Upload folder using huggingface_hub (part 144)

.gitattributes

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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_00001512/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001512",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Front Door (Glass Porthole)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Tempered glass circular door with a plastic/metallic rim, approx. 35 cm diameter and 4 cm thick, for a front-load washer.",
+        "functional_description": "Provides access to the drum, seals the opening with a gasket to prevent leaks, and allows users to view the wash cycle.",
+        "movement_description": "Side-hinged rotation about a vertical axis relative to the cabinet; opens outward with limited damping provided by hinge friction and latch.",
+        "grasp_description": "Users grasp the rim/handle area to open and close; also used to align and latch before starting a cycle."
+    },
+    "basic_info": {
+        "material": "glass/Soda_Lime_Glass_Tempered",
+        "density": 2.5,
+        "young": 70.0,
+        "hardness": 600,
+        "poisson": 0.22,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
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+            "C": {
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+        }
+    }
+}

data/UPB_00001512/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001512",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Cabinet and Control Assembly",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Powder-coated steel outer cabinet with front control panel and detergent drawer; forms the main structural body of the washer (approx. 60\u00d760\u00d785 cm).",
+        "functional_description": "Houses and supports internal components (drum, motor, suspension, valves), provides the interface for controls and detergent loading, and anchors the front door and gasket.",
+        "movement_description": "Rigid stationary structure; serves as the parent frame for the hinged door and all internal mechanisms.",
+        "grasp_description": "Users touch the control panel and drawer; edges or sides may be grasped when repositioning the appliance."
+    },
+    "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_00001512/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_00001512/meta_data.json

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+{
+    "id": "UPB_00001512",
+    "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": 2,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001512/model.urdf

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+<?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="0.974764 0.974764 0.974764"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.974764 0.974764 0.974764"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.974764 0.974764 0.974764"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.974764 0.974764 0.974764"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_2"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.284479 -0.257786 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_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.284479 0.257786 -0.000000" 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>
+</robot>

data/UPB_00001512/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_00001512/parts/washing_machine_ZEMSSYRVAJ3UAPTUKI888888_Z0VWi.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_6527b43e7ae59d0001e1c17a
+Kd 1 1 1
+illum 1
+map_Kd ./T_6527b43e7ae59d0001e1c17a_color.jpg
+
+newmtl MI_6527b43eb9b35600017e64fa
+Kd 0.0118000004 0.0118000004 0.0118000004
+illum 1
+
+newmtl MI_6527b43ef14b7400016a941b
+Kd 0.709360003 0.709360003 0.709360003
+illum 1
+

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data/UPB_00001513/annotations/object.json

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+{
+    "object_name": "Front-Load Heat Pump Clothes Dryer",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        60.0,
+        60.0,
+        85.0
+    ],
+    "mass": 55.0
+}

data/UPB_00001513/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Door outer cover",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "ABS plastic round outer door cover panel with integrated grasp area; large circular geometry at the center of the front.",
+        "functional_description": "Provides the main handleable surface of the door, protects and holds the inner glass.",
+        "movement_description": "Rotates about a left-side hinge axis through Part_5 to open/close the dryer.",
+        "grasp_description": "Users pull this surface to open or push to close the door."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
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+                "pos": [
+                    -0.2688363790512085,
+                    -0.2857467830181122,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
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+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001513/annotations/part_11.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Knob bezel ring",
+        "affordance": 12,
+        "graspable": false,
+        "basic_description": "Decorative circular bezel surrounding the control knob, chrome-look ABS.",
+        "functional_description": "Finishes the knob opening and hides mounting features.",
+        "movement_description": "Fixed to cabinet; knob rotates within it.",
+        "grasp_description": "Not grasped."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_ChromePlated",
+        "density": 1.04,
+        "young": 2.3,
+        "hardness": 12,
+        "poisson": 0.35,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001513/annotations/part_12.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Front door frame bezel",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Large square ABS bezel with a circular opening that frames the door.",
+        "functional_description": "Defines the doorway, provides sealing surfaces and appearance trim.",
+        "movement_description": "Rigidly attached to the cabinet; stays stationary as the door swings through it.",
+        "grasp_description": "Occasionally touched around the opening, but not a handle."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001513/annotations/part_13.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "13"
+    },
+    "part_level": {
+        "part_name": "Fasteners and anchors set",
+        "affordance": 14,
+        "graspable": false,
+        "basic_description": "Assorted small steel screws/studs and mounting bosses on the fascia and corners.",
+        "functional_description": "Provide mechanical attachment for the hinge, panels and trim pieces.",
+        "movement_description": "No motion; create rigid joints.",
+        "grasp_description": "Service-only interaction with tools."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Generic",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 140,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001513/annotations/part_15.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "15"
+    },
+    "part_level": {
+        "part_name": "Status indicator LED lens",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Small blue-tinted polycarbonate lens dot on the fascia.",
+        "functional_description": "Displays operating status or power with a blue light.",
+        "movement_description": "No motion; fixed in place over an LED.",
+        "grasp_description": "Only tapped lightly if present as a touch indicator; generally not grasped."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001513/annotations/part_16.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "16"
+    },
+    "part_level": {
+        "part_name": "Rotating drum front plate",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Circular stainless-steel plate forming the front of the rotating drum with small vent holes.",
+        "functional_description": "Rotates with the drum to tumble clothing and promote air circulation.",
+        "movement_description": "Driven by the motor to rotate continuously about a horizontal axis relative to the cabinet.",
+        "grasp_description": "Never grasped directly; only seen through the door."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 190.0,
+        "hardness": 180,
+        "poisson": 0.3,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001513/annotations/part_17.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "17"
+    },
+    "part_level": {
+        "part_name": "Rubber pads and trim set",
+        "affordance": 11,
+        "graspable": false,
+        "basic_description": "A set of small black rubber details including anti-vibration feet/grommets and a thin slot trim piece.",
+        "functional_description": "Provide damping, sealing and traction at cabinet corners and openings.",
+        "movement_description": "No motion relative to the cabinet; elastically deforms to absorb vibration.",
+        "grasp_description": "Not grasped; contacted by the floor or used as seals."
+    },
+    "basic_info": {
+        "material": "rubber/Nitrile_Rubber",
+        "density": 1.1,
+        "young": 0.01,
+        "hardness": 5,
+        "poisson": 0.49,
+        "friction": 0.8
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001513/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Control knob",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Small cylindrical ABS rotary knob on the control fascia.",
+        "functional_description": "Allows the user to select programs or settings.",
+        "movement_description": "Rotates about an axis normal to the front panel with detents.",
+        "grasp_description": "Pinched and turned by fingertips."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 12,
+        "poisson": 0.35,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.9876883405747593,
+                    -0.1564344651688957
+                ],
+                "pos": [
+                    0.0,
+                    -0.24905650317668915,
+                    0.37213295698165894
+                ],
+                "range": [
+                    0.0,
+                    6.283185307179586
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001513/annotations/part_3.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Control display module (lens)",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Rectangular polycarbonate window with printed icons covering the electronic display area.",
+        "functional_description": "Protects the electronics and presents cycle information and touch areas.",
+        "movement_description": "No motion; fixed to the cabinet front.",
+        "grasp_description": "Typically touched lightly for capacitive buttons but not grasped."
+    },
+    "basic_info": {
+        "material": "plastic/Polycarbonate_PC",
+        "density": 1.2,
+        "young": 2.4,
+        "hardness": 15,
+        "poisson": 0.37,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001513/annotations/part_4.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Warranty badge/decal",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Thin PVC printed sticker applied to the front panel.",
+        "functional_description": "Provides marketing and warranty information.",
+        "movement_description": "No movement; adhered to the cabinet.",
+        "grasp_description": "Not intended to be handled."
+    },
+    "basic_info": {
+        "material": "plastic/PVC_Film",
+        "density": 1.35,
+        "young": 2.9,
+        "hardness": 5,
+        "poisson": 0.38,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001513/annotations/part_5.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Door hinge set",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "A set of stainless-steel hinge brackets/arms mounted on the cabinet\u2019s left side.",
+        "functional_description": "Provides the pivot for the door and transfers loads to the cabinet.",
+        "movement_description": "Acts as the rotational joint for the door, typically with limited stop angle.",
+        "grasp_description": "Never grasped; concealed by the door and frame."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 190.0,
+        "hardness": 200,
+        "poisson": 0.3,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001513/annotations/part_6.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Door window glass",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Thick, slightly domed circular tempered-glass window set into the door.",
+        "functional_description": "Allows users to view the drum while providing a heat-resistant seal.",
+        "movement_description": "Moves with the door as a rigid assembly.",
+        "grasp_description": "Occasionally touched but not intended for gripping."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Sheet_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 120,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001513/annotations/part_7.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Brand logo emblem",
+        "affordance": 11,
+        "graspable": false,
+        "basic_description": "Small anodized aluminum logo attached to the front corner.",
+        "functional_description": "Brand identification only.",
+        "movement_description": "Fixed to the cabinet.",
+        "grasp_description": "Not interacted with."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001513/annotations/part_8.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Outer cabinet/shell",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Powder-coated steel housing consisting of top, sides, and structural front opening.",
+        "functional_description": "Provides structural support, mounting interfaces for all modules, and enclosure for safety and noise control.",
+        "movement_description": "Stationary reference frame for all other parts; hosts sliding/rotary joints for drawer, drum, and knob.",
+        "grasp_description": "Only touched during moving/cleaning; not a primary grasp surface."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Sheet_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 120,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001513/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Detergent/lint drawer front",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Rectangular ABS front piece of the pull-out drawer at the top-left of the fascia.",
+        "functional_description": "Provides a handle to access the internal drawer (detergent/lint filter depending on model).",
+        "movement_description": "Slides linearly in and out along guides relative to the cabinet.",
+        "grasp_description": "Pulled by hand to open and pushed to close."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001513/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