functional_description": "Provides structural support, houses the drawer, and offers an open shelf space above the drawer.",
+        "movement_description": "Stationary part that defines the reference frame for all moving components; provides slide tracks/stops for the drawer.",
+        "grasp_description": "Not typically grasped directly except when repositioning the furniture."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Bent",
+        "density": 0.62,
+        "young": 9.5,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001647/annotations/part_3.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001647",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Top Slab",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "A thin marble top with rounded front corners that sits on the cabinet. Approximate size 45*35*1 cm.",
+        "functional_description": "Provides a durable, scratch-resistant surface for placing items and adds weight for stability.",
+        "movement_description": "Rigidly fixed to the cabinet body using adhesives or concealed fasteners; no relative motion.",
+        "grasp_description": "Rarely grasped; touched when cleaning or lifting the whole cabinet."
+    },
+    "basic_info": {
+        "material": "stone/Marble",
+        "density": 2.7,
+        "young": 70.0,
+        "hardness": 25,
+        "poisson": 0.25,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001647/annotations/part_4.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001647",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "U-Frame Edge Guard/Trim",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Bent tubular steel frame that wraps the top front edge and continues down the two front corners; tube diameter ~1.2 cm; top span ~43*33 cm.",
+        "functional_description": "Protects edges from impact, adds stiffness and a handhold for moving the cabinet, and visually frames the top.",
+        "movement_description": "Rigidly fastened to the carcass via screws/bolts; no relative motion.",
+        "grasp_description": "Users may grasp the metal frame to reposition the cabinet or as a protective rail when moving it."
+    },
+    "basic_info": {
+        "material": "plastic",
+        "density": 1.0620871407760706,
+        "young": 2.2253158522050236,
+        "hardness": 13.668123427360614,
+        "poisson": 0.3764176930207783,
+        "friction": 0.4458561779896716
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001647/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_00001647/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001647",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Bedside Cabinet with Drawer"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 4,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001647/model.urdf

@@ -0,0 +1,80 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.818182 0.818182 0.818182"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.818182 0.818182 0.818182"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.818182 0.818182 0.818182"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.818182 0.818182 0.818182"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.818182 0.818182 0.818182"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.818182 0.818182 0.818182"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.818182 0.818182 0.818182"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.818182 0.818182 0.818182"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_2"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.178971 -0.092161" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.24545454985266077" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.178971 0.092161" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>