Upload folder using huggingface_hub (part 140)

data/UPB_00001509/annotations/part_10.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001509",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Mounting Fasteners Set",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Assorted steel screws/bolts (e.g., M4\u2013M6, lengths 10\u201320 mm) used around the cabinet and panel.",
+        "functional_description": "Provide rigid fastening of panels, brackets, and trim pieces to the cabinet.",
+        "movement_description": "No motion; fix components together once tightened.",
+        "grasp_description": "Handled only with tools during assembly or service."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.5,
+        "hardness": 8,
+        "poisson": 0.42,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001509/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001509",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Main Control Knob",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Round ABS rotary selector, about \u00d84 cm by 2 cm deep.",
+        "functional_description": "User rotates to select wash cycles or modes.",
+        "movement_description": "Rotational movement with detents relative to the cabinet/control panel.",
+        "grasp_description": "Twisted between fingers to set the program."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.1,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.9848077537110314,
+                    -0.17364817370370636
+                ],
+                "pos": [
+                    0.00104452,
+                    -0.23001978,
+                    0.36848058
+                ],
+                "range": [
+                    0.0,
+                    6.283185307179586
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001509/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001509",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Detergent Drawer Front/Handle",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Slim PP front strip for the detergent dispenser, about 20*3*2 cm.",
+        "functional_description": "Front handle of the pull-out detergent/softener drawer.",
+        "movement_description": "Slides in and out of the cabinet on rails.",
+        "grasp_description": "Pulled by hand to add detergent and pushed closed before starting."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.5,
+        "hardness": 8,
+        "poisson": 0.42,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001509/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001509",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Option Buttons (push keys)",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Small silicone push buttons near the display; each roughly 1.5*1.5*0.5 cm.",
+        "functional_description": "Provide input for options like temperature, spin speed, and start/pause.",
+        "movement_description": "Short linear travel to actuate underlying switches on the control PCB.",
+        "grasp_description": "Pressed with a finger; not grasped."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.5,
+        "hardness": 8,
+        "poisson": 0.42,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001509/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001509",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Drain/Outlet Hose",
+        "affordance": 8,
+        "graspable": true,
+        "basic_description": "Flexible EPDM hose about 150 cm long and 3 cm outer diameter.",
+        "functional_description": "Carries wastewater from the pump to the household drain.",
+        "movement_description": "No joint movement relative to the machine once connected; flexible routing.",
+        "grasp_description": "Handled during installation or when repositioning the appliance."
+    },
+    "basic_info": {
+        "material": "rubber/EPDM_Rubber",
+        "density": 1.15,
+        "young": 0.01,
+        "hardness": 3,
+        "poisson": 0.49,
+        "friction": 0.65
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001509/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001509",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Display Window/Screen",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Rectangular glass display cover about 10*6*0.5 cm.",
+        "functional_description": "Protects and displays the electronic interface readout (time, cycle, options).",
+        "movement_description": "Rigidly fixed to the cabinet/control panel with no motion.",
+        "grasp_description": "Viewed but not touched except for cleaning."
+    },
+    "basic_info": {
+        "material": "glass/Borosilicate_Glass",
+        "density": 2.23,
+        "young": 64.0,
+        "hardness": 500,
+        "poisson": 0.2,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001509/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001509",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Front Cabinet/Control Panel Shell",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Powder-coated steel front shell and control panel; sheet thickness ~0.8 mm; overall opening for door and controls.",
+        "functional_description": "Provides structural housing, mounts the door, control components, gasket, and supports internal subassemblies.",
+        "movement_description": "Acts as the stationary reference for all moving parts (door hinge, drawer slide, drum bearings).",
+        "grasp_description": "Not typically grasped; touched only when moving/cleaning the appliance."
+    },
+    "basic_info": {
+        "material": "metal/Steel_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 140,
+        "poisson": 0.29,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001509/annotations/part_8.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001509",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Rotating Drum Subassembly (front mount + perforated drum mouth)",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Stainless perforated cylinder at the loading mouth, approx. \u00d850 cm by 35 cm length, with front mounting plate.",
+        "functional_description": "Transfers laundry into the main rotating drum and forms part of the spinning assembly for washing and extraction.",
+        "movement_description": "Rotates continuously around the horizontal axis relative to the cabinet via bearings and motor drive.",
+        "grasp_description": "Not directly handled; occasionally touched when loading items."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193.0,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001509/annotations/part_9.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001509",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Door Gasket/Bellows with Clamps",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Flexible EPDM bellows ring (~\u00d835 cm, 3 cm cross-section) and associated clamps.",
+        "functional_description": "Seals the gap between the cabinet opening and the rotating drum mouth to prevent water leakage.",
+        "movement_description": "Rigidly fastened to the cabinet; flexes elastically during door closing and drum motion but has no jointed movement.",
+        "grasp_description": "Usually not grasped; may be pulled back for cleaning or maintenance."
+    },
+    "basic_info": {
+        "material": "rubber/EPDM_Rubber",
+        "density": 1.15,
+        "young": 0.007,
+        "hardness": 2,
+        "poisson": 0.49,
+        "friction": 0.8
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001509/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_00001509/meta_data.json

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+{
+    "id": "UPB_00001509",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Front-Loading Washing Machine"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 10,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001509/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="0.990176 0.990176 0.990176"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.990176 0.990176 0.990176"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.990176 0.990176 0.990176"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.990176 0.990176 0.990176"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.990176 0.990176 0.990176"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.990176 0.990176 0.990176"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.990176 0.990176 0.990176"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.990176 0.990176 0.990176"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.990176 0.990176 0.990176"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.990176 0.990176 0.990176"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.990176 0.990176 0.990176"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.990176 0.990176 0.990176"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.990176 0.990176 0.990176"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.990176 0.990176 0.990176"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.990176 0.990176 0.990176"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.990176 0.990176 0.990176"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.990176 0.990176 0.990176"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.990176 0.990176 0.990176"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.990176 0.990176 0.990176"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.990176 0.990176 0.990176"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_7"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.256533 -0.251002 0.452788" 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="0.256533 0.251002 -0.452788" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="continuous">
+    <parent link="link_7"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.001034 -0.227760 0.364861" rpy="0 0 0"/>
+    <axis xyz="0.0 0.9848077537110314 -0.17364817370370636"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.001034 0.227760 -0.364861" rpy="0 0 0"/>
+  </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>
+  <joint name="joint_11" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001509/parts/1.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 1.png

data/UPB_00001509/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