Upload folder using huggingface_hub (part 137)

.gitattributes

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data/UPB_00001506/annotations/object.json

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+{
+    "object_name": "Twin-Drum Washer-Dryer",
+    "category": "KitchenDining/KitchenDining_Other",
+    "volume": [
+        60.0,
+        65.0,
+        130.0
+    ],
+    "mass": 90.0
+}

data/UPB_00001506/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001506",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Upper Door (glass porthole)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Circular tempered-glass door with slim plastic/metal rim, approx. \u00d832\u201335 cm, mounted on side hinges on the appliance\u2019s upper opening.",
+        "functional_description": "Allows user access to the upper drum while sealing the opening during wash/dry cycles.",
+        "movement_description": "Rotates about a vertical hinge axis on the cabinet; opens roughly 0\u2013120 degrees.",
+        "grasp_description": "User grasps the rim/handle area to pull the door open or closed."
+    },
+    "basic_info": {
+        "material": "glass/Tempered_Soda_Lime_Glass",
+        "density": 2.5,
+        "young": 70.0,
+        "hardness": 620,
+        "poisson": 0.22,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
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+                    0.0,
+                    0.0,
+                    -1.0
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+                    0.28778132796287537
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+                    0.0,
+                    1.9198621771937625
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+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001506/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001506",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Lower Door (glass porthole)",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Second circular tempered-glass door for the lower compartment, similar size to the upper door.",
+        "functional_description": "Seals and provides access to the lower drum compartment.",
+        "movement_description": "Hinged rotation relative to the cabinet with soft closing resistance.",
+        "grasp_description": "Pulled by the user to load or unload laundry."
+    },
+    "basic_info": {
+        "material": "glass/Tempered_Soda_Lime_Glass",
+        "density": 2.5,
+        "young": 70.0,
+        "hardness": 620,
+        "poisson": 0.22,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
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+                    -1.0
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+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001506/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001506",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Detergent Dispenser Drawer",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Small rectangular ABS drawer set into the top fascia for detergent/softener dosing.",
+        "functional_description": "Holds and channels detergent and additives into the wash cycle.",
+        "movement_description": "Slides on internal rails relative to the cabinet, with limited extension.",
+        "grasp_description": "User pulls the drawer to fill and pushes it back to close."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.3,
+        "hardness": 10,
+        "poisson": 0.37,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001506/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001506",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Fasteners Set (screws/bolts)",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "A set of small steel screws/bolts used around the base and panels.",
+        "functional_description": "Provide structural joining strength for the cabinet and internal mounts.",
+        "movement_description": "No relative movement; they rigidly fix components together.",
+        "grasp_description": "Only handled during service with tools, not during normal use."
+    },
+    "basic_info": {
+        "material": "rubber",
+        "density": 1.0696206283343204,
+        "young": 0.02131831653823384,
+        "hardness": 7.315411973918199,
+        "poisson": 0.48963841138115743,
+        "friction": 0.6991997628927132
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001506/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001506",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Dual Inner Drum Assembly",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Two perforated cylindrical stainless-steel drums aligned vertically, sharing the cabinet but operating independently.",
+        "functional_description": "Contain laundry and rotate to agitate and tumble during wash/dry cycles.",
+        "movement_description": "Each drum rotates about its own horizontal axis relative to the cabinet; operation is continuous 0\u2013360\u00b0 rotation.",
+        "grasp_description": "Users may touch the drum rims when loading, but drums are not intended to be grasped or moved by hand."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193.0,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001506/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001506",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Front Logo Badge",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Small molded ABS lettered badge affixed to the upper front of the appliance.",
+        "functional_description": "Brand identification; no mechanical function.",
+        "movement_description": "Rigidly attached to the cabinet via adhesive or clips.",
+        "grasp_description": "Not intended to be touched during normal use."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.2,
+        "hardness": 9,
+        "poisson": 0.37,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001506/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001506",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Outer Cabinet/Shell",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Powder-coated steel chassis with front openings for two drums, top fascia, and side panels.",
+        "functional_description": "Provides structural support, mounts motors and controls, and encloses the appliance.",
+        "movement_description": "Stationary reference frame for all doors, drawer, drums, and electronics.",
+        "grasp_description": "Only contacted when moving the machine; not a regular grasp surface."
+    },
+    "basic_info": {
+        "material": "metal/Cold_Rolled_Steel_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001506/annotations/part_8.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001506",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Control Panel Module",
+        "affordance": 1,
+        "graspable": false,
+        "basic_description": "Rectangular polycarbonate front panel with printed legends and display, mounted in the upper fascia.",
+        "functional_description": "User interface for program selection, start/pause, and status/time display.",
+        "movement_description": "Rigidly fixed to the cabinet; no intended movement.",
+        "grasp_description": "Interacted with by pressing/touching buttons; not grasped."
+    },
+    "basic_info": {
+        "material": "plastic/PC_Polycarbonate",
+        "density": 1.2,
+        "young": 2.4,
+        "hardness": 14,
+        "poisson": 0.37,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001506/full_model/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

data/UPB_00001506/meta_data.json

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+{
+    "id": "UPB_00001506",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenDining_Other",
+        "object_name": "Twin-Drum Washer-Dryer"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 8,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001506/model.urdf

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+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.014952 1.014952 1.014952"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.014952 1.014952 1.014952"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.014952 1.014952 1.014952"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.014952 1.014952 1.014952"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.014952 1.014952 1.014952"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.014952 1.014952 1.014952"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.014952 1.014952 1.014952"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.014952 1.014952 1.014952"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.014952 1.014952 1.014952"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.014952 1.014952 1.014952"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.014952 1.014952 1.014952"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.014952 1.014952 1.014952"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.014952 1.014952 1.014952"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.014952 1.014952 1.014952"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.014952 1.014952 1.014952"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.014952 1.014952 1.014952"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_7"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.194445 -0.262656 0.292084" 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="0.194445 0.262656 -0.292084" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_7"/>
+    <child link="helper_link_1"/>
+    <origin xyz="-0.225047 -0.262632 -0.227254" 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="0.225047 0.262632 0.227254" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001506/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_00001506/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