Upload folder using huggingface_hub (part 32)

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data/UPB_00001230/plys/8.ply

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data/UPB_00001230/plys/9.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001230/plys/model.ply

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data/UPB_00001231/annotations/object.json

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+{
+    "object_name": "Convection Microwave Oven",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        50.0,
+        45.0,
+        35.0
+    ],
+    "mass": 16.0
+}

data/UPB_00001231/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001231",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Front Door with Window",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "A rectangular appliance door dominated by a black glass window panel, sized roughly 45\u00d728 cm, forming the access to the cooking cavity.",
+        "functional_description": "Provides a transparent, heat-resistant barrier to contain heat and microwaves while allowing users to view food. Seals against the main body when closed.",
+        "movement_description": "Rotates on a side hinge assembly mounted to the front frame bracket; opens approximately 110\u00b0 for loading/unloading.",
+        "grasp_description": "Users grasp the edge/handle area to pull the door open and push it closed."
+    },
+    "basic_info": {
+        "material": "metal/Low_Carbon_Steel",
+        "density": 7.85,
+        "young": 210.0,
+        "hardness": 120,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.2703701853752136,
+                    -0.20423175394535065
+                ],
+                "range": [
+                    0.0,
+                    1.7453292519943295
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001231/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001231",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Main Cavity and Outer Shell",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Sheet-metal enclosure with an inner stainless-steel cooking cavity, ventilation, and mounting flanges; roughly 50\u00d745\u00d735 cm overall.",
+        "functional_description": "Houses heating and microwave components, supports racks/trays, and provides structural support for hinges and controls.",
+        "movement_description": "Stationary reference frame for all other parts; provides stops and sealing surfaces for the door.",
+        "grasp_description": "Not grasped during normal operation; users may touch side handles only when carrying the unit."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001231/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001231",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Front Frame Hinge/Latch Bracket",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "A long steel front frame with integrated hinge posts and latch features located at the front opening of the oven body.",
+        "functional_description": "Provides rigid mounting for the door's hinge pins and latch receivers, controls the pivot axis, and aligns the door with the cavity seal.",
+        "movement_description": "Rigidly fixed to the main body; serves as the parent component for the door\u2019s rotation about a vertical side axis.",
+        "grasp_description": "Not handled by users; only interacts mechanically with the door and body."
+    },
+    "basic_info": {
+        "material": "metal/Low_Carbon_Steel",
+        "density": 7.85,
+        "young": 210.0,
+        "hardness": 120,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001231/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001231",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Top Control Panel",
+        "affordance": 1,
+        "graspable": false,
+        "basic_description": "A horizontal ABS control fascia above the door with display/icons and push-buttons/knob features.",
+        "functional_description": "User interface for power and cooking modes; protects electronic controls and provides labels.",
+        "movement_description": "Rigidly mounted to the body; does not move during operation.",
+        "grasp_description": "Users press buttons and rotate/press controls; not intended for lifting or grasping."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.1,
+        "hardness": 12,
+        "poisson": 0.35,
+        "friction": 0.6
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001231/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_00001231/full_model/model.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:413f162a58896fdf829bee9cb27382fdfbd54f8eac7843485849725179fe046c
+size 36824959

data/UPB_00001231/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001231",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Convection Microwave Oven"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 4,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001231/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="0.840336 0.840336 0.840336"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.840336 0.840336 0.840336"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.840336 0.840336 0.840336"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.840336 0.840336 0.840336"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.840336 0.840336 0.840336"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.840336 0.840336 0.840336"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.840336 0.840336 0.840336"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.840336 0.840336 0.840336"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_3"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.227202 -0.171623" 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 0.227202 0.171623" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="fixed">
+    <parent link="base_link"/>
+    <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_00001231/parts/1.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 1.png

data/UPB_00001231/parts/oven_ZPUQ7EZVAIM2OPTUKU888888_1Tx8r.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_67d796cc5d3a59000104013d
+Kd 0.559283972 0.559283972 0.559283972
+illum 1
+
+newmtl MI_67d796cd832a370001429906
+Kd 0.0344090015 0.0344090015 0.0344090015
+illum 1
+
+newmtl MI_67d796cdfa01610001c1d90b
+Kd 1 1 1
+illum 1
+map_Kd ./T_67d796cdfa01610001c1d90b_color.jpg
+
+newmtl MI_67d796cd737a7400015d852e
+Kd 1 1 1
+Ks 0.100000001 0.100000001 0.100000001
+d 1
+illum 1
+
+newmtl MI_67d796ccdbb6c50001cc2e06
+Kd 1 1 1
+illum 1
+map_Kd ./T_67d796ccdbb6c50001cc2e06_color.jpg
+

data/UPB_00001231/parts/part_2.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:247bc3011f476d7eaf7b0cb8b6f74686cadf74ea58d0132acf085f9329a7e61a
+size 57182763

data/UPB_00001231/plys/1.ply

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+size 160242

data/UPB_00001231/plys/2.ply

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+version https://git-lfs.github.com/spec/v1
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+size 1373346

data/UPB_00001231/plys/3.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001231/plys/4.ply

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+version https://git-lfs.github.com/spec/v1
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+size 160242

data/UPB_00001231/plys/model.ply

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+version https://git-lfs.github.com/spec/v1
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+size 1600243

data/UPB_00001232/annotations/object.json

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+{
+    "object_name": "Built-in Electric Oven",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        60.0,
+        55.0,
+        60.0
+    ],
+    "mass": 36.0
+}

data/UPB_00001232/annotations/part_1.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001232",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Oven Door with Window",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Tempered multi-pane glass front door panel with black ceramic border; rectangular window integrated into the door.",
+        "functional_description": "Provides a heat-resistant, viewable barrier to seal the cavity while allowing users to see food during cooking.",
+        "movement_description": "Hinges at the bottom edge to the oven body and rotates downward/upward about a horizontal axis; handle is rigidly attached.",
+        "grasp_description": "Users avoid touching the glass while hot; they pull the rigid handle (part 2) to open/close the door."
+    },
+    "basic_info": {
+        "material": "glass/Borosilicate_Glass",
+        "density": 2.23,
+        "young": 64,
+        "hardness": 620,
+        "poisson": 0.2,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                2
+            ],
+            "C": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.2553531527519226,
+                    -0.26713693141937256
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001232/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001232",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Door Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Brushed stainless-steel bar spanning the door width near the top edge.",
+        "functional_description": "Primary user interface for pulling the door open and pushing it closed.",
+        "movement_description": "Moves together with the door as a rigid unit; no independent motion.",
+        "grasp_description": "Users wrap a hand around the bar for leverage; surface is smooth but not sharp, safe to grasp even when warm."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193,
+        "hardness": 180,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001232/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001232",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Baking Tray",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Enameled steel rectangular tray sized to sit on the oven's rack/rail set.",
+        "functional_description": "Holds food, liquids, or cookware; resists corrosion and high temperatures.",
+        "movement_description": "Slides in and out along the rack rails; limited travel to prevent accidental removal.",
+        "grasp_description": "Pulled by hand at the front lip or with mitts to remove food."
+    },
+    "basic_info": {
+        "material": "metal/Enamel_Coated_Steel",
+        "density": 7.8,
+        "young": 200,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001232/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001232",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Control Panel with Display",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Front fascia strip containing a central touch/display module; mounted above the door.",
+        "functional_description": "Provides the user interface for selecting temperature, modes, and timers.",
+        "movement_description": "Fixed rigidly to the main body; no user-driven motion.",
+        "grasp_description": "Touched for buttons or touchscreen inputs; not pulled or used for support."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.1,
+        "hardness": 15,
+        "poisson": 0.37,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001232/annotations/part_5.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001232",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Top Vent Grille/Trim",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Narrow slotted stainless-steel grille/trim spanning the unit width above the door.",
+        "functional_description": "Allows hot air and steam to vent while covering internal gaps for safety and appearance.",
+        "movement_description": "Rigidly fixed to the chassis with screws or tabs.",
+        "grasp_description": "Typically not touched; edges are smooth but can be warm during operation."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_430",
+        "density": 7.7,
+        "young": 200,
+        "hardness": 170,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}