Upload folder using huggingface_hub (part 232)

.gitattributes

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data/UPB_00001832/annotations/object.json

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+{
+    "object_name": "Low TV Console Cabinet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        160.0,
+        40.0,
+        45.0
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+    "mass": 28.0
+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001832",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left End Door",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Square walnut door panel with two brass hinges on the left; approx 30*30*2 cm.",
+        "functional_description": "Covers the left storage compartment and closes magnetically or with a catch.",
+        "movement_description": "Rotates about its hinge axis relative to the wooden carcass; smooth, damped opening about 110 degrees.",
+        "grasp_description": "Users pull the attached drop handle rather than grasping the door edge directly."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Walnut",
+        "density": 0.64,
+        "young": 11.5,
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+        "entity": "UPB_00001832",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Right End Door Pull",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Ornate brass door pull for the right end door; length ~10 cm.",
+        "functional_description": "Provides leverage to open the right end door.",
+        "movement_description": "Pivots relative to the door face on a small hinge.",
+        "grasp_description": "Grasped with fingers when opening or closing the door."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
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+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001832",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Cabinet Carcass/Frame",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Main walnut frame including top, sides, bottom shelf rails, and internal partitions; approx 160*40*45 cm external envelope.",
+        "functional_description": "Provides structural support, houses four hinged compartments and a central drawer, and bears the load of a TV and stored items.",
+        "movement_description": "Stationary reference for all doors and the drawer; joints for hinges and slides are fixed to this part.",
+        "grasp_description": "Not typically grasped directly except when moving the furniture."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Walnut",
+        "density": 0.64,
+        "young": 11.5,
+        "hardness": 32,
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+        "friction": 0.45
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+}

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+{
+    "index": {
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+        "entity": "UPB_00001832",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Left Center Door",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Square walnut door with decorative paneling and two brass hinges; ~30*30*2 cm.",
+        "functional_description": "Closes the left-center cubby to conceal items.",
+        "movement_description": "Hinged rotation relative to carcass, opening up to about 110 degrees.",
+        "grasp_description": "Pulled via the attached ornate drop handle."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Walnut",
+        "density": 0.64,
+        "young": 11.5,
+        "hardness": 32,
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+        "friction": 0.45
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+        "entity": "UPB_00001832",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Right Center Door",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Square walnut cabinet door, panelled, with brass hinges; approx 30*30*2 cm.",
+        "functional_description": "Closes the right-center compartment.",
+        "movement_description": "Rotational door motion around the hinge line on the carcass.",
+        "grasp_description": "Operated using its drop pull handle."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Walnut",
+        "density": 0.64,
+        "young": 11.5,
+        "hardness": 32,
+        "poisson": 0.32,
+        "friction": 0.45
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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001832",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Right End Door",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Square walnut door at the right end of the console; ~30*30*2 cm with brass hinges.",
+        "functional_description": "Covers the right storage bay.",
+        "movement_description": "Swings open on hinges mounted to the carcass side stile.",
+        "grasp_description": "Pulled by the attached drop pull."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Walnut",
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+        "young": 11.5,
+        "hardness": 32,
+        "poisson": 0.32,
+        "friction": 0.45
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+        }
+    }
+}

data/UPB_00001832/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001832",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Drawer Front Panel",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Long rectangular walnut front face for the center drawer; approx 80*15*2 cm.",
+        "functional_description": "Acts as the user-facing panel of a sliding drawer that stores accessories.",
+        "movement_description": "Translates in and out relative to the carcass on drawer slides (assumed complete drawer behind the panel).",
+        "grasp_description": "Users grip the bail handle or the panel edge to pull the drawer."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Walnut",
+        "density": 0.64,
+        "young": 11.5,
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+}

data/UPB_00001832/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001832",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Left End Door Pull",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Ornate brass drop-pull handle with a hinged eye and teardrop plate; ~10 cm long.",
+        "functional_description": "Provides a grasp point to open the left end door.",
+        "movement_description": "Pivots slightly on a small hinge relative to the wooden door face.",
+        "grasp_description": "Pinched and pulled by fingers to unlatch and open the door."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
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+}

data/UPB_00001832/annotations/part_7.json

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+        "entity": "UPB_00001832",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Left Center Door Pull",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Brass drop-pull sized for the left-center door; ~10 cm long.",
+        "functional_description": "Allows the user to pull the left-center door open.",
+        "movement_description": "Freely swings a small angle as the door is pulled.",
+        "grasp_description": "Typically held with two fingers when opening or closing the door."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
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+}

data/UPB_00001832/annotations/part_8.json

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+        "entity": "UPB_00001832",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Drawer Bail Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "U-shaped brass bail pull with two rosette mounts; span ~12 cm.",
+        "functional_description": "Primary gripping point to pull the center drawer in and out.",
+        "movement_description": "Rotates on its pivot lugs relative to the drawer front as it is lifted and pulled.",
+        "grasp_description": "Grasped by four fingers underneath while pulling the drawer outward."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
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+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001832/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001832",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Right Center Door Pull",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Brass drop-pull for the right-center door; ~10 cm long.",
+        "functional_description": "Used to open the right-center door.",
+        "movement_description": "Small-angle swing about its hinge pin on the door.",
+        "grasp_description": "Pinched and pulled to actuate the door."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001832/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_00001832/full_model/model.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c28beabbbe52fd221eb0212807a5989442f3d0d482e07728f063874e970db26c
+size 34209899

data/UPB_00001832/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001832",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Low TV Console Cabinet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 11,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001832/model.urdf

@@ -0,0 +1,231 @@
+<?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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.799848 0.799848 0.799848"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.799848 0.799848 0.799848"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.799848 0.799848 0.799848"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.799848 0.799848 0.799848"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.799848 0.799848 0.799848"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.799848 0.799848 0.799848"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.799848 0.799848 0.799848"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.799848 0.799848 0.799848"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.799848 0.799848 0.799848"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.799848 0.799848 0.799848"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.799848 0.799848 0.799848"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.799848 0.799848 0.799848"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.799848 0.799848 0.799848"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.799848 0.799848 0.799848"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.799848 0.799848 0.799848"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.799848 0.799848 0.799848"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.799848 0.799848 0.799848"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.799848 0.799848 0.799848"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.799848 0.799848 0.799848"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.799848 0.799848 0.799848"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.799848 0.799848 0.799848"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.799848 0.799848 0.799848"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_11"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.749573 -0.164476 0.029828" 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="0.749573 0.164476 -0.029828" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_11"/>
+    <child link="helper_link_1"/>
+    <origin xyz="-0.270555 -0.164162 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="0.270555 0.164162 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="link_11"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.272596 -0.161479 0.032655" 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="-0.272596 0.161479 -0.032655" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="revolute">
+    <parent link="link_11"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.748490 -0.162193 0.029122" 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="-0.748490 0.162193 -0.029122" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="prismatic">
+    <parent link="link_11"/>
+    <child link="helper_link_4"/>
+    <origin xyz="0.000000 -0.167935 -0.018417" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.23995441339910908" upper="0.0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_5"/>
+    <origin xyz="-0.000000 0.167935 0.018417" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="link_5"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001832/parts/1.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 1.png

data/UPB_00001832/parts/2.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 2.png

data/UPB_00001832/parts/3.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 3.png

data/UPB_00001832/parts/4.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 4.png

data/UPB_00001832/parts/TvCabinet_6HPETG4TDD52GPTULU888888_BqSl0.mtl

@@ -0,0 +1,12 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5de0d29db1d8ad000125a4a5
+Kd 1 1 1
+illum 1
+map_Kd ./T_5de0d29db1d8ad000125a4a5_color_front.jpg
+
+newmtl MI_5de0d29d7fdaa40001c1e309
+Kd 0.870931625 0.638208985 0.364837587
+illum 1
+