Upload folder using huggingface_hub (part 128)

.gitattributes

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data/UPB_00001496/annotations/object.json

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+{
+    "object_name": "Front-Load Washing Machine",
+    "category": "KitchenDining/KitchenDining_Other",
+    "volume": [
+        60.0,
+        60.0,
+        85.0
+    ],
+    "mass": 65.0
+}

data/UPB_00001496/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001496",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Front Door (glass window)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Circular tempered-glass door window with a thin molded rim, about \u00d835 cm and 1 cm thick.",
+        "functional_description": "Provides access to the drum and a view of the load while sealing the opening against splashes with a gasket on the cabinet.",
+        "movement_description": "Hinged on the cabinet; rotates outward about a vertical axis with a limited opening angle.",
+        "grasp_description": "Users grasp the edge/handle area to pull the door open and push it closed."
+    },
+    "basic_info": {
+        "material": "glass/Tempered_Soda_Lime_Glass",
+        "density": 2.5,
+        "young": 70.0,
+        "hardness": 600,
+        "poisson": 0.22,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
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+        "motion_info": {
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+                1
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+    }
+}

data/UPB_00001496/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001496",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Program Selector Knob",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Front-panel rotary selector, about \u00d84 cm and 2.5 cm deep, molded ABS.",
+        "functional_description": "Used to select washing programs by turning to indexed positions.",
+        "movement_description": "Rotates relative to the control panel with detents; small torsional damping from the internal mechanism.",
+        "grasp_description": "Pinch-turn with fingertips; rubber ring (part 5) improves grip."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.3,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
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+}

data/UPB_00001496/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001496",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Casing Fasteners (screw set)",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Set of small steel screws (e.g., M4\u00d712 mm) located at the base and panel joints; shown as multiple small dots.",
+        "functional_description": "Secure the housing panels and internal components to the cabinet structure.",
+        "movement_description": "No relative motion in operation; rigidly fixes panels together.",
+        "grasp_description": "Handled only during assembly or service with a screwdriver."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 10,
+        "poisson": 0.36,
+        "friction": 0.5
+    },
+    "kinematic_info": {
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+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001496/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001496",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Knob Bezel (trim ring)",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Thin circular trim around the selector opening, ~\u00d85 cm outer diameter, ~0.5 cm wide.",
+        "functional_description": "Provides a clean finish on the control panel and guides the rotating knob.",
+        "movement_description": "Fixed to the panel; the selector knob rotates inside it without interference.",
+        "grasp_description": "Not intended for grasping; only touched incidentally."
+    },
+    "basic_info": {
+        "material": "plastic/PC-ABS_Blend",
+        "density": 1.12,
+        "young": 2.4,
+        "hardness": 12,
+        "poisson": 0.36,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001496/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001496",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Knob Grip Ring",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Flexible black silicone ring fitted around the selector knob rim; ~\u00d84 cm with ~3\u20134 mm cross\u2011section.",
+        "functional_description": "Increases friction and comfort when turning the program knob.",
+        "movement_description": "Rigidly attached to the knob and rotates with it.",
+        "grasp_description": "Users grip this soft ring while turning the knob."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 10,
+        "poisson": 0.36,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+        "motion_info": {}
+    }
+}

data/UPB_00001496/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001496",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Inner Drum",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Cylindrical perforated drum with internal lifters, approx. \u00d850 cm and 40 cm deep, stainless steel sheet.",
+        "functional_description": "Holds and tumbles laundry; rotates during wash and spin cycles.",
+        "movement_description": "Rotates around its horizontal axis supported by bearings within the cabinet.",
+        "grasp_description": "Occasionally touched during loading/unloading but not grasped for actuation."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193.0,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001496/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001496",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Display/Control Panel Lens",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Rectangular black acrylic cover for the electronic display, about 20*7*0.3 cm.",
+        "functional_description": "Protects and visually presents cycle information; may include capacitive touch areas for selection.",
+        "movement_description": "Fixed to the cabinet/control housing with no relative motion.",
+        "grasp_description": "Users tap or wipe this surface to read settings; not grasped."
+    },
+    "basic_info": {
+        "material": "plastic/PMMA_Acrylic",
+        "density": 1.18,
+        "young": 3.2,
+        "hardness": 18,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001496/annotations/part_8.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001496",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Cabinet/Housing",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Main structural body of the washer with a circular front opening and control recess; approx. 60*60*85 cm, powder\u2011coated steel.",
+        "functional_description": "Supports all components, provides mounting points for drum, door, and controls, and encloses the wash system.",
+        "movement_description": "Stationary frame; acts as the parent reference for rotating door, drum, and knob.",
+        "grasp_description": "Handled only when moving the appliance; not a primary touch surface during normal use."
+    },
+    "basic_info": {
+        "material": "metal/Powder-Coated_Steel_Sheet",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 120,
+        "poisson": 0.29,
+        "friction": 0.6
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+        "motion_info": {}
+    }
+}

data/UPB_00001496/annotations/part_9.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001496",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Front Badges and Vent Grilles",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Small logo badge and two perforated grille pieces on the upper front area; each a few centimeters across.",
+        "functional_description": "Branding and minor ventilation openings for electronics or sound.",
+        "movement_description": "Rigidly fixed to the cabinet; no relative motion.",
+        "grasp_description": "Not intended to be touched during normal operation."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 10,
+        "poisson": 0.36,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001496/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

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+version https://git-lfs.github.com/spec/v1
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+size 11859864

data/UPB_00001496/meta_data.json

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+{
+    "id": "UPB_00001496",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenDining_Other",
+        "object_name": "Front-Load Washing Machine"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 9,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001496/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="1.000000 1.000000 1.000000"/>
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+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.000000 1.000000 1.000000"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.000000 1.000000 1.000000"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
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+      </geometry>
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+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.000000 1.000000 1.000000"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.000000 1.000000 1.000000"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.000000 1.000000 1.000000"/>
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+    <collision>
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+      </geometry>
+    </collision>
+  </link>
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+    <visual>
+      <geometry>
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+    <collision>
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+  </link>
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+      <geometry>
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+    <collision>
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+  </link>
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+  </link>
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+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.000000 1.000000 1.000000"/>
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+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_8"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.257410 -0.219099 0.030837" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
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+    <axis xyz="0.0 1.0 0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
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+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <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>
+  <joint name="joint_7" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001496/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_00001496/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_00001496/parts/part_5.obj

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