Upload folder using huggingface_hub (part 15)

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+{
+    "object_name": "Countertop Toaster Oven",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        45.0,
+        35.0,
+        30.0
+    ],
+    "mass": 9.0
+}

data/UPB_00001105/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001105",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Front Door (glass and frame)",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Tempered glass viewing panel with a stainless-trimmed frame, about 42*2*22 cm, fitted to the appliance\u2019s front opening.",
+        "functional_description": "Provides a transparent window and seals the cooking cavity against heat loss while closed.",
+        "movement_description": "The entire door rotates downward about a bottom hinge relative to the main housing.",
+        "grasp_description": "Usually not grasped directly; users pull the handle attached to it to open/close."
+    },
+    "basic_info": {
+        "material": "glass/Tempered_Glass",
+        "density": 2.5,
+        "young": 70,
+        "hardness": 600,
+        "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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+                    1.9198621771937625
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+                "damping": 0.05
+            }
+        }
+    }
+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001105",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Door Accent Trim",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Curved brushed-aluminum decorative strip, about 38*0.5*2 cm, mounted on the door\u2019s face.",
+        "functional_description": "Cosmetic trim that also helps stiffen the door skin locally.",
+        "movement_description": "Rigidly fixed to the door; moves together with the door as it opens and closes.",
+        "grasp_description": "Not intended for gripping; incidental contact only when cleaning."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061",
+        "density": 2.7,
+        "young": 69,
+        "hardness": 107,
+        "poisson": 0.33,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001105",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Top Control Panel",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Black ABS fascia with buttons and a small display, approx. 38*1.5*3.5 cm, mounted along the top front edge.",
+        "functional_description": "Provides user interface for mode selection, temperature/time settings, and status indication.",
+        "movement_description": "Rigidly attached to the housing; no relative motion.",
+        "grasp_description": "Operated via finger presses or taps on buttons; not grasped."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.3,
+        "hardness": 10,
+        "poisson": 0.37,
+        "friction": 0.6
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001105",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Main Housing/Body",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Stainless steel outer shell and structural chassis, roughly 45*35*30 cm, enclosing the heating cavity and internal components.",
+        "functional_description": "Provides structure, thermal shielding, and mounting for the door, controls, and internal hardware.",
+        "movement_description": "Stationary reference frame; serves as the parent for the door\u2019s hinge rotation.",
+        "grasp_description": "Not normally grasped during use; touched only when moving or cleaning the appliance."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200,
+        "hardness": 160,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001105",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Door Handle Bar",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Brushed stainless horizontal bar, about 40*3*2 cm, mounted across the upper front of the door.",
+        "functional_description": "Primary user grip used to pull the door open and push it closed.",
+        "movement_description": "Rigid with the door; follows the door\u2019s rotation relative to the housing.",
+        "grasp_description": "Users wrap fingers around the bar or pinch from below to operate the door."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200,
+        "hardness": 160,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001105/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_00001105/meta_data.json

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+{
+    "id": "UPB_00001105",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Countertop Toaster Oven"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 5,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

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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="0.707360 0.707360 0.707360"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.707360 0.707360 0.707360"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.707360 0.707360 0.707360"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.707360 0.707360 0.707360"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.707360 0.707360 0.707360"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.707360 0.707360 0.707360"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.707360 0.707360 0.707360"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.707360 0.707360 0.707360"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.707360 0.707360 0.707360"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.707360 0.707360 0.707360"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.163905 -0.128911" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <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="-0.000000 0.163905 0.128911" 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_00001105/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_00001105/parts/microwave_oven_Z5GRVDZVAIBGAPTUJQ888888_iZ3Jm.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_637383744610dd00016b9652
+Kd 1 1 1
+illum 1
+map_Kd ./T_637383744610dd00016b9652_color.jpg
+bump ./T_637383744610dd00016b9652_normal.jpg
+map_bump ./T_637383744610dd00016b9652_normal.jpg
+
+newmtl MI_637383742a42830001373e4c
+Kd 1 1 1
+illum 1
+map_Kd ./T_637383742a42830001373e4c_color.jpg
+
+newmtl MI_637383743c011200015a722c
+Kd 0.345744014 0.345744014 0.345744014
+illum 1
+
+newmtl MI_63738374e38fed000118d27a
+Kd 1 1 1
+illum 1
+map_Kd ./T_63738374e38fed000118d27a_color.jpg
+bump ./T_63738374e38fed000118d27a_normal.jpg
+map_bump ./T_63738374e38fed000118d27a_normal.jpg
+
+newmtl MI_63738374282d6500019f2df2
+Kd 1 1 1
+illum 1
+map_Kd ./T_63738374282d6500019f2df2_color.jpg
+bump ./T_63738374282d6500019f2df2_normal.jpg
+map_bump ./T_63738374282d6500019f2df2_normal.jpg
+
+newmtl MI_637383742848500001854485
+Kd 1 1 1
+illum 1
+map_Kd ./T_637383742848500001854485_color.jpg
+
+newmtl MI_63738374e1f0a80001a5a970
+Kd 0.00249999994 0.00249999994 0.00249999994
+illum 1
+
+newmtl MI_6373837427ac3e00019bee95
+Kd 1 1 1
+illum 1
+map_Kd ./T_6373837427ac3e00019bee95_color.jpg
+bump ./T_6373837427ac3e00019bee95_normal.jpg
+map_bump ./T_6373837427ac3e00019bee95_normal.jpg
+
+newmtl MI_63738374677cee00017d6251
+Kd 1 1 1
+illum 1
+map_Kd ./T_63738374677cee00017d6251_color.jpg
+bump ./T_63738374677cee00017d6251_normal.jpg
+map_bump ./T_63738374677cee00017d6251_normal.jpg
+

data/UPB_00001105/parts/part_4.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3d8a069eb9bf6492bb8e5415be5a15ab4b63775a9a38181e61fed72a87f7e697
+size 18344745

data/UPB_00001105/plys/1.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:7a592c41fb54783ead8b1fdaab36dba7929777689b2b8b82ffca50a0ccf6c335
+size 553874

data/UPB_00001105/plys/2.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:2f677218e1b9f918e5aa30cdc523ab1f5dfc9d173004027216abfb24e00a270a
+size 160242

data/UPB_00001105/plys/3.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:6c66d312b6e0da896affae0266ce954e45b8ce420b10923690f90db48f6ad1f9
+size 160242

data/UPB_00001105/plys/4.ply

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+version https://git-lfs.github.com/spec/v1
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+size 915234