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"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" + ], + "motion_info": { + "dependency": [ + 1 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.2574101686477661, + -0.2190992832183838, + 0.03083706647157669 + ], + "range": [ + 0.0, + 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"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" + ], + "motion_info": { + "dependency": [ + 2 + ], + "C": { + "axis": [ + 0.0, + 1.0, + 0.0 + ], + "pos": [ + 0.0, + -0.22029192745685577, + 0.38275787234306335 + ], + "range": [ + 0.0, + 6.283185307179586 + ], + "damping": 0.02 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001496/annotations/part_3.json b/data/UPB_00001496/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..6c8ed194584d61c199d83624f5279fee0378bffc --- /dev/null +++ b/data/UPB_00001496/annotations/part_3.json @@ -0,0 +1,30 @@ +{ + "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": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001496/annotations/part_4.json b/data/UPB_00001496/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..51dac026a7bf3efd07af1b334d4505a129398253 --- /dev/null +++ b/data/UPB_00001496/annotations/part_4.json @@ -0,0 +1,30 @@ +{ + "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": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001496/annotations/part_5.json b/data/UPB_00001496/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..00035dacc8d8a14c9d5f337995841d88673db773 --- /dev/null +++ b/data/UPB_00001496/annotations/part_5.json @@ -0,0 +1,30 @@ +{ + "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" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001496/annotations/part_6.json b/data/UPB_00001496/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..af515f96d872803a9e5a73f0ea9c3fe9aec4185a --- /dev/null +++ b/data/UPB_00001496/annotations/part_6.json @@ -0,0 +1,30 @@ +{ + "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": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001496/annotations/part_7.json b/data/UPB_00001496/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..4c6fa73ca82e1ceb507b6218be474aaf4da538f1 --- /dev/null +++ b/data/UPB_00001496/annotations/part_7.json @@ -0,0 +1,30 @@ +{ + "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": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001496/annotations/part_8.json b/data/UPB_00001496/annotations/part_8.json new file mode 100644 index 0000000000000000000000000000000000000000..7639576f1509a229c405d0b7afdea7c6326d43af --- /dev/null +++ b/data/UPB_00001496/annotations/part_8.json @@ -0,0 +1,30 @@ +{ + "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" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001496/annotations/part_9.json b/data/UPB_00001496/annotations/part_9.json new file mode 100644 index 0000000000000000000000000000000000000000..72a3d6250dfad19eb68e7723448d5dc2641b5bda --- /dev/null +++ b/data/UPB_00001496/annotations/part_9.json @@ -0,0 +1,30 @@ +{ + "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": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001496/full_model/material.mtl b/data/UPB_00001496/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00001496/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 \ No newline at end of file diff --git a/data/UPB_00001496/full_model/material_0.png b/data/UPB_00001496/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..54026484b8df6cfed943fdad34cd2fee74ceff71 --- /dev/null +++ b/data/UPB_00001496/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:365a0b108e0c7120e2c2607e24dd754abfd02fe4162e8a7f2ada86d8aa5e87af +size 236276 diff --git a/data/UPB_00001496/full_model/model.obj b/data/UPB_00001496/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..f46087dcd882c37ab051ec8367631f07ad6c639d --- /dev/null +++ b/data/UPB_00001496/full_model/model.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c81dfeab4c27b37f8fc7586e638a2ca9b790204a018126eeb67bbe666ab3aa8 +size 11859864 diff --git a/data/UPB_00001496/meta_data.json b/data/UPB_00001496/meta_data.json new file mode 100644 index 0000000000000000000000000000000000000000..bddf55982b754964e9d1a1a7f2c77217908f5065 --- /dev/null +++ b/data/UPB_00001496/meta_data.json @@ -0,0 +1,22 @@ +{ + "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" + } +} \ No newline at end of file diff --git a/data/UPB_00001496/model.urdf b/data/UPB_00001496/model.urdf new file mode 100644 index 0000000000000000000000000000000000000000..6d15e97463f9210b59b9132a3c19ce04637ca8de --- /dev/null +++ b/data/UPB_00001496/model.urdf @@ -0,0 +1,172 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/data/UPB_00001496/parts/1.mtl b/data/UPB_00001496/parts/1.mtl new file mode 100644 index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc --- /dev/null +++ b/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 diff --git a/data/UPB_00001496/parts/1.png b/data/UPB_00001496/parts/1.png new file mode 100644 index 0000000000000000000000000000000000000000..83ceab177ec63d044ba8f45025ea6b0cabcb168a --- /dev/null +++ b/data/UPB_00001496/parts/1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a542bbfd635aade3e6cbd2d612305719e2501a86006c82f74bf07bb1d8b1cd3 +size 91 diff --git a/data/UPB_00001496/parts/2.mtl b/data/UPB_00001496/parts/2.mtl new file mode 100644 index 0000000000000000000000000000000000000000..57a1c04a7f3f0f8866abca464506627fead239e6 --- /dev/null +++ b/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 diff --git a/data/UPB_00001496/parts/2.png b/data/UPB_00001496/parts/2.png new file mode 100644 index 0000000000000000000000000000000000000000..e396fd9b2dfe64524ce299d095fa5d625d4d38cb --- /dev/null +++ b/data/UPB_00001496/parts/2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8796b70e06127157db1cfa481e1ae8b76dab97561bda64cbdc896432c2335209 +size 97 diff --git a/data/UPB_00001496/parts/T_68b33924c26cbe0001ce9da4_color.jpg b/data/UPB_00001496/parts/T_68b33924c26cbe0001ce9da4_color.jpg new file mode 100644 index 0000000000000000000000000000000000000000..570847c4050dbb44fb55fb108375b61041e70443 --- /dev/null +++ b/data/UPB_00001496/parts/T_68b33924c26cbe0001ce9da4_color.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e486866d17c25e5b0a7257ccbf78599495cd4ff6f33b370b2c752aee94fc990d +size 13740 diff --git a/data/UPB_00001496/parts/T_68b33924c26cbe0001ce9da4_metallic.jpg b/data/UPB_00001496/parts/T_68b33924c26cbe0001ce9da4_metallic.jpg new file mode 100644 index 0000000000000000000000000000000000000000..cdbf6bd66f40909e28f968847e042111cd5a916e --- /dev/null +++ b/data/UPB_00001496/parts/T_68b33924c26cbe0001ce9da4_metallic.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8087eacf782ccd1e084e8bd8574e9fccb7be3119f7b5d2c3679b7cd48a3e57c +size 14331 diff --git a/data/UPB_00001496/parts/T_68b33924eec5d60001b33cea_color.jpg b/data/UPB_00001496/parts/T_68b33924eec5d60001b33cea_color.jpg new file mode 100644 index 0000000000000000000000000000000000000000..ab8119024c461ce2dec7602979439ac0407202c1 --- /dev/null +++ b/data/UPB_00001496/parts/T_68b33924eec5d60001b33cea_color.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:550aa946ac6bfba58ed1292462c3dd0a62571fa67cf867aa8f7941cd233f303d +size 74846 diff --git a/data/UPB_00001496/parts/part_1.obj b/data/UPB_00001496/parts/part_1.obj new file mode 100644 index 0000000000000000000000000000000000000000..dfc434bdee802ee5c6d558f4e0d18f439960de6a --- /dev/null +++ b/data/UPB_00001496/parts/part_1.obj @@ -0,0 +1,17360 @@ +# https://github.com/mikedh/trimesh +mtllib 1.mtl +usemtl material_0 +v 0.19825518 -0.24449965 0.17540427 +v 0.18435192 -0.24449979 0.19410551 +v 0.18896134 -0.25004691 0.16920745 +v 0.17502019 -0.23863931 0.21769857 +v 0.19129570 -0.23863931 0.19979262 +v 0.18059544 -0.23262198 0.22326384 +v 0.19739135 -0.23262198 0.20478515 +v 0.20572442 -0.23863931 0.18038461 +v 0.21818168 -0.23863931 0.15966919 +v 0.21228142 -0.23262198 0.18475676 +v 0.21025871 -0.24449991 0.15544343 +v -0.11559565 -0.23863943 0.26071790 +v -0.09372324 -0.23863968 0.27105808 +v -0.11931208 -0.23262210 0.26765856 +v -0.09674045 -0.23262224 0.27832913 +v -0.11136200 -0.24449991 0.25281182 +v -0.09028628 -0.24450003 0.26277536 +v -0.03702354 -0.25957364 0.23269272 +v -0.01828624 -0.25957364 0.23547535 +v -0.04070098 -0.25512382 0.25114945 +v 0.03116279 -0.27178752 0.08927077 +v 0.01770299 -0.27214372 0.08481959 +v 0.03800273 -0.27085563 0.10994048 +v 0.02813783 -0.27101394 0.11002791 +v 0.08142033 -0.25363028 0.23871446 +v 0.07426976 -0.25804788 0.22144590 +v 0.06188841 -0.25363028 0.24568260 +v -0.21090938 -0.25363040 0.04364238 +v -0.19218156 -0.25804824 0.04364247 +v -0.20987828 -0.25363064 0.02295004 +v -0.19124159 -0.25804836 0.02478152 +v -0.17019683 -0.26185697 0.04364266 +v -0.14616346 -0.26504606 0.04364293 +v -0.14576487 -0.26503298 0.05809956 +v -0.16944283 -0.26185402 0.06037720 +v -0.12187406 -0.25957411 -0.10536279 +v -0.13592553 -0.25957411 -0.09266837 +v -0.13383527 -0.25512442 -0.11990997 +v -0.12032509 -0.26339689 -0.07709754 +v -0.11885857 -0.23138821 -0.17952786 +v -0.11516354 -0.23737198 -0.17262749 +v -0.09637254 -0.23138821 -0.19015817 +v -0.12481078 -0.24861477 -0.14376468 +v -0.13092472 -0.24315225 -0.15289784 +v -0.14261988 -0.24861477 -0.13059317 +v -0.14960183 -0.24315225 -0.13908435 +v -0.13584420 -0.23737223 -0.16024692 +v -0.14019905 -0.23138821 -0.16675223 +v -0.15521972 -0.23737234 -0.14591698 +v -0.19533670 -0.23138870 -0.11689212 +v -0.18927705 -0.23737247 -0.11192837 +v -0.17863859 -0.23138858 -0.13530061 +v -0.18712240 -0.24861527 -0.08157910 +v -0.19627301 -0.24315262 -0.08768170 +v -0.19852521 -0.24861527 -0.06260879 +v -0.20823158 -0.24315250 -0.06778681 +v -0.20363601 -0.23737247 -0.09259201 +v -0.21015377 -0.23138870 -0.09693881 +v -0.21604170 -0.23737247 -0.07195307 +v -0.09337288 -0.23737198 0.27021360 +v -0.09637254 -0.23138809 0.27744258 +v -0.07066549 -0.23737198 0.27830678 +v -0.07294075 -0.23138809 0.28579414 +v -0.06809520 -0.24315201 0.26984867 +v -0.04554814 -0.24315201 0.27547765 +v -0.04340160 -0.24861453 0.26470420 +v -0.02149123 -0.24861453 0.26795813 +v -0.02256993 -0.24315201 0.27888998 +v -0.04880425 -0.23138809 0.29181969 +v -0.04727532 -0.23737186 0.28414619 +v -0.02343788 -0.23737186 0.28768614 +v 0.10692900 -0.24861453 0.24242882 +v 0.11210857 -0.24315213 0.25211641 +v 0.12598348 -0.24861453 0.23104890 +v 0.07177732 -0.23737234 0.27830643 +v 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2632/2632 2901/2901 +f 2743/2743 2742/2742 2902/2902 +f 2903/2903 2904/2904 2089/2089 +f 2480/2480 2905/2905 2906/2906 +f 2157/2157 2713/2713 2907/2907 +f 2437/2437 2487/2487 2522/2522 +f 2908/2908 2796/2796 2405/2405 +f 2823/2823 2909/2909 2397/2397 +f 2357/2357 2178/2178 2166/2166 +f 2910/2910 2911/2911 2912/2912 +f 2913/2913 2914/2914 2340/2340 +f 2915/2915 2916/2916 2917/2917 +f 2374/2374 2373/2373 2084/2084 +f 2918/2918 2919/2919 2920/2920 +f 2921/2921 2922/2922 2923/2923 +f 2924/2924 2169/2169 2925/2925 +f 2926/2926 2927/2927 2928/2928 +f 2929/2929 2930/2930 2931/2931 +f 2932/2932 2933/2933 2934/2934 +f 2935/2935 2936/2936 2446/2446 +f 2086/2086 2821/2821 2937/2937 +f 2938/2938 2939/2939 2940/2940 +f 2941/2941 2942/2942 2641/2641 +f 2801/2801 2800/2800 2943/2943 +f 2944/2944 2945/2945 2946/2946 +f 1691/1691 1692/1692 2517/2517 +f 2337/2337 2718/2718 2350/2350 +f 2947/2947 2948/2948 2949/2949 +f 2950/2950 2951/2951 2952/2952 +f 2953/2953 2173/2173 2333/2333 +f 2397/2397 2713/2713 2823/2823 +f 2954/2954 2955/2955 2543/2543 +f 2133/2133 2542/2542 2541/2541 +f 2956/2956 2227/2227 2957/2957 +f 2795/2795 2014/2014 1752/1752 +f 2958/2958 2959/2959 2960/2960 +f 2961/2961 2962/2962 2963/2963 +f 2647/2647 2964/2964 2965/2965 +f 2255/2255 2117/2117 2646/2646 +f 2966/2966 2194/2194 2193/2193 +f 2967/2967 2968/2968 2969/2969 +f 2285/2285 2488/2488 2419/2419 +f 2970/2970 1960/1960 2971/2971 +f 2506/2506 2658/2658 2972/2972 +f 1804/1804 1807/1807 2646/2646 +f 2973/2973 2040/2040 2039/2039 +f 2491/2491 2662/2662 2304/2304 +f 1960/1960 2970/2970 2974/2974 +f 2697/2697 2975/2975 2976/2976 +f 2977/2977 2907/2907 2713/2713 +f 2978/2978 2979/2979 2980/2980 +f 2493/2493 2517/2517 1692/1692 +f 2402/2402 2401/2401 2981/2981 +f 2190/2190 2189/2189 2465/2465 +f 2982/2982 2983/2983 2984/2984 +f 2362/2362 2660/2660 2360/2360 +f 2985/2985 2986/2986 2987/2987 +f 1696/1696 2692/2692 2691/2691 +f 2542/2542 2988/2988 2540/2540 +f 2283/2283 2989/2989 2281/2281 +f 2990/2990 2991/2991 2992/2992 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Washing Machine", + "category": "KitchenDining/KitchenAppliance", + "volume": [ + 60.0, + 60.0, + 85.0 + ], + "mass": 68.0 +} \ No newline at end of file diff --git a/data/UPB_00001497/annotations/part_1.json b/data/UPB_00001497/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..3e0715571e3f66bd832c079568ae817176e7c737 --- /dev/null +++ b/data/UPB_00001497/annotations/part_1.json @@ -0,0 +1,51 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001497", + "label": "1" + }, + "part_level": { + "part_name": "Front Door Outer Frame", + "affordance": 2, + "graspable": true, + "basic_description": "Molded ABS plastic circular door frame/trim with integrated handle; approx. 45 cm diameter outer ring.", + "functional_description": "Provides the handle and structure for the front door, retaining the glass and engaging the door latch/gasket to seal the drum opening.", + "movement_description": "Rotates about a side hinge relative to the cabinet, opening roughly a quarter turn to load/unload laundry.", + "grasp_description": "Users grasp the molded handle on the frame to open and close the door." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.05, + "young": 2.1, + "hardness": 15, + "poisson": 0.35, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 1 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.26687711477279663, + -0.23093494772911072, + 0.02253805845975876 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001497/annotations/part_10.json b/data/UPB_00001497/annotations/part_10.json new file mode 100644 index 0000000000000000000000000000000000000000..822bb4382e860cc666a68f7a0a7739f8b225fd77 --- /dev/null +++ b/data/UPB_00001497/annotations/part_10.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001497", + "label": "10" + }, + "part_level": { + "part_name": "Fasteners Set (Screws)", + "affordance": 10, + "graspable": false, + "basic_description": "Small steel screws/fasteners distributed around the cabinet and panels.", + "functional_description": "Provide clamping and alignment for panels and subassemblies.", + "movement_description": "No movement relative to their joined parts during operation; removable with tools for service.", + "grasp_description": "Handled with tools (screwdriver/wrench) rather than by hand." + }, + "basic_info": { + "material": "rubber/EPDM_Rubber", + "density": 1.1, + "young": 0.01, + "hardness": 2, + "poisson": 0.49, + "friction": 0.75 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001497/annotations/part_2.json b/data/UPB_00001497/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..75a92aa1433db56cb6f987890fd2d64a3339b458 --- /dev/null +++ b/data/UPB_00001497/annotations/part_2.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001497", + "label": "2" + }, + "part_level": { + "part_name": "Control Panel Fascia", + "affordance": 1, + "graspable": false, + "basic_description": "Rectangular ABS fascia with printed legends, display window and button/knob locations.", + "functional_description": "Houses user controls and indicators for cycle selection and status display.", + "movement_description": "Rigidly fixed to the cabinet; no motion in normal use.", + "grasp_description": "Touched/pressed by the user to operate buttons or turn knobs but not typically grasped." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.05, + "young": 2.0, + "hardness": 14, + "poisson": 0.36, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001497/annotations/part_3.json b/data/UPB_00001497/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..a0f54ce67b21d88bf8752760c174b0658e2fc355 --- /dev/null +++ b/data/UPB_00001497/annotations/part_3.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001497", + "label": "3" + }, + "part_level": { + "part_name": "Detergent Dispenser Drawer Front", + "affordance": 3, + "graspable": true, + "basic_description": "Slender polypropylene drawer face/handle that caps the pull-out detergent tray at the top-left of the front panel.", + "functional_description": "Allows users to pull out the dispenser to fill detergent, softener, or bleach compartments.", + "movement_description": "Slides in and out on rails relative to the cabinet with light damping to prevent slamming.", + "grasp_description": "Users pull the handle to extend the drawer and push to close." + }, + "basic_info": { + "material": "plastic/PP_Plastic", + "density": 0.9, + "young": 1.5, + "hardness": 10, + "poisson": 0.42, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001497/annotations/part_4.json b/data/UPB_00001497/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..065a937b032824ba37fa29532e955530fd0a1bb2 --- /dev/null +++ b/data/UPB_00001497/annotations/part_4.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001497", + "label": "4" + }, + "part_level": { + "part_name": "Warranty/Brand Badge", + "affordance": 10, + "graspable": false, + "basic_description": "Small printed badge/label adhered to the front panel.", + "functional_description": "Purely informational/branding; no mechanical function.", + "movement_description": "Adhesively bonded to the cabinet; no motion.", + "grasp_description": "Not meant to be touched or grasped during normal use." + }, + "basic_info": { + "material": "plastic/ABS_Foil_Laminate", + "density": 1.1, + "young": 2.0, + "hardness": 8, + "poisson": 0.36, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001497/annotations/part_5.json b/data/UPB_00001497/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..479162332ca52dba4ab8c062f9311fd7696537dd --- /dev/null +++ b/data/UPB_00001497/annotations/part_5.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001497", + "label": "5" + }, + "part_level": { + "part_name": "Top Cover Panel", + "affordance": 9, + "graspable": false, + "basic_description": "Rectangular powder\u2011coated steel sheet that closes the top of the cabinet.", + "functional_description": "Protects internal components and adds structural stiffness.", + "movement_description": "Normally fixed by screws; removable for service but no motion in operation.", + "grasp_description": "Only handled by technicians when removing/installing during service." + }, + "basic_info": { + "material": "plastic/ABS_Foil_Laminate", + "density": 1.1, + "young": 2.0, + "hardness": 8, + "poisson": 0.36, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001497/annotations/part_6.json b/data/UPB_00001497/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..a577484c6a68fc2ef381a3e45bfe2cb5f34f7d19 --- /dev/null +++ b/data/UPB_00001497/annotations/part_6.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001497", + "label": "6" + }, + "part_level": { + "part_name": "Door Window Glass", + "affordance": 5, + "graspable": false, + "basic_description": "Circular transparent soda\u2011lime glass window mounted inside the door frame.", + "functional_description": "Provides visibility into the drum while contributing to the door\u2019s seal and rigidity.", + "movement_description": "Does not move relative to the door frame; moves only as the door rotates.", + "grasp_description": "Usually not grasped directly; touched incidentally when closing the door." + }, + "basic_info": { + "material": "glass/Soda_Lime_Glass", + "density": 2.5, + "young": 70.0, + "hardness": 500, + "poisson": 0.22, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001497/annotations/part_7.json b/data/UPB_00001497/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..285e549e53fc4f15312ba75e5106a589f25fe59c --- /dev/null +++ b/data/UPB_00001497/annotations/part_7.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001497", + "label": "7" + }, + "part_level": { + "part_name": "Adjustable Leveling Foot Pad", + "affordance": 8, + "graspable": true, + "basic_description": "Small rubber pad/foot that supports a corner of the appliance and threads for height adjustment.", + "functional_description": "Provides vibration damping and allows leveling on uneven floors.", + "movement_description": "Translates up/down a small amount relative to the cabinet when adjusted.", + "grasp_description": "Grasped by hand or with a wrench during installation to level the machine." + }, + "basic_info": { + "material": "metal/Steel_Sheet_Painted", + "density": 7.85, + "young": 200.0, + "hardness": 120, + "poisson": 0.29, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001497/annotations/part_8.json b/data/UPB_00001497/annotations/part_8.json new file mode 100644 index 0000000000000000000000000000000000000000..f1ab3a878c480cdb95d1c07553a2a71b508fb8e1 --- /dev/null +++ b/data/UPB_00001497/annotations/part_8.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001497", + "label": "8" + }, + "part_level": { + "part_name": "Main Cabinet Enclosure", + "affordance": 4, + "graspable": false, + "basic_description": "Powder\u2011coated steel housing forming the appliance\u2019s structural shell with a large front opening.", + "functional_description": "Supports all subassemblies and interfaces with the door, drawer, top cover, gasket and feet.", + "movement_description": "Rigid reference frame; other parts mount to or move relative to it.", + "grasp_description": "Occasionally grasped at the sides when moving the appliance, but not intended for frequent handling." + }, + "basic_info": { + "material": "metal/Steel_Sheet_Painted", + "density": 7.85, + "young": 200.0, + "hardness": 120, + "poisson": 0.29, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001497/annotations/part_9.json b/data/UPB_00001497/annotations/part_9.json new file mode 100644 index 0000000000000000000000000000000000000000..3c13eefb1ec3583690045051afebce77e8cdcb0b --- /dev/null +++ b/data/UPB_00001497/annotations/part_9.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001497", + "label": "9" + }, + "part_level": { + "part_name": "Door Boot Gasket (Tub Collar)", + "affordance": 6, + "graspable": false, + "basic_description": "Flexible EPDM rubber cuff shaped as a short tapered cylinder that lines the front opening.", + "functional_description": "Seals between the rotating inner drum access and the door to prevent water leakage, while allowing door movement.", + "movement_description": "Fixed to the cabinet; deforms elastically when the door closes but has no independent rigid motion.", + "grasp_description": "Not grasped; may be wiped for cleaning during maintenance." + }, + "basic_info": { + "material": "metal/Steel_Sheet_Painted", + "density": 7.85, + "young": 200.0, + "hardness": 120, + "poisson": 0.29, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001497/full_model/material.mtl b/data/UPB_00001497/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00001497/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 \ No newline at end of file diff --git a/data/UPB_00001497/full_model/material_0.png b/data/UPB_00001497/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..22fcc1fad2f0a734a159329bc72197e294d7b26d --- /dev/null +++ b/data/UPB_00001497/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c76e2f3c66e62669b883f7aa370765da7af2c910193e84429fcb5beaf842f507 +size 166737 diff --git a/data/UPB_00001497/full_model/model.obj b/data/UPB_00001497/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..3a6012de1ee732b6709593692076f557dc35c15a --- /dev/null +++ b/data/UPB_00001497/full_model/model.obj @@ -0,0 +1,103230 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v 0.00140933 -0.23047100 0.31214201 +v 0.00140935 -0.24463600 0.31214201 +v 0.01817210 -0.24463600 0.31159699 +v 0.01817210 -0.23047100 0.31159699 +v 0.00140935 -0.25129500 0.30859199 +v 0.00140938 -0.25879201 0.29694900 +v 0.01724880 -0.25879201 0.29643500 +v 0.01795640 -0.25129500 0.30805400 +v 0.00140925 -0.25670600 0.29339901 +v 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