Upload folder using huggingface_hub (part 27)

.gitattributes

@@ -7163,3 +7163,120 @@ data/UPB_00001200/plys/5.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001200/plys/7.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001200/plys/model.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001201/full_model/model.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001201/parts/part_1.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001201/parts/part_3.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001201/parts/part_4.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001201/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001201/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001201/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001201/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001201/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001202/full_model/model.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001202/parts/part_4.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001202/parts/part_5.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001202/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001202/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001202/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001202/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001202/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001202/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001203/full_model/model.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001203/parts/part_5.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001203/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001203/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001203/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001203/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001203/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001203/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001203/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001204/full_model/model.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001204/parts/part_3.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001204/parts/part_4.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001204/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001204/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001204/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001204/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001204/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001205/full_model/model.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001205/parts/part_3.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001205/parts/part_4.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001205/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001205/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001205/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001205/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001205/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001206/full_model/model.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001206/parts/part_2.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001206/parts/part_4.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001206/parts/part_6.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001206/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001206/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001206/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001206/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001206/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001206/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001206/plys/7.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001206/plys/8.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001206/plys/9.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001206/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001207/full_model/model.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001207/parts/part_10.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001207/parts/part_11.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001207/parts/part_2.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001207/parts/part_5.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001207/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001207/plys/10.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001207/plys/11.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001207/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001207/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001207/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001207/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001207/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001207/plys/7.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001207/plys/8.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001207/plys/9.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001207/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001208/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001208/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001208/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001208/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001208/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001208/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001208/plys/7.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001208/plys/8.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001208/plys/9.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001208/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001209/parts/part_6.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001209/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001209/plys/10.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001209/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001209/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001209/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001209/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001209/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001209/plys/7.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001209/plys/8.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001209/plys/9.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001209/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001210/full_model/model.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001210/parts/part_11.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001210/parts/part_14.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001210/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001210/plys/10.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001210/plys/11.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001210/plys/12.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001210/plys/13.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001210/plys/14.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001210/plys/15.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001210/plys/16.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001210/plys/17.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001210/plys/18.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001210/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001210/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001210/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001210/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001210/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001210/plys/7.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001210/plys/8.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001210/plys/9.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001210/plys/model.ply filter=lfs diff=lfs merge=lfs -text

data/UPB_00001201/model.urdf

@@ -0,0 +1,80 @@
+<?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="0.775194 0.775194 0.775194"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.775194 0.775194 0.775194"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.775194 0.775194 0.775194"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.775194 0.775194 0.775194"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.775194 0.775194 0.775194"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.775194 0.775194 0.775194"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.775194 0.775194 0.775194"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.775194 0.775194 0.775194"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_3"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.084353 -0.182216" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <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="-0.000000 0.084353 0.182216" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001201/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_00001201/parts/oven_ZJGF4SJVAJRIYPTULY888888_5QQsW.mtl

@@ -0,0 +1,24 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_6672c5e34750b400013a590f
+Kd 0.0979999974 0.0979999974 0.0979999974
+illum 1
+
+newmtl MI_6672c5e360cf4700019fc071
+Kd 1 1 1
+illum 1
+map_Kd ./T_6672c5e360cf4700019fc071_color.jpg
+bump ./T_6672c5e360cf4700019fc071_normal.jpg
+map_bump ./T_6672c5e360cf4700019fc071_normal.jpg
+
+newmtl MI_6672c5e399c42400010cf225
+Kd 1 1 1
+illum 1
+map_Kd ./T_6672c5e399c42400010cf225_color.jpg
+
+newmtl MI_6672c5e34875c6000168f750
+Kd 1 1 1
+illum 1
+map_Kd ./T_6672c5e34875c6000168f750_color.jpg
+

data/UPB_00001201/parts/part_1.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82437870989d581c0ad412a5cd9f58150f3b4e0e53d0c3d78307d37b3c820e79
+size 45415232

data/UPB_00001201/parts/part_3.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2f4d5911864ee3176459a0f6b3d2dd29bbd7c29d8311d56639938af0fba75fd
+size 187136276

data/UPB_00001201/parts/part_4.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b572c50254bf05cfadd1276d8118d0e812f52500838d2350e6a8824413a7e1e
+size 12702493

data/UPB_00001201/plys/1.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a99322d6348b00b68783857051140654028bcd78499868b913f6eef936ade781
+size 300418

data/UPB_00001201/plys/2.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0efc0080f62dd163428855b4a12a82004674fd27f9f004ec2d4ef23bd6ada850
+size 160242

data/UPB_00001201/plys/3.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3c24b3ff79a65947cf954626a616294690ba2e0f0e502bce00f3bb4a45223e9
+size 842866

data/UPB_00001201/plys/4.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f808e3d0310ccf9f17126c7f687f89a7cf62a79ac5f2762dc21cfb4e52e33c7c
+size 443346

data/UPB_00001201/plys/model.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a304c98d918e54d4078e8733bce921b64644e0b3d87d3315ceeaee8c9ec33904
+size 1600243

data/UPB_00001202/annotations/object.json

@@ -0,0 +1,10 @@
+{
+    "object_name": "Built-in Electric Oven (single cavity)",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        60.0,
+        50.0,
+        38.0
+    ],
+    "mass": 28.0
+}

data/UPB_00001202/annotations/part_1.json

@@ -0,0 +1,53 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001202",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Front Door with Glass Panel",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Tempered glass door assembly with a black frame, approx. 55*35*2 cm, used on a built-in oven.",
+        "functional_description": "Provides a heat-resistant viewing window and seals the cavity during cooking.",
+        "movement_description": "Door rotates downward about bottom-side hinges (via part 5) relative to the oven body.",
+        "grasp_description": "Users do not grasp the glass directly; they hold the handle (part 2) to open/close."
+    },
+    "basic_info": {
+        "material": "glass/Tempered_Glass",
+        "density": 2.5,
+        "young": 70.0,
+        "hardness": 600,
+        "poisson": 0.23,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                2,
+                3
+            ],
+            "C": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.2268165796995163,
+                    -0.18403375148773193
+                ],
+                "range": [
+                    0.0,
+                    1.7453292519943295
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001202/annotations/part_2.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001202",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Door Handle Bar",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Brushed stainless-steel cylindrical handle, approx. 45*2*2 cm, mounted to the door.",
+        "functional_description": "Primary grasp point for the user to operate the oven door.",
+        "movement_description": "Rigidly fixed to the door and moves with it as a unit.",
+        "grasp_description": "Held with one or two hands; surface stays cooler than the door glass."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193.0,
+        "hardness": 170,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001202/annotations/part_3.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001202",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Door Bumpers/Stops (pair)",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Two small heat-resistant silicone pads mounted on the front frame of the cavity, each ~2*1*0.5 cm.",
+        "functional_description": "Cushion the door when closing, reduce noise, and protect glass-to-metal contact.",
+        "movement_description": "Fixed to the oven body; only compress elastically when the door contacts them.",
+        "grasp_description": "Not intended for direct user contact."
+    },
+    "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_00001202/annotations/part_4.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001202",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Main Cavity and Housing",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Sheet-steel oven body and cooking cavity with perforations and mounting features, approx. 60*50*38 cm overall.",
+        "functional_description": "Provides the structural frame, thermal enclosure, and mounting points for hinges, door, and accessories.",
+        "movement_description": "Stationary reference frame for the appliance; all movable parts act relative to this body.",
+        "grasp_description": "Typically not touched during normal operation except for cleaning around the opening."
+    },
+    "basic_info": {
+        "material": "metal/Carbon_Steel_Sheet_Enameled",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 120,
+        "poisson": 0.29,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001202/annotations/part_5.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001202",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Dual Bottom-Side Hinge Arms",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Two L-shaped steel hinge arms near the lower front corners, each approx. 12*3*18 cm.",
+        "functional_description": "Support and provide the pivoting mechanism for the door, often incorporating spring/soft-close features.",
+        "movement_description": "Rigidly mounted to the body; serve as the rotational axis for the door\u2019s opening/closing motion.",
+        "grasp_description": "Not user-facing; only accessed during service."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Plate_Phosphated",
+        "density": 7.85,
+        "young": 210.0,
+        "hardness": 180,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001202/full_model/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

data/UPB_00001202/full_model/model.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e96555b9d84e2d0f925caae3e407615ef7ce07c012dfc13979e4fad9d69e0ce3
+size 46092633

data/UPB_00001202/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001202",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Built-in Electric Oven (single cavity)"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 5,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001202/model.urdf

@@ -0,0 +1,97 @@
+<?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="0.750000 0.750000 0.750000"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.750000 0.750000 0.750000"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.750000 0.750000 0.750000"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.750000 0.750000 0.750000"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.750000 0.750000 0.750000"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.750000 0.750000 0.750000"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.750000 0.750000 0.750000"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.750000 0.750000 0.750000"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.750000 0.750000 0.750000"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.750000 0.750000 0.750000"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_5"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.170112 -0.138025" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.170112 0.138025" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001202/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_00001202/parts/oven_ZJIWSHRVAJOY4PTUL4888888_glozK.mtl

@@ -0,0 +1,28 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_666ff25197087a00018856a8
+Kd 0.366889 0.387639493 0.398058891
+illum 1
+
+newmtl MI_666ff251ed34ab00014e82a0
+Kd 0.170834795 0.166915193 0.162995607
+illum 1
+bump ./T_666ff251ed34ab00014e82a0_normal.jpg
+map_bump ./T_666ff251ed34ab00014e82a0_normal.jpg
+
+newmtl MI_666ff251c04919000170a382
+Kd 1 1 1
+illum 1
+map_Kd ./T_666ff251c04919000170a382_color.jpg
+
+newmtl MI_666ff2513d07d20001a4beee
+Kd 0.401699007 0.392245889 0.38434571
+illum 1
+bump ./T_666ff2513d07d20001a4beee_normal.jpg
+map_bump ./T_666ff2513d07d20001a4beee_normal.jpg
+
+newmtl MI_666ff25199c42400010c610f
+Kd 0.0203565992 0.0203565992 0.0203565992
+illum 1
+

data/UPB_00001202/parts/part_2.obj

@@ -0,0 +1,753 @@
+mtllib oven_ZJIWSHRVAJOY4PTUL4888888_glozK.mtl
+v 0.195091307 -0.270401597 0.153511927
+v 0.195091307 -0.270401597 0.153511927
+v 0.195091307 -0.270401597 0.138511926
+v 0.284228534 -0.270401716 0.153511927
+v 0.195091307 -0.270401597 0.153511927
+v 0.279299557 -0.282601744 0.153511927
+v 0.279299557 -0.282601744 0.153511927
+v 0.195091307 -0.270401597 0.153511927
+v -0.195091307 -0.270401031 0.153511927
+v 0.279299557 -0.282601744 0.153511927
+v -0.195091307 -0.270401031 0.153511927
+v -0.279299319 -0.282600909 0.153511927
+v -0.279299319 -0.282600909 0.153511927
+v -0.195091307 -0.270401031 0.153511927
+v -0.284228653 -0.270400912 0.153511927
+v 0.285091311 -0.270401716 0.152711913
+v 0.284228534 -0.270401716 0.153511927
+v 0.280041009 -0.282901436 0.152711913
+v 0.280041009 -0.282901436 0.152711913
+v 0.284228534 -0.270401716 0.153511927
+v 0.279299557 -0.282601744 0.153511927
+v 0.285091311 -0.270401716 0.152711913
+v 0.280041009 -0.282901436 0.152711913
+v 0.285091311 -0.270401716 0.139311925
+v 0.285091311 -0.270401716 0.139311925
+v 0.280041009 -0.282901436 0.152711913
+v 0.280041009 -0.282901436 0.139311925
+v 0.284228534 -0.270401716 0.138511926
+v 0.195091307 -0.270401597 0.138511926
+v 0.285091311 -0.270401716 0.139311925
+v 0.285091311 -0.270401716 0.139311925
+v 0.195091307 -0.270401597 0.138511926
+v 0.195091307 -0.270401597 0.153511927
+v 0.285091311 -0.270401716 0.139311925
+v 0.195091307 -0.270401597 0.153511927
+v 0.285091311 -0.270401716 0.152711913
+v 0.285091311 -0.270401716 0.152711913
+v 0.195091307 -0.270401597 0.153511927
+v 0.284228534 -0.270401716 0.153511927
+v -0.284228653 -0.270400912 0.138511926
+v -0.195091307 -0.270401031 0.138511926
+v -0.279299319 -0.282600909 0.138511926
+v -0.279299319 -0.282600909 0.138511926
+v -0.195091307 -0.270401031 0.138511926
+v 0.195091307 -0.270401597 0.138511926
+v -0.279299319 -0.282600909 0.138511926
+v 0.195091307 -0.270401597 0.138511926
+v 0.279299557 -0.282601744 0.138511926
+v 0.279299557 -0.282601744 0.138511926
+v 0.195091307 -0.270401597 0.138511926
+v 0.284228534 -0.270401716 0.138511926
+v -0.285091549 -0.270400912 0.139311925
+v -0.284228653 -0.270400912 0.138511926
+v -0.280041248 -0.282900602 0.139311925
+v -0.280041248 -0.282900602 0.139311925
+v -0.284228653 -0.270400912 0.138511926
+v -0.279299319 -0.282600909 0.138511926
+v -0.280041248 -0.282900602 0.152711913
+v -0.285091549 -0.270400912 0.152711913
+v -0.280041248 -0.282900602 0.139311925
+v -0.280041248 -0.282900602 0.139311925
+v -0.285091549 -0.270400912 0.152711913
+v -0.285091549 -0.270400912 0.139311925
+v -0.279299319 -0.283400893 0.152711913
+v -0.280041248 -0.282900602 0.152711913
+v -0.279299319 -0.283400893 0.139311925
+v -0.279299319 -0.283400893 0.139311925
+v -0.280041248 -0.282900602 0.152711913
+v -0.280041248 -0.282900602 0.139311925
+v 0.279299557 -0.283401728 0.152711913
+v -0.279299319 -0.283400893 0.152711913
+v 0.279299557 -0.283401728 0.139311925
+v 0.279299557 -0.283401728 0.139311925
+v -0.279299319 -0.283400893 0.152711913
+v -0.279299319 -0.283400893 0.139311925
+v 0.279299557 -0.282601744 0.153511927
+v -0.279299319 -0.282600909 0.153511927
+v 0.279299557 -0.283401728 0.152711913
+v 0.279299557 -0.283401728 0.152711913
+v -0.279299319 -0.282600909 0.153511927
+v -0.279299319 -0.283400893 0.152711913
+v 0.279299557 -0.283401728 0.152711913
+v 0.280041009 -0.282901436 0.152711913
+v 0.279299557 -0.282601744 0.153511927
+v 0.279299557 -0.283401728 0.139311925
+v 0.280041009 -0.282901436 0.139311925
+v 0.279299557 -0.283401728 0.152711913
+v 0.279299557 -0.283401728 0.152711913
+v 0.280041009 -0.282901436 0.139311925
+v 0.280041009 -0.282901436 0.152711913
+v 0.279299557 -0.282601744 0.138511926
+v 0.280041009 -0.282901436 0.139311925
+v 0.279299557 -0.283401728 0.139311925
+v 0.285091311 -0.270401716 0.139311925
+v 0.280041009 -0.282901436 0.139311925
+v 0.284228534 -0.270401716 0.138511926
+v 0.284228534 -0.270401716 0.138511926
+v 0.280041009 -0.282901436 0.139311925
+v 0.279299557 -0.282601744 0.138511926
+v -0.279299319 -0.282600909 0.138511926
+v 0.279299557 -0.282601744 0.138511926
+v -0.279299319 -0.283400893 0.139311925
+v -0.279299319 -0.283400893 0.139311925
+v 0.279299557 -0.282601744 0.138511926
+v 0.279299557 -0.283401728 0.139311925
+v -0.279299319 -0.283400893 0.139311925
+v -0.280041248 -0.282900602 0.139311925
+v -0.279299319 -0.282600909 0.138511926
+v -0.279299319 -0.282600909 0.153511927
+v -0.280041248 -0.282900602 0.152711913
+v -0.279299319 -0.283400893 0.152711913
+v -0.285091549 -0.270400912 0.152711913
+v -0.280041248 -0.282900602 0.152711913
+v -0.284228653 -0.270400912 0.153511927
+v -0.284228653 -0.270400912 0.153511927
+v -0.280041248 -0.282900602 0.152711913
+v -0.279299319 -0.282600909 0.153511927
+v -0.285091549 -0.270400912 0.152711913
+v -0.195091307 -0.270401031 0.153511927
+v -0.285091549 -0.270400912 0.139311925
+v -0.285091549 -0.270400912 0.139311925
+v -0.195091307 -0.270401031 0.153511927
+v -0.195091307 -0.270401031 0.138511926
+v -0.285091549 -0.270400912 0.139311925
+v -0.195091307 -0.270401031 0.138511926
+v -0.284228653 -0.270400912 0.138511926
+v -0.285091549 -0.270400912 0.152711913
+v -0.284228653 -0.270400912 0.153511927
+v -0.195091307 -0.270401031 0.153511927
+v -0.195091307 -0.270401031 0.153511927
+v -0.195276856 -0.269941539 0.152997762
+v -0.195091307 -0.270401031 0.138511926
+v -0.195091307 -0.270401031 0.138511926
+v -0.195276856 -0.269941539 0.152997762
+v -0.195276856 -0.269941539 0.139026076
+v -0.195276856 -0.269941539 0.139026076
+v -0.195276856 -0.269941539 0.152997762
+v -0.195448965 -0.269515574 0.139568314
+v -0.195448965 -0.269515574 0.139568314
+v -0.195276856 -0.269941539 0.152997762
+v -0.195448965 -0.269515574 0.152455524
+v -0.195448965 -0.269515574 0.139568314
+v -0.195448965 -0.269515574 0.152455524
+v -0.195606932 -0.269124806 0.140136465
+v -0.195606932 -0.269124806 0.140136465
+v -0.195448965 -0.269515574 0.152455524
+v -0.195606932 -0.269124806 0.151887357
+v -0.195606932 -0.269124806 0.140136465
+v -0.195606932 -0.269124806 0.151887357
+v -0.19574976 -0.268770844 0.140728235
+v -0.19574976 -0.268770844 0.140728235
+v -0.195606932 -0.269124806 0.151887357
+v -0.19574976 -0.268770844 0.151295602
+v -0.19574976 -0.268770844 0.140728235
+v -0.19574976 -0.268770844 0.151295602
+v -0.195877433 -0.268455148 0.141341254
+v -0.195877433 -0.268455148 0.141341254
+v -0.19574976 -0.268770844 0.151295602
+v -0.195877433 -0.268455148 0.150682583
+v -0.195877433 -0.268455148 0.141341254
+v -0.195877433 -0.268455148 0.150682583
+v -0.195989013 -0.26817885 0.141973034
+v -0.195989013 -0.26817885 0.141973034
+v -0.195877433 -0.268455148 0.150682583
+v -0.195989013 -0.26817885 0.150050804
+v -0.195989013 -0.26817885 0.141973034
+v -0.195989013 -0.26817885 0.150050804
+v -0.19608447 -0.267943174 0.142621085
+v -0.19608447 -0.267943174 0.142621085
+v -0.195989013 -0.26817885 0.150050804
+v -0.19608447 -0.267943174 0.149402767
+v -0.19608447 -0.267943174 0.142621085
+v -0.19608447 -0.267943174 0.149402767
+v -0.196162596 -0.267749041 0.143282726
+v -0.196162596 -0.267749041 0.143282726
+v -0.19608447 -0.267943174 0.149402767
+v -0.196162596 -0.267749041 0.148741096
+v -0.196162596 -0.267749041 0.143282726
+v -0.196162596 -0.267749041 0.148741096
+v -0.196224123 -0.267597228 0.143955365
+v -0.196224123 -0.267597228 0.143955365
+v -0.196162596 -0.267749041 0.148741096
+v -0.196224123 -0.267597228 0.148068473
+v -0.196224123 -0.267597228 0.143955365
+v -0.196224123 -0.267597228 0.148068473
+v -0.196268067 -0.26748839 0.144636273
+v -0.196268067 -0.26748839 0.144636273
+v -0.196224123 -0.267597228 0.148068473
+v -0.196268067 -0.26748839 0.147387564
+v -0.196268067 -0.26748839 0.144636273
+v -0.196268067 -0.26748839 0.147387564
+v -0.196294427 -0.267422915 0.14532271
+v -0.196294427 -0.267422915 0.14532271
+v -0.196268067 -0.26748839 0.147387564
+v -0.196294427 -0.267422915 0.146701127
+v -0.196294427 -0.267422915 0.14532271
+v -0.196294427 -0.267422915 0.146701127
+v -0.196303219 -0.26740104 0.146011919
+v 0.195091307 -0.270401597 0.138511926
+v -0.195091307 -0.270401031 0.138511926
+v 0.195276856 -0.269942105 0.139026076
+v 0.195276856 -0.269942105 0.139026076
+v -0.195091307 -0.270401031 0.138511926
+v -0.195276856 -0.269941539 0.139026076
+v 0.195276856 -0.269942105 0.139026076
+v -0.195276856 -0.269941539 0.139026076
+v 0.195448965 -0.26951611 0.139568314
+v 0.195448965 -0.26951611 0.139568314
+v -0.195276856 -0.269941539 0.139026076
+v -0.195448965 -0.269515574 0.139568314
+v 0.195448965 -0.26951611 0.139568314
+v -0.195448965 -0.269515574 0.139568314
+v 0.195606932 -0.269125402 0.140136465
+v 0.195606932 -0.269125402 0.140136465
+v -0.195448965 -0.269515574 0.139568314
+v -0.195606932 -0.269124806 0.140136465
+v 0.195606932 -0.269125402 0.140136465
+v -0.195606932 -0.269124806 0.140136465
+v 0.195749998 -0.26877141 0.140728235
+v 0.195749998 -0.26877141 0.140728235
+v -0.195606932 -0.269124806 0.140136465
+v -0.19574976 -0.268770844 0.140728235
+v 0.195749998 -0.26877141 0.140728235
+v -0.19574976 -0.268770844 0.140728235
+v 0.195877433 -0.268455714 0.141341254
+v 0.195877433 -0.268455714 0.141341254
+v -0.19574976 -0.268770844 0.140728235
+v -0.195877433 -0.268455148 0.141341254
+v 0.195877433 -0.268455714 0.141341254
+v -0.195877433 -0.268455148 0.141341254
+v 0.195989266 -0.268179446 0.141973034
+v 0.195989266 -0.268179446 0.141973034
+v -0.195877433 -0.268455148 0.141341254
+v -0.195989013 -0.26817885 0.141973034
+v 0.195989266 -0.268179446 0.141973034
+v -0.195989013 -0.26817885 0.141973034
+v 0.19608447 -0.26794374 0.142621085
+v 0.19608447 -0.26794374 0.142621085
+v -0.195989013 -0.26817885 0.141973034
+v -0.19608447 -0.267943174 0.142621085
+v 0.19608447 -0.26794374 0.142621085
+v -0.19608447 -0.267943174 0.142621085
+v 0.196162835 -0.267749637 0.143282726
+v 0.196162835 -0.267749637 0.143282726
+v -0.19608447 -0.267943174 0.142621085
+v -0.196162596 -0.267749041 0.143282726
+v 0.196162835 -0.267749637 0.143282726
+v -0.196162596 -0.267749041 0.143282726
+v 0.196224123 -0.267597795 0.143955365
+v 0.196224123 -0.267597795 0.143955365
+v -0.196162596 -0.267749041 0.143282726
+v -0.196224123 -0.267597228 0.143955365
+v 0.196224123 -0.267597795 0.143955365
+v -0.196224123 -0.267597228 0.143955365
+v -0.196268067 -0.26748839 0.144636273
+v 0.196224123 -0.267597795 0.143955365
+v -0.196268067 -0.26748839 0.144636273
+v 0.196268067 -0.267488956 0.144636273
+v 0.196268067 -0.267488956 0.144636273
+v -0.196268067 -0.26748839 0.144636273
+v -0.196294427 -0.267422915 0.14532271
+v 0.196268067 -0.267488956 0.144636273
+v -0.196294427 -0.267422915 0.14532271
+v 0.19629468 -0.267423451 0.14532271
+v 0.19629468 -0.267423451 0.14532271
+v -0.196294427 -0.267422915 0.14532271
+v -0.196303219 -0.26740104 0.146011919
+v 0.19629468 -0.267423451 0.14532271
+v -0.196303219 -0.26740104 0.146011919
+v 0.196303219 -0.267401606 0.146011919
+v 0.196303219 -0.267401606 0.146011919
+v -0.196303219 -0.26740104 0.146011919
+v -0.196294427 -0.267422915 0.146701127
+v 0.196303219 -0.267401606 0.146011919
+v -0.196294427 -0.267422915 0.146701127
+v 0.19629468 -0.267423451 0.146701127
+v 0.19629468 -0.267423451 0.146701127
+v -0.196294427 -0.267422915 0.146701127
+v -0.196268067 -0.26748839 0.147387564
+v 0.19629468 -0.267423451 0.146701127
+v -0.196268067 -0.26748839 0.147387564
+v 0.196268067 -0.267488956 0.147387564
+v 0.196268067 -0.267488956 0.147387564
+v -0.196268067 -0.26748839 0.147387564
+v -0.196224123 -0.267597228 0.148068473
+v 0.196268067 -0.267488956 0.147387564
+v -0.196224123 -0.267597228 0.148068473
+v 0.196224123 -0.267597795 0.148068473
+v 0.196224123 -0.267597795 0.148068473
+v -0.196224123 -0.267597228 0.148068473
+v -0.196162596 -0.267749041 0.148741096
+v 0.196224123 -0.267597795 0.148068473
+v -0.196162596 -0.267749041 0.148741096
+v 0.196162835 -0.267749637 0.148741096
+v 0.196162835 -0.267749637 0.148741096
+v -0.196162596 -0.267749041 0.148741096
+v -0.19608447 -0.267943174 0.149402767
+v 0.196162835 -0.267749637 0.148741096
+v -0.19608447 -0.267943174 0.149402767
+v 0.19608447 -0.26794374 0.149402767
+v 0.19608447 -0.26794374 0.149402767
+v -0.19608447 -0.267943174 0.149402767
+v -0.195989013 -0.26817885 0.150050804
+v 0.19608447 -0.26794374 0.149402767
+v -0.195989013 -0.26817885 0.150050804
+v 0.195989266 -0.268179446 0.150050804
+v 0.195989266 -0.268179446 0.150050804
+v -0.195989013 -0.26817885 0.150050804
+v -0.195877433 -0.268455148 0.150682583
+v 0.195989266 -0.268179446 0.150050804
+v -0.195877433 -0.268455148 0.150682583
+v 0.195877433 -0.268455714 0.150682583
+v 0.195877433 -0.268455714 0.150682583
+v -0.195877433 -0.268455148 0.150682583
+v -0.19574976 -0.268770844 0.151295602
+v 0.195877433 -0.268455714 0.150682583
+v -0.19574976 -0.268770844 0.151295602
+v 0.195749998 -0.26877141 0.151295602
+v 0.195749998 -0.26877141 0.151295602
+v -0.19574976 -0.268770844 0.151295602
+v -0.195606932 -0.269124806 0.151887357
+v 0.195749998 -0.26877141 0.151295602
+v -0.195606932 -0.269124806 0.151887357
+v 0.195606932 -0.269125402 0.151887357
+v 0.195606932 -0.269125402 0.151887357
+v -0.195606932 -0.269124806 0.151887357
+v -0.195448965 -0.269515574 0.152455524
+v 0.195606932 -0.269125402 0.151887357
+v -0.195448965 -0.269515574 0.152455524
+v 0.195448965 -0.26951611 0.152455524
+v 0.195448965 -0.26951611 0.152455524
+v -0.195448965 -0.269515574 0.152455524
+v -0.195276856 -0.269941539 0.152997762
+v 0.195448965 -0.26951611 0.152455524
+v -0.195276856 -0.269941539 0.152997762
+v 0.195276856 -0.269942105 0.152997762
+v 0.195276856 -0.269942105 0.152997762
+v -0.195276856 -0.269941539 0.152997762
+v -0.195091307 -0.270401031 0.153511927
+v 0.195276856 -0.269942105 0.152997762
+v -0.195091307 -0.270401031 0.153511927
+v 0.195091307 -0.270401597 0.138511926
+v 0.195276856 -0.269942105 0.152997762
+v 0.195276856 -0.269942105 0.152997762
+v 0.195276856 -0.269942105 0.139026076
+v 0.195276856 -0.269942105 0.152997762
+v 0.195276856 -0.269942105 0.139026076
+v 0.195448965 -0.26951611 0.139568314
+v 0.195276856 -0.269942105 0.152997762
+v 0.195448965 -0.26951611 0.139568314
+v 0.195448965 -0.26951611 0.152455524
+v 0.195448965 -0.26951611 0.152455524
+v 0.195448965 -0.26951611 0.139568314
+v 0.195606932 -0.269125402 0.140136465
+v 0.195448965 -0.26951611 0.152455524
+v 0.195606932 -0.269125402 0.140136465
+v 0.195606932 -0.269125402 0.151887357
+v 0.195606932 -0.269125402 0.151887357
+v 0.195606932 -0.269125402 0.140136465
+v 0.195749998 -0.26877141 0.140728235
+v 0.195606932 -0.269125402 0.151887357
+v 0.195749998 -0.26877141 0.140728235
+v 0.195749998 -0.26877141 0.151295602
+v 0.195749998 -0.26877141 0.151295602
+v 0.195749998 -0.26877141 0.140728235
+v 0.195877433 -0.268455714 0.141341254
+v 0.195749998 -0.26877141 0.151295602
+v 0.195877433 -0.268455714 0.141341254
+v 0.195877433 -0.268455714 0.150682583
+v 0.195877433 -0.268455714 0.150682583
+v 0.195877433 -0.268455714 0.141341254
+v 0.195989266 -0.268179446 0.141973034
+v 0.195877433 -0.268455714 0.150682583
+v 0.195989266 -0.268179446 0.141973034
+v 0.195989266 -0.268179446 0.150050804
+v 0.195989266 -0.268179446 0.150050804
+v 0.195989266 -0.268179446 0.141973034
+v 0.19608447 -0.26794374 0.142621085
+v 0.195989266 -0.268179446 0.150050804
+v 0.19608447 -0.26794374 0.142621085
+v 0.19608447 -0.26794374 0.149402767
+v 0.19608447 -0.26794374 0.149402767
+v 0.19608447 -0.26794374 0.142621085
+v 0.196162835 -0.267749637 0.143282726
+v 0.19608447 -0.26794374 0.149402767
+v 0.196162835 -0.267749637 0.143282726
+v 0.196162835 -0.267749637 0.148741096
+v 0.196162835 -0.267749637 0.148741096
+v 0.196162835 -0.267749637 0.143282726
+v 0.196224123 -0.267597795 0.143955365
+v 0.196162835 -0.267749637 0.148741096
+v 0.196224123 -0.267597795 0.143955365
+v 0.196224123 -0.267597795 0.148068473
+v 0.196224123 -0.267597795 0.148068473
+v 0.196224123 -0.267597795 0.143955365
+v 0.196268067 -0.267488956 0.144636273
+v 0.196224123 -0.267597795 0.148068473
+v 0.196268067 -0.267488956 0.144636273
+v 0.196268067 -0.267488956 0.147387564
+v 0.196268067 -0.267488956 0.147387564
+v 0.196268067 -0.267488956 0.144636273
+v 0.19629468 -0.267423451 0.14532271
+v 0.196268067 -0.267488956 0.147387564
+v 0.19629468 -0.267423451 0.14532271
+v 0.19629468 -0.267423451 0.146701127
+v 0.19629468 -0.267423451 0.146701127
+v 0.19629468 -0.267423451 0.14532271
+v 0.196303219 -0.267401606 0.146011919
+vt 2.39485693 0.533330977 1.0
+vt 1.80060899 0.53333199 1.0
+vt 2.36199808 0.451997012 1.0
+vt -0.800607979 0.533335984 1.0
+vt -1.36199498 0.452003986 1.0
+vt -1.39485705 0.533336997 1.0
+vt 2.40060902 0.533330977 1.0
+vt 2.36694098 0.449999005 1.0
+vt 0.533330977 0.544667006 1.0
+vt 0.449999005 0.544667006 1.0
+vt 0.533330977 0.455332994 1.0
+vt 0.449999005 0.455332994 1.0
+vt -1.39485705 0.449999988 1.0
+vt -0.800608993 0.449999988 1.0
+vt -1.40060902 0.455332994 1.0
+vt -0.800608993 0.550000012 1.0
+vt -1.40060902 0.544667006 1.0
+vt -1.39485705 0.550000012 1.0
+vt 2.39485693 0.533336997 1.0
+vt 1.80060804 0.533335984 1.0
+vt 2.36199498 0.452003986 1.0
+vt -0.800608993 0.53333199 1.0
+vt -1.36199796 0.451997012 1.0
+vt -1.39485705 0.533330977 1.0
+vt 2.40060902 0.533336997 1.0
+vt 2.36694098 0.450006008 1.0
+vt 0.549993992 0.544667006 1.0
+vt 0.466663003 0.544667006 1.0
+vt 0.549993992 0.455332994 1.0
+vt 0.466663003 0.455332994 1.0
+vt -1.36199498 0.544667006 1.0
+vt -1.36694098 0.544667006 1.0
+vt -1.36199498 0.455332994 1.0
+vt -1.36694098 0.455332994 1.0
+vt 2.36199808 0.544667006 1.0
+vt 2.36199808 0.455332994 1.0
+vt 2.36199808 0.550000012 1.0
+vt -1.36199498 0.550000012 1.0
+vt 2.36694098 0.544667006 1.0
+vt 2.36694098 0.455332994 1.0
+vt 2.36199808 0.449999988 1.0
+vt -1.40060902 0.533330977 1.0
+vt -1.36694098 0.449999005 1.0
+vt -1.36199498 0.449999988 1.0
+vt -1.40060902 0.533336997 1.0
+vt -1.36694098 0.450006008 1.0
+vt 2.40060902 0.544667006 1.0
+vt 1.80060804 0.550000012 1.0
+vt 2.40060902 0.455332994 1.0
+vt 1.80060804 0.449999988 1.0
+vt 2.39485693 0.449999988 1.0
+vt 2.39485693 0.550000012 1.0
+vt 0.466663986 0.550000012 1.0
+vt 0.463600993 0.54657203 1.0
+vt 0.466663986 0.449999988 1.0
+vt 0.463600993 0.453428 1.0
+vt 0.460761011 0.457042992 1.0
+vt 0.460761011 0.542957008 1.0
+vt 0.45815599 0.460830003 1.0
+vt 0.45815599 0.539170027 1.0
+vt 0.455796003 0.464774996 1.0
+vt 0.455796003 0.535224974 1.0
+vt 0.453691006 0.468861997 1.0
+vt 0.453691006 0.531138003 1.0
+vt 0.451849997 0.473073989 1.0
+vt 0.451849997 0.526925981 1.0
+vt 0.450278014 0.477394015 1.0
+vt 0.450278014 0.522606015 1.0
+vt 0.448983997 0.481804997 1.0
+vt 0.448983997 0.518194973 1.0
+vt 0.447972 0.486290008 1.0
+vt 0.447972 0.513710022 1.0
+vt 0.447245985 0.490828991 1.0
+vt 0.447245985 0.509171009 1.0
+vt 0.446810007 0.495404989 1.0
+vt 0.446810007 0.504594982 1.0
+vt 0.446664006 0.5 1.0
+vt -0.801846981 0.453428 1.0
+vt 1.80184495 0.453428 1.0
+vt -0.802994013 0.457042992 1.0
+vt 1.80299199 0.457042992 1.0
+vt -0.804046988 0.460830003 1.0
+vt 1.80404496 0.460830003 1.0
+vt -0.80500102 0.464774996 1.0
+vt 1.80499697 0.464774996 1.0
+vt -0.805850029 0.468861997 1.0
+vt 1.80584896 0.468861997 1.0
+vt -0.806595981 0.473073989 1.0
+vt 1.80659294 0.473073989 1.0
+vt -0.807231009 0.477394015 1.0
+vt 1.80722904 0.477394015 1.0
+vt -0.807753026 0.481804997 1.0
+vt 1.80774999 0.481804997 1.0
+vt -0.808161974 0.486290008 1.0
+vt 1.80815995 0.486290008 1.0
+vt 1.80845296 0.490828991 1.0
+vt -0.80845499 0.490828991 1.0
+vt 1.80862904 0.495404989 1.0
+vt -0.808632016 0.495404989 1.0
+vt 1.80868697 0.5 1.0
+vt -0.808688998 0.5 1.0
+vt 1.80862904 0.504594982 1.0
+vt -0.808632016 0.504594982 1.0
+vt 1.80845296 0.509171009 1.0
+vt -0.80845499 0.509171009 1.0
+vt 1.80815995 0.513710022 1.0
+vt -0.808161974 0.513710022 1.0
+vt 1.80774999 0.518194973 1.0
+vt -0.807753026 0.518194973 1.0
+vt 1.80722904 0.522606015 1.0
+vt -0.807231009 0.522606015 1.0
+vt 1.80659294 0.526925981 1.0
+vt -0.806595981 0.526925981 1.0
+vt 1.80584896 0.531138003 1.0
+vt -0.805850029 0.531138003 1.0
+vt 1.80499697 0.535224974 1.0
+vt -0.80500102 0.535224974 1.0
+vt 1.80404496 0.539170027 1.0
+vt -0.804046988 0.539170027 1.0
+vt 1.80299199 0.542957008 1.0
+vt -0.802994013 0.542957008 1.0
+vt 1.80184495 0.54657203 1.0
+vt -0.801846981 0.54657203 1.0
+vt 0.53333199 0.550000012 1.0
+vt 0.53333199 0.449999988 1.0
+vt 0.536395013 0.54657203 1.0
+vt 0.536395013 0.453428 1.0
+vt 0.539234996 0.457042992 1.0
+vt 0.539234996 0.542957008 1.0
+vt 0.541840017 0.460830003 1.0
+vt 0.541840017 0.539170027 1.0
+vt 0.544200003 0.464774996 1.0
+vt 0.544200003 0.535224974 1.0
+vt 0.546303988 0.468861997 1.0
+vt 0.546303988 0.531138003 1.0
+vt 0.548146009 0.473073989 1.0
+vt 0.548146009 0.526925981 1.0
+vt 0.549717009 0.477394015 1.0
+vt 0.549717009 0.522606015 1.0
+vt 0.551011026 0.481804997 1.0
+vt 0.551011026 0.518194973 1.0
+vt 0.552024007 0.486290008 1.0
+vt 0.552024007 0.513710022 1.0
+vt 0.552748978 0.490828991 1.0
+vt 0.552748978 0.509171009 1.0
+vt 0.553185999 0.495404989 1.0
+vt 0.553185999 0.504594982 1.0
+vt 0.553331971 0.5 1.0
+vn 0.0 1.0 0.0
+vn 0.0 0.0 1.0
+vn 0.0 -1.0 0.0
+vn 0.0 0.0 -1.0
+vn 0.655933976 -0.264804989 0.706844985
+vn 0.656337023 -0.264681011 0.706516027
+vn 0.927312016 -0.374289989 0.0
+vn -0.655933976 -0.264804989 -0.706844985
+vn -0.656135023 -0.264743 -0.706681013
+vn -0.927312016 -0.374289989 0.0
+vn -0.558611989 -0.829428971 0.0
+vn 0.0 -0.707010984 0.707202017
+vn 0.0 -0.707035005 0.707177997
+vn 0.427273005 -0.639383018 0.639240026
+vn 0.427285999 -0.639258981 0.639355004
+vn 0.558346987 -0.82960701 0.0
+vn 0.558611989 -0.829428971 0.0
+vn 0.427285999 -0.639258981 -0.639355004
+vn 0.427273005 -0.639383018 -0.639240026
+vn 0.655933976 -0.264804989 -0.706844985
+vn 0.656337023 -0.264681011 -0.706516027
+vn 0.0 -0.707010984 -0.707202017
+vn 0.0 -0.707035005 -0.707177997
+vn -0.43028599 -0.638372004 -0.638229012
+vn -0.430272996 -0.638257027 -0.638351977
+vn -0.430272996 -0.638257027 0.638351977
+vn -0.43028599 -0.638372004 0.638229012
+vn -0.655933976 -0.264804989 0.706844985
+vn -0.656135023 -0.264743 0.706681013
+vn -0.927377999 -0.374125987 0.0
+vn -0.927775025 -0.373140991 0.0
+vn -0.927691996 -0.373346001 0.0
+vn 0.0 0.724180996 -0.689610004
+vn 0.0 0.766349971 -0.642423987
+vn 0.0 0.805561006 -0.592512012
+vn 0.0 0.841564 -0.54015702
+vn 0.0 0.874063015 -0.485812992
+vn 0.0 0.90309298 -0.429444999
+vn 0.0 0.928489983 -0.371358007
+vn 0.0 0.950138986 -0.311825991
+vn 0.0 0.967996001 -0.250963986
+vn 0.0 0.981950998 -0.189136997
+vn 0.0 0.991966009 -0.126505002
+vn 0.0 0.997990012 -0.0633729994
+vn 0.0 0.997990012 0.0633729994
+vn 0.0 0.991966009 0.126505002
+vn 0.0 0.981950998 0.189136997
+vn 0.0 0.967996001 0.250963986
+vn 0.0 0.950138986 0.311825991
+vn 0.0 0.928489983 0.371358007
+vn 0.0 0.90309298 0.429444999
+vn 0.0 0.874063015 0.485812992
+vn 0.0 0.841564 0.54015702
+vn 0.0 0.805561006 0.592512012
+vn 0.0 0.766349971 0.642423987
+vn 0.0 0.724180996 0.689610004
+vn 0.927691996 -0.373346001 0.0
+vn 0.927377999 -0.374125987 0.0
+vn 0.927775025 -0.373140991 0.0
+usemtl MI_666ff2513d07d20001a4beee
+f 4/1/2 5/2/2 6/3/2
+f 7/3/2 8/2/2 9/4/2
+f 10/3/2 11/4/2 12/5/2
+f 13/5/2 14/4/2 15/6/2
+f 16/7/5 17/1/6 18/8/5
+f 19/8/5 20/1/6 21/3/5
+f 22/9/7 23/10/7 24/11/7
+f 25/11/7 26/10/7 27/12/7
+f 28/13/1 29/14/1 30/15/1
+f 31/15/1 32/14/1 33/16/1
+f 34/15/1 35/16/1 36/17/1
+f 37/17/1 38/16/1 39/18/1
+f 40/19/4 41/20/4 42/21/4
+f 43/21/4 44/20/4 45/22/4
+f 46/21/4 47/22/4 48/23/4
+f 49/23/4 50/22/4 51/24/4
+f 52/25/8 53/19/8 54/26/9
+f 55/26/9 56/19/8 57/21/8
+f 58/27/10 59/28/10 60/29/10
+f 61/29/10 62/28/10 63/30/10
+f 64/31/11 65/32/11 66/33/11
+f 67/33/11 68/32/11 69/34/11
+f 70/35/3 71/31/3 72/36/3
+f 73/36/3 74/31/3 75/33/3
+f 76/37/12 77/38/12 78/35/13
+f 79/35/13 80/38/12 81/31/13
+f 82/35/14 83/39/14 84/37/15
+f 85/36/16 86/40/17 87/35/16
+f 88/35/16 89/40/17 90/39/17
+f 91/41/18 92/40/19 93/36/19
+f 94/42/20 95/43/20 96/24/21
+f 97/24/21 98/43/20 99/23/20
+f 100/44/22 101/41/22 102/33/23
+f 103/33/23 104/41/22 105/36/23
+f 106/33/24 107/34/24 108/44/25
+f 109/38/26 110/32/27 111/31/27
+f 112/45/28 113/46/29 114/6/28
+f 115/6/28 116/46/29 117/5/28
+f 118/47/1 119/48/1 120/49/1
+f 121/49/1 122/48/1 123/50/1
+f 124/49/1 125/50/1 126/51/1
+f 127/47/1 128/52/1 129/48/1
+f 130/53/10 131/54/10 132/55/10
+f 133/55/10 134/54/10 135/56/10
+f 136/56/10 137/54/10 138/57/30
+f 139/57/30 140/54/10 141/58/30
+f 142/57/30 143/58/30 144/59/30
+f 145/59/30 146/58/30 147/60/30
+f 148/59/30 149/60/30 150/61/31
+f 151/61/31 152/60/30 153/62/31
+f 154/61/31 155/62/31 156/63/30
+f 157/63/30 158/62/31 159/64/30
+f 160/63/30 161/64/30 162/65/30
+f 163/65/30 164/64/30 165/66/30
+f 166/65/30 167/66/30 168/67/10
+f 169/67/10 170/66/30 171/68/10
+f 172/67/10 173/68/10 174/69/32
+f 175/69/32 176/68/10 177/70/32
+f 178/69/32 179/70/32 180/71/10
+f 181/71/10 182/70/32 183/72/10
+f 184/71/10 185/72/10 186/73/30
+f 187/73/30 188/72/10 189/74/30
+f 190/73/30 191/74/30 192/75/10
+f 193/75/10 194/74/30 195/76/10
+f 196/75/10 197/76/10 198/77/10
+f 199/14/33 200/50/33 201/78/34
+f 202/78/34 203/50/33 204/79/34
+f 205/78/34 206/79/34 207/80/35
+f 208/80/35 209/79/34 210/81/35
+f 211/80/35 212/81/35 213/82/36
+f 214/82/36 215/81/35 216/83/36
+f 217/82/36 218/83/36 219/84/37
+f 220/84/37 221/83/36 222/85/37
+f 223/84/37 224/85/37 225/86/38
+f 226/86/38 227/85/37 228/87/38
+f 229/86/38 230/87/38 231/88/39
+f 232/88/39 233/87/38 234/89/39
+f 235/88/39 236/89/39 237/90/40
+f 238/90/40 239/89/39 240/91/40
+f 241/90/40 242/91/40 243/92/41
+f 244/92/41 245/91/40 246/93/41
+f 247/92/41 248/93/41 249/94/42
+f 250/94/42 251/93/41 252/95/42
+f 253/94/42 254/95/42 255/96/43
+f 256/94/42 257/96/43 258/97/43
+f 259/97/43 260/96/43 261/98/44
+f 262/97/43 263/98/44 264/99/44
+f 265/99/44 266/98/44 267/100/1
+f 268/99/44 269/100/1 270/101/1
+f 271/101/1 272/100/1 273/102/45
+f 274/101/1 275/102/45 276/103/45
+f 277/103/45 278/102/45 279/104/46
+f 280/103/45 281/104/46 282/105/46
+f 283/105/46 284/104/46 285/106/47
+f 286/105/46 287/106/47 288/107/47
+f 289/107/47 290/106/47 291/108/48
+f 292/107/47 293/108/48 294/109/48
+f 295/109/48 296/108/48 297/110/49
+f 298/109/48 299/110/49 300/111/49
+f 301/111/49 302/110/49 303/112/50
+f 304/111/49 305/112/50 306/113/50
+f 307/113/50 308/112/50 309/114/51
+f 310/113/50 311/114/51 312/115/51
+f 313/115/51 314/114/51 315/116/52
+f 316/115/51 317/116/52 318/117/52
+f 319/117/52 320/116/52 321/118/53
+f 322/117/52 323/118/53 324/119/53
+f 325/119/53 326/118/53 327/120/54
+f 328/119/53 329/120/54 330/121/54
+f 331/121/54 332/120/54 333/122/55
+f 334/121/54 335/122/55 336/123/55
+f 337/123/55 338/122/55 339/48/56
+f 340/123/55 341/48/56 1/16/56
+f 2/124/7 342/125/7 343/126/57
+f 344/126/57 3/125/7 345/127/57
+f 346/126/57 347/127/57 348/128/58
+f 349/126/57 350/128/58 351/129/58
+f 352/129/58 353/128/58 354/130/59
+f 355/129/58 356/130/59 357/131/59
+f 358/131/59 359/130/59 360/132/58
+f 361/131/59 362/132/58 363/133/58
+f 364/133/58 365/132/58 366/134/59
+f 367/133/58 368/134/59 369/135/59
+f 370/135/59 371/134/59 372/136/58
+f 373/135/59 374/136/58 375/137/58
+f 376/137/58 377/136/58 378/138/7
+f 379/137/58 380/138/7 381/139/7
+f 382/139/7 383/138/7 384/140/7
+f 385/139/7 386/140/7 387/141/7
+f 388/141/7 389/140/7 390/142/7
+f 391/141/7 392/142/7 393/143/7
+f 394/143/7 395/142/7 396/144/58
+f 397/143/7 398/144/58 399/145/58
+f 400/145/58 401/144/58 402/146/7
+f 403/145/58 404/146/7 405/147/7
+f 406/147/7 407/146/7 408/148/7

data/UPB_00001202/parts/part_4.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95f24b2c73b15b5872e08a42496ac090b1197269309189400443058e990e38a2
+size 35289304

data/UPB_00001202/parts/part_5.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ef2e456dae26c10a4571b9cfb7c2afa9fb6f7b6bcaa6645864c0dd66be8a0b8
+size 13122942

data/UPB_00001202/plys/1.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee59d016494a7049de9c02b0901a2bdf0b6d1b260cc999de166f6f612e13ace1
+size 536866

data/UPB_00001202/plys/2.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5548bf2c6b20ec4e1223bbaab534c8c6f7fc196984e596ef00169fbb54e9ba5
+size 160242

data/UPB_00001202/plys/3.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e71bb42de3fb4ae52f99f68b94c58f1f5186ff92be6c9fc710b175988fc8fc9c
+size 160242

data/UPB_00001202/plys/4.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8e76a606068f0e285e675d8c90ab377c0c0decf9e3f9e39b7cebacf4074621b
+size 962626

data/UPB_00001202/plys/5.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:015f89d0b6207accc2504cbd7ad68efa832248daa63c3cd38d2e437b2254c534
+size 160242

data/UPB_00001202/plys/model.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da6a4154ee8ae2eeb1529005cbff64acb326bf149c09b1060bc5023e0a7bc55f
+size 1600243

data/UPB_00001203/annotations/object.json

@@ -0,0 +1,10 @@
+{
+    "object_name": "Microwave Oven",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        52.0,
+        40.0,
+        30.0
+    ],
+    "mass": 14.0
+}

data/UPB_00001203/annotations/part_1.json

@@ -0,0 +1,53 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001203",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Door Assembly with Viewing Window",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Tempered glass door panel with black bezel; approximately 45 cm wide by 26 cm tall. Part provides the front window and sealing surface of the microwave.",
+        "functional_description": "Allows loading food, seals the cavity during operation, and enables visual monitoring through the mesh-tinted window.",
+        "movement_description": "Rotates relative to the main housing about a side hinge (left-side typical) with a controlled swing of roughly 110 degrees; engages latch plates at the top edge when closed.",
+        "grasp_description": "User grasps the door edge or bezel to open/close the microwave frequently."
+    },
+    "basic_info": {
+        "material": "glass/Soda_Lime_Glass_Tempered",
+        "density": 2.45,
+        "young": 70,
+        "hardness": 520,
+        "poisson": 0.22,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                2,
+                3
+            ],
+            "C": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.2352840006351471,
+                    -0.20759890973567963
+                ],
+                "range": [
+                    0.0,
+                    1.7453292519943295
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001203/annotations/part_2.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001203",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Top Trim Strip",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "A slim anodized aluminum bar fitted along the upper front edge; roughly 40\u201345 cm long and a few millimeters thick.",
+        "functional_description": "Covers fasteners and forms a neat edge for the front opening, slightly stiffening the top lip of the front frame.",
+        "movement_description": "Rigidly mounted to the main housing; no intended motion. It lightly contacts the door when closed.",
+        "grasp_description": "Not intended to be grasped; only incidental contact during cleaning."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Extrusion_6063",
+        "density": 2.7,
+        "young": 69,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001203/annotations/part_3.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001203",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Door Latch Plates (Pair)",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Two small steel striker/catch plates located at the front frame\u2019s top; each a few centimeters long.",
+        "functional_description": "Provide the receiving surfaces for the door\u2019s latch mechanism, keeping the door closed and sealing during operation.",
+        "movement_description": "Fixed to the housing. They make and break contact with the door\u2019s latch hooks as the door opens or closes.",
+        "grasp_description": "Never grasped; internal fastening components."
+    },
+    "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": {}
+    }
+}