Upload folder using huggingface_hub (part 129)

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+    "category": "KitchenDining/KitchenAppliance",
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+        "entity": "UPB_00001498",
+        "label": "1"
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+    "part_level": {
+        "part_name": "Door Assembly (frame + window)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Circular front-loading washer door composed of a plastic frame and a tempered-glass viewing window.",
+        "functional_description": "Seals the drum opening and allows loading/unloading laundry while providing visibility.",
+        "movement_description": "Rotates on a hinge relative to the front cabinet to open/close; motion damped by hinge/friction.",
+        "grasp_description": "Users grasp the door rim/handle to pull open or push closed."
+    },
+    "basic_info": {
+        "material": "other/Plastic_Glass_Composite",
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+        "part_name": "Front Cabinet Shell",
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+        "basic_description": "Painted steel front housing with the door opening and control-panel cutouts.",
+        "functional_description": "Provides structural enclosure, mounting interfaces for controls, and the door opening.",
+        "movement_description": "Stationary reference frame for all user interfaces and rotating/ sliding parts.",
+        "grasp_description": "Occasionally touched around edges when moving or cleaning the appliance; not a handle."
+    },
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+        "graspable": true,
+        "basic_description": "Round ABS rotary knob located on the control panel.",
+        "functional_description": "Allows the user to select wash programs by rotating to indexed positions.",
+        "movement_description": "Rotates against a detented shaft fixed in the control panel; limited angular range.",
+        "grasp_description": "Turned by thumb and fingers to choose cycles."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.1,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.9816271852379503,
+                    -0.19080898616632017
+                ],
+                "pos": [
+                    0.0,
+                    -0.23038294911384583,
+                    0.3616155683994293
+                ],
+                "range": [
+                    0.0,
+                    6.283185307179586
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001498/annotations/part_3.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001498",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Drain Hose",
+        "affordance": 9,
+        "graspable": true,
+        "basic_description": "Flexible rubber hose routed at the rear of the washer.",
+        "functional_description": "Carries wastewater from the pump outlet to the household drain.",
+        "movement_description": "Fixed at its connection points relative to the cabinet; flexible body accommodates vibration.",
+        "grasp_description": "Handled when connecting or positioning the hose during installation or maintenance."
+    },
+    "basic_info": {
+        "material": "rubber/Nitrile_Rubber",
+        "density": 1.2,
+        "young": 0.01,
+        "hardness": 4,
+        "poisson": 0.49,
+        "friction": 0.75
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001498/annotations/part_4.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001498",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Door Boot Gasket with Retaining Rings",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Large EPDM bellows-style gasket and metal/wire retainers around the door opening.",
+        "functional_description": "Provides a watertight seal between the stationary front opening and the rotating inner drum space.",
+        "movement_description": "Rigidly fixed to the cabinet opening; flexes slightly to absorb vibration but has no intentional relative motion.",
+        "grasp_description": "Not typically grasped; may be touched for cleaning of lint or residue."
+    },
+    "basic_info": {
+        "material": "rubber/EPDM_Rubber",
+        "density": 1.15,
+        "young": 0.02,
+        "hardness": 5,
+        "poisson": 0.49,
+        "friction": 0.7
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001498/annotations/part_5.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001498",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Display Window",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Rectangular polycarbonate window/inset on the control panel.",
+        "functional_description": "Protects and optically covers the electronic display beneath.",
+        "movement_description": "Rigidly mounted to the front cabinet with no intended motion.",
+        "grasp_description": "Usually not touched except for cleaning."
+    },
+    "basic_info": {
+        "material": "glass",
+        "density": 2.454884526558893,
+        "young": 68.975519630485,
+        "hardness": 570.689376443418,
+        "poisson": 0.22218706697459378,
+        "friction": 0.46981524249422724
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001498/annotations/part_6.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001498",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Inner Drum Assembly",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Perforated stainless-steel drum mounted to a front flange/bulkhead.",
+        "functional_description": "Holds laundry and rotates during wash and spin cycles, allowing water exchange through perforations.",
+        "movement_description": "Rotates on bearings relative to the cabinet/frame, driven by a motor and belt or direct drive.",
+        "grasp_description": "Accessed only through the door opening for loading; not grasped during operation."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "hardness": 180,
+        "poisson": 0.29,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001498/annotations/part_7.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001498",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Option Buttons (press keys)",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Small ABS push-buttons on the control panel.",
+        "functional_description": "Used to toggle options such as temperature, speed, and extra rinse.",
+        "movement_description": "Short linear travel into the panel with spring return.",
+        "grasp_description": "Pressed by fingertip; not meant to be gripped."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.1,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001498/annotations/part_8.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001498",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Fasteners Set",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Assorted screws and fixing hardware distributed around the cabinet.",
+        "functional_description": "Secure structural and trim parts to the cabinet.",
+        "movement_description": "No relative motion; provide rigid connections.",
+        "grasp_description": "Handled only during assembly or repair with tools."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Generic",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 160,
+        "poisson": 0.29,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001498/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001498",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Detergent Drawer Front/Handle",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Elongated polypropylene drawer front used to pull the detergent tray.",
+        "functional_description": "Provides a handle and face for the detergent dispenser tray.",
+        "movement_description": "Slides linearly in and out relative to the cabinet with limited travel.",
+        "grasp_description": "Pulled by fingers to open and pushed to close when loading detergent."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.5,
+        "hardness": 10,
+        "poisson": 0.42,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001498/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_00001498/full_model/model.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2b17354695e9d6e6ee9b532f0d2921b39a17e0109ed8a41e3ed86fc57ab3aa3
+size 47996612

data/UPB_00001498/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001498",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Front-Loading Washing Machine"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 10,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001498/model.urdf

@@ -0,0 +1,189 @@
+<?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="1.000994 1.000994 1.000994"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.000994 1.000994 1.000994"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.000994 1.000994 1.000994"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.000994 1.000994 1.000994"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.000994 1.000994 1.000994"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.000994 1.000994 1.000994"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.000994 1.000994 1.000994"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.000994 1.000994 1.000994"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.000994 1.000994 1.000994"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.000994 1.000994 1.000994"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.000994 1.000994 1.000994"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.000994 1.000994 1.000994"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.000994 1.000994 1.000994"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.000994 1.000994 1.000994"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.000994 1.000994 1.000994"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.000994 1.000994 1.000994"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.000994 1.000994 1.000994"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.000994 1.000994 1.000994"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.000994 1.000994 1.000994"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.000994 1.000994 1.000994"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_10"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.254467 -0.262793 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.254467 0.262793 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="continuous">
+    <parent link="link_10"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 -0.230612 0.361975" rpy="0 0 0"/>
+    <axis xyz="0.0 0.9816271852379503 -0.19080898616632017"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 0.230612 -0.361975" 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>
+  <joint name="joint_10" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001498/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_00001498/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