Upload folder using huggingface_hub (part 30)

.gitattributes

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data/UPB_00001222/annotations/object.json

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+{
+    "object_name": "Built-in Electric Oven",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        60.0,
+        60.0,
+        56.0
+    ],
+    "mass": 35.0
+}

data/UPB_00001222/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001222",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Oven Door with Glass Window",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Tempered black glass door panel with viewing window; approx. 55*45*3 cm. Part of a built-in electric oven.",
+        "functional_description": "Seals the oven cavity, provides thermal barrier and viewing window, and interfaces with the handle for opening/closing.",
+        "movement_description": "Rotates downward about a lower hinge relative to the main housing; typical opening range near 90\u2013110 degrees with light damping.",
+        "grasp_description": "Users do not grasp the door directly; they pull on the handle to open and push to close."
+    },
+    "basic_info": {
+        "material": "glass/Tempered_Soda_Lime_Glass",
+        "density": 2.5,
+        "young": 70,
+        "hardness": 620,
+        "poisson": 0.22,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                2
+            ],
+            "C": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
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+                "range": [
+                    0.0,
+                    1.7453292519943295
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+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001222/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001222",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Door Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Brushed stainless-steel bar handle; approx. 45*3*3 cm. Mounted to the oven door.",
+        "functional_description": "Primary user interface for opening/closing the oven door, designed to stay cool and provide a secure grip.",
+        "movement_description": "Rigidly fixed to the door; moves together with the door when it rotates.",
+        "grasp_description": "Users grasp the handle with one hand (power or pinch grip) to pull the door open and push it closed."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.93,
+        "young": 193,
+        "hardness": 170,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001222/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001222",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Main Cavity Housing",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Painted steel sheet-metal enclosure forming the oven cavity and exterior chassis; approx. 60*60*56 cm.",
+        "functional_description": "Provides structural support, thermal insulation interfaces, and mounting points for the door, frame, and control panel; houses heating elements and airflow passages.",
+        "movement_description": "Stationary base structure. The door rotates relative to this housing via the lower hinge.",
+        "grasp_description": "Not grasped during normal use; users interact with the door and control panel instead."
+    },
+    "basic_info": {
+        "material": "metal/Painted_Carbon_Steel_Sheet",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 160,
+        "poisson": 0.29,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001222/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001222",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Control Panel/Display",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Black glass control fascia with icons/display; approx. 55*8*2 cm. Mounted above the door.",
+        "functional_description": "Hosts the user interface (touch or buttons) for setting temperature, time, and modes, and provides display feedback.",
+        "movement_description": "Rigidly attached to the housing; no independent movement.",
+        "grasp_description": "Users tap or press the panel; it is not grasped."
+    },
+    "basic_info": {
+        "material": "glass/Borosilicate_Glass",
+        "density": 2.23,
+        "young": 64,
+        "hardness": 600,
+        "poisson": 0.2,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001222/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001222",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Front Mounting Frame/Bezel",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Painted steel front frame with cutouts and screw holes; approx. 55*50*2 cm. Surrounds the door opening.",
+        "functional_description": "Provides front structural reinforcement and precise mounting for the door and control fascia; aligns sealing surfaces.",
+        "movement_description": "Rigidly fixed to the main housing; remains stationary while the door rotates within its opening.",
+        "grasp_description": "Not intended for direct handling; serves as a structural bezel."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Sheet_Painted",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 160,
+        "poisson": 0.29,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+        "motion_info": {}
+    }
+}

data/UPB_00001222/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
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data/UPB_00001222/meta_data.json

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+{
+    "id": "UPB_00001222",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Built-in Electric Oven"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 5,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001222/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="1.008402 1.008402 1.008402"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.008402 1.008402 1.008402"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.008402 1.008402 1.008402"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.008402 1.008402 1.008402"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.008402 1.008402 1.008402"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.008402 1.008402 1.008402"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.008402 1.008402 1.008402"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.008402 1.008402 1.008402"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.008402 1.008402 1.008402"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.008402 1.008402 1.008402"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_3"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.235830 -0.284530" 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 0.235830 0.284530" 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>
+  <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_00001222/parts/oven_ZKUQZWRVAIJBWPTUKA888888_PPHqc.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
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+Kd 0 0 0
+illum 1
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+illum 1
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+newmtl MI_66979c5d9ca5eb0001026f94
+Kd 1 1 1
+illum 1
+map_Kd ./T_66979c5d9ca5eb0001026f94_color.jpg
+
+newmtl MI_66979c5ded34ab000154b36b
+Kd 1 1 1
+illum 1
+map_Kd ./T_66979c5ded34ab000154b36b_color.jpg
+
+newmtl MI_66979c5dca5d91000123f873
+Kd 1 1 1
+illum 1
+map_Kd ./T_66979c5dca5d91000123f873_color.jpg
+bump ./T_66979c5dca5d91000123f873_normal.jpg
+map_bump ./T_66979c5dca5d91000123f873_normal.jpg
+

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+size 168148508

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data/UPB_00001223/annotations/object.json

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+{
+    "object_name": "Countertop Microwave Oven",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        45.0,
+        35.0,
+        25.0
+    ],
+    "mass": 12.0
+}

data/UPB_00001223/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001223",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Door Outer Glass Panel",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Tempered glass sheet forming the visible front of the door; approx. 28*16 cm, rectangular, smooth surface.",
+        "functional_description": "Provides a durable, heat-resistant viewing surface and aesthetic finish for the door.",
+        "movement_description": "Moves together with the door assembly; rotation is provided by the door\u2019s hinge via the door frame.",
+        "grasp_description": "Not intended for grasping; typically touched only when wiping or pushing the door closed."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Sheet_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
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+        "friction": 0.5
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+}

data/UPB_00001223/annotations/part_10.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001223",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Knob Front Cap",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Circular ABS cap that forms the visible front of the rotary control.",
+        "functional_description": "Decorative and tactile surface attached to the knob body.",
+        "movement_description": "Rotates rigidly with the knob body; no independent motion.",
+        "grasp_description": "Finger and thumb make contact here when turning the knob."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 14,
+        "poisson": 0.37,
+        "friction": 0.55
+    },
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+            "D"
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+        "motion_info": {}
+    }
+}

data/UPB_00001223/annotations/part_11.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001223",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Rotary Knob Body",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Hollow cylindrical ABS knob that interfaces to a rotary encoder or potentiometer.",
+        "functional_description": "Primary rotary input for time/power selection.",
+        "movement_description": "Rotates relative to the control panel faceplate; detented or damped by the internal mechanism.",
+        "grasp_description": "Turned by hand using a pinch grip or two-finger twist."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.3,
+        "hardness": 15,
+        "poisson": 0.37,
+        "friction": 0.55
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+        "motion_info": {}
+    }
+}

data/UPB_00001223/annotations/part_12.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001223",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Digital Clock/Timer Display (LED module)",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Segmented LED display mounted on a small FR4 PCB showing time and settings.",
+        "functional_description": "Provides visual feedback for cooking time, clock, and modes.",
+        "movement_description": "Fixed behind the display window; no motion.",
+        "grasp_description": "Only viewed; not touched by users."
+    },
+    "basic_info": {
+        "material": "other/PCB_FR4_with_LED",
+        "density": 1.85,
+        "young": 20.0,
+        "hardness": 25,
+        "poisson": 0.12,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001223/annotations/part_13.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001223",
+        "label": "13"
+    },
+    "part_level": {
+        "part_name": "Control Panel Faceplate",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Tall ABS panel to the right of the door with openings for buttons, display, and rotary knob.",
+        "functional_description": "Provides mounting and user-facing apertures for all controls and protects internal electronics.",
+        "movement_description": "Fixed to the chassis; serves as the parent reference for buttons and knob rotation.",
+        "grasp_description": "Touched during operation when pressing buttons but not grasped."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.3,
+        "hardness": 15,
+        "poisson": 0.37,
+        "friction": 0.5
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+        "motion_types": [
+            "D"
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+        "motion_info": {}
+    }
+}

data/UPB_00001223/annotations/part_14.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001223",
+        "label": "14"
+    },
+    "part_level": {
+        "part_name": "Display Window Lens (Tinted)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Small dark PC lens covering the clock/timer opening on the control panel.",
+        "functional_description": "Protects the LED module and improves contrast by tinting the window.",
+        "movement_description": "Rigidly fixed to the faceplate; no motion.",
+        "grasp_description": "May be touched when cleaning but not a control surface."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Sheet_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001223/annotations/part_15.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001223",
+        "label": "15"
+    },
+    "part_level": {
+        "part_name": "Control Legends/Markings",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Printed legends and icons on the control panel around the knob and buttons.",
+        "functional_description": "Communicates control functions and settings to the user.",
+        "movement_description": "Adhered to the faceplate; no independent movement.",
+        "grasp_description": "Looked at frequently; touched incidentally when pressing adjacent controls."
+    },
+    "basic_info": {
+        "material": "plastic/PC-ABS_Blend",
+        "density": 1.15,
+        "young": 2.5,
+        "hardness": 18,
+        "poisson": 0.36,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001223/annotations/part_2.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001223",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Door Handle Grip (Outer)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Curved ABS plastic handle shell on the door\u2019s right edge; about 23 cm long.",
+        "functional_description": "Primary grasp point for opening and closing the microwave door.",
+        "movement_description": "Rigidly attached to the door frame; rotates with the door around the hinge.",
+        "grasp_description": "Users grasp this surface to pull the door open; shaped for comfortable finger wrap."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.3,
+        "hardness": 15,
+        "poisson": 0.37,
+        "friction": 0.6
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001223/annotations/part_3.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001223",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Door Handle Base (Inner)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Structural inner portion of the vertical door handle; molded ABS piece supporting the outer grip.",
+        "functional_description": "Transfers pull forces from the grip to the door frame and hinge.",
+        "movement_description": "Rigid with the door frame; follows the door\u2019s rotational motion.",
+        "grasp_description": "Fingers may contact the inner edge during pulling; provides additional stiffness."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.3,
+        "hardness": 15,
+        "poisson": 0.37,
+        "friction": 0.58
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001223/annotations/part_4.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001223",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Control Push Buttons Set",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Array of narrow rectangular ABS buttons located on the control panel.",
+        "functional_description": "User input for functions such as power level, timer presets, start/stop, etc.",
+        "movement_description": "Each button translates inward a few millimeters against return springs and tactile switches mounted behind the panel.",
+        "grasp_description": "Pressed with fingertips; not grasped."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Sheet_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001223/annotations/part_5.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001223",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Door Inner Perforated Screen",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Fine perforated stainless-steel mesh panel behind the door glass; dark finish.",
+        "functional_description": "Acts as an RF shield to contain microwave energy while allowing visibility.",
+        "movement_description": "Rigidly fixed to the door assembly and rotates with it.",
+        "grasp_description": "Not accessed by users; only visible through the outer glass."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_Perforated",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 180,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001223/annotations/part_6.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001223",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Display Bezel/Light Guide",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Small rectangular PC piece forming the inner bezel/light guide for the clock/timer window.",
+        "functional_description": "Positions and optically masks the LED display, improving contrast and alignment.",
+        "movement_description": "Fixed behind the control panel faceplate with no relative motion.",
+        "grasp_description": "Not meant to be touched during normal use."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Sheet_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001223/annotations/part_7.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001223",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Outer Housing/Chassis",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Powder-coated sheet steel enclosure with open front; forms the microwave body.",
+        "functional_description": "Provides structural support, RF shielding, and mounting points for door and controls.",
+        "movement_description": "Stationary reference for all moving parts; door rotates relative to this chassis.",
+        "grasp_description": "Touched only when moving or cleaning the appliance."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Sheet_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001223/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001223",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Door Frame/Perimeter Trim",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Injection-molded frame around the door glass that hosts the hinge and latch interfaces.",
+        "functional_description": "Structural base of the door that ties the glass, handle, and RF screen together and engages the hinge and latch.",
+        "movement_description": "Rotates about the left-side hinge relative to the chassis.",
+        "grasp_description": "Usually not grasped directly, but edges may be touched when cleaning."
+    },
+    "basic_info": {
+        "material": "plastic/PC-ABS_Blend",
+        "density": 1.15,
+        "young": 2.5,
+        "hardness": 18,
+        "poisson": 0.36,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001223/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