Upload folder using huggingface_hub (part 120)

.gitattributes

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data/UPB_00001487/annotations/object.json

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+{
+    "object_name": "Stacked Front-Load Washer-Dryer",
+    "category": "KitchenDining/KitchenDining_Other",
+    "volume": [
+        60.0,
+        65.0,
+        150.0
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+    "mass": 90.0
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data/UPB_00001487/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001487",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Upper Door (glass porthole)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Circular glass window with a molded rim acting as the upper door of the appliance, approx. \u00d830 cm and 3 cm thick.",
+        "functional_description": "Provides access to the upper drum and a see\u2011through window; seals against a gasket when closed.",
+        "movement_description": "Hinged to the cabinet and swings about a vertical axis; soft closing due to hinge friction/damping.",
+        "grasp_description": "Users pull the rim/handle area to open and close the door."
+    },
+    "basic_info": {
+        "material": "glass/Soda_Lime_Glass",
+        "density": 2.5,
+        "young": 70,
+        "hardness": 550,
+        "poisson": 0.22,
+        "friction": 0.5
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+}

data/UPB_00001487/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001487",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Lower Door (glass porthole)",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Lower circular door with glass window, approx. \u00d830 cm and 3 cm thick.",
+        "functional_description": "Provides access to the lower drum and visibility during operation.",
+        "movement_description": "Swings on a side hinge relative to the cabinet with limited opening angle.",
+        "grasp_description": "Grasped at the rim/handle to open and close."
+    },
+    "basic_info": {
+        "material": "glass/Soda_Lime_Glass",
+        "density": 2.5,
+        "young": 70,
+        "hardness": 550,
+        "poisson": 0.22,
+        "friction": 0.5
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+}

data/UPB_00001487/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001487",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Power/Start Button",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Small circular ABS push button on the control area, about \u00d81.5 cm, travel ~0.3\u20130.5 cm.",
+        "functional_description": "Acts as an electrical input (power/start).",
+        "movement_description": "Depresses axially into the control panel against a return spring.",
+        "grasp_description": "Pressed with a fingertip; not typically grasped."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.1,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.4
+    },
+    "kinematic_info": {
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+            "C"
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+                3
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+    }
+}

data/UPB_00001487/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001487",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Program Selector Knob",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Round ABS rotary knob with knurled edge, about \u00d84 cm and 2 cm deep.",
+        "functional_description": "Allows the user to select wash/dry programs via rotational detents.",
+        "movement_description": "Rotates about a shaft fixed to the control panel with light damping.",
+        "grasp_description": "Users grasp and turn the knob to choose a cycle."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.1,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.45
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+}

data/UPB_00001487/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001487",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Outer Cabinet",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Painted steel cabinet forming the structure of the appliance, approx. 60\u00d765\u00d7150 cm with two front apertures.",
+        "functional_description": "Provides structural support, contains the drums and mechanisms, and offers mounting surfaces for doors and controls.",
+        "movement_description": "Stationary reference frame for all other components.",
+        "grasp_description": "Not intended to be grasped except when moving the appliance."
+    },
+    "basic_info": {
+        "material": "metal/Cold_Rolled_Steel",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 120,
+        "poisson": 0.29,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+    }
+}

data/UPB_00001487/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001487",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Inner Drums (upper and lower)",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Two perforated stainless-steel cylindrical drums, each about \u00d835 cm and 25 cm long, mounted horizontally.",
+        "functional_description": "Hold laundry and rotate to tumble clothes for washing/drying.",
+        "movement_description": "Spin about their axes relative to the cabinet via motor and bearings; free continuous rotation.",
+        "grasp_description": "Users do not grasp drums directly during normal use."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel",
+        "density": 7.9,
+        "young": 193,
+        "hardness": 160,
+        "poisson": 0.3,
+        "friction": 0.45
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+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001487/annotations/part_8.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001487",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Control Panel Console",
+        "affordance": 1,
+        "graspable": false,
+        "basic_description": "ABS front console with printed legends and display, approx. 45\u00d712\u00d72 cm, mounted at the top front.",
+        "functional_description": "Hosts the interface (buttons, knob, indicators) for controlling washer and dryer cycles.",
+        "movement_description": "Rigidly fixed to the cabinet; supports the motion of the knob and button.",
+        "grasp_description": "Touched for control inputs; not meant to be grasped or used as a handle."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.1,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+        "motion_info": {}
+    }
+}

data/UPB_00001487/annotations/part_9.json

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+{
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+        "type_name": "default",
+        "entity": "UPB_00001487",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Fasteners Set (screws)",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Small steel screws/fasteners (several pieces), typical size M4\u2013M5, length ~1.5 cm, used around the cabinet and panel.",
+        "functional_description": "Secure panels, console, and internal brackets to the cabinet structure.",
+        "movement_description": "No relative motion when tightened; provide rigid mechanical joints.",
+        "grasp_description": "Handled only during assembly or service with a screwdriver."
+    },
+    "basic_info": {
+        "material": "rubber",
+        "density": 1.0696206283343204,
+        "young": 0.02131831653823384,
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+    }
+}

data/UPB_00001487/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

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data/UPB_00001487/meta_data.json

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+{
+    "id": "UPB_00001487",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenDining_Other",
+        "object_name": "Stacked Front-Load Washer-Dryer"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 8,
+        "format": "obj"
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+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001487/model.urdf

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+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="helper_link_2"/>
+  <link name="link_1">
+    <visual>
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+    <collision>
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+        <mesh filename="parts/part_1.obj" scale="1.223399 1.223399 1.223399"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
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+        <mesh filename="parts/part_2.obj" scale="1.223399 1.223399 1.223399"/>
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+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.223399 1.223399 1.223399"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.223399 1.223399 1.223399"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.223399 1.223399 1.223399"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.223399 1.223399 1.223399"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.223399 1.223399 1.223399"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.223399 1.223399 1.223399"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.223399 1.223399 1.223399"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.223399 1.223399 1.223399"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.223399 1.223399 1.223399"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.223399 1.223399 1.223399"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.223399 1.223399 1.223399"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.223399 1.223399 1.223399"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_6"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.267664 -0.396823 0.280332" 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="0.267664 0.396823 -0.280332" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_6"/>
+    <child link="helper_link_1"/>
+    <origin xyz="-0.318804 -0.398950 -0.309070" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0.318804 0.398950 0.309070" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="continuous">
+    <parent link="link_8"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.000000 -0.420917 0.643543" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.000000 0.420917 -0.643543" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001487/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_00001487/parts/2.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 2.png

data/UPB_00001487/parts/3.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 3.png