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Washing Machine", + "category": "KitchenDining/KitchenAppliance", + "volume": [ + 60.0, + 60.0, + 85.0 + ], + "mass": 65.0 +} \ No newline at end of file diff --git a/data/UPB_00001493/annotations/part_1.json b/data/UPB_00001493/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..08bec65ae0b690053d7919fe0b8dc5db1deac8db --- /dev/null +++ b/data/UPB_00001493/annotations/part_1.json @@ -0,0 +1,51 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001493", + "label": "1" + }, + "part_level": { + "part_name": "Door Window (Viewing Glass)", + "affordance": 4, + "graspable": false, + "basic_description": "Circular tempered-glass window mounted in the washing machine\u2019s front door; disc-like geometry with a thin rim.", + "functional_description": "Provides a transparent viewing port while resisting thermal and mechanical shocks from drum motion.", + "movement_description": "Moves together with the door frame; rotation occurs about the door hinge via Part 2.", + "grasp_description": "Not intended to be grasped directly; users avoid touching it when hot or wet." + }, + "basic_info": { + "material": "glass/Tempered_Glass", + "density": 2.5, + "young": 70.0, + "hardness": 600, + "poisson": 0.23, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 1 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.22012479603290558, + -0.19539810717105865, + 0.0 + ], + "range": [ + 0.0, + 1.7453292519943295 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001493/annotations/part_2.json b/data/UPB_00001493/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..eb6e8a3dad7b883b44826263f711b38cad58c20e --- /dev/null +++ b/data/UPB_00001493/annotations/part_2.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001493", + "label": "2" + }, + "part_level": { + "part_name": "Door Frame and Handle Trim", + "affordance": 2, + "graspable": true, + "basic_description": "ABS plastic circular door frame with integrated handle/trim around the opening.", + "functional_description": "Holds the viewing glass (Part 1), provides a graspable handle, and interfaces with the latch to seal against the gasket.", + "movement_description": "Rotates about a side hinge relative to the cabinet (Part 3); soft-closing friction and seal compression are provided by the gasket (Part 4).", + "grasp_description": "Users pull or push on the handle area to open/close the door." + }, + "basic_info": { + "material": "metal/Stainless_Steel_304", + "density": 7.9, + "young": 193.0, + "hardness": 200, + "poisson": 0.29, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001493/annotations/part_3.json b/data/UPB_00001493/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..364272333260dca39c647ff3439e5c51f9071e5a --- /dev/null +++ b/data/UPB_00001493/annotations/part_3.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001493", + "label": "3" + }, + "part_level": { + "part_name": "Main Cabinet/Enclosure", + "affordance": 6, + "graspable": false, + "basic_description": "Folded low-carbon steel sheet housing that forms the structural body of the washer.", + "functional_description": "Supports all modules (drum system, controls, door, gasket) and provides mounting surfaces and stiffness.", + "movement_description": "Rigid body; provides hinge support for the door (Part 2) and the lower access door (Part 6).", + "grasp_description": "Touched incidentally when moving the appliance; not intended as a handle." + }, + "basic_info": { + "material": "metal/Steel_Sheet_LowCarbon", + "density": 7.85, + "young": 200.0, + "hardness": 120, + "poisson": 0.3, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001493/annotations/part_4.json b/data/UPB_00001493/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..05a3c198992c3387cce7899d1f58abd132d1db5e --- /dev/null +++ b/data/UPB_00001493/annotations/part_4.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001493", + "label": "4" + }, + "part_level": { + "part_name": "Door Gasket/Boot Seal", + "affordance": 7, + "graspable": false, + "basic_description": "Conical rubber boot fixed to the cabinet opening.", + "functional_description": "Provides a watertight seal between the rotating drum area and the front door; compresses when the door is shut.", + "movement_description": "Rigidly attached to the cabinet; elastically deforms when the door is closed or during vibration.", + "grasp_description": "Occasionally touched for cleaning; not grasped for operation." + }, + "basic_info": { + "material": "metal/Stainless_Steel_304", + "density": 7.9, + "young": 193.0, + "hardness": 200, + "poisson": 0.29, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001493/annotations/part_5.json b/data/UPB_00001493/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..77eb57a4bca8e346b8a0afbd836b435f1c7ddcef --- /dev/null +++ b/data/UPB_00001493/annotations/part_5.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001493", + "label": "5" + }, + "part_level": { + "part_name": "Top Cover Panel", + "affordance": 8, + "graspable": false, + "basic_description": "Removable rectangular steel sheet that closes the appliance from above.", + "functional_description": "Protects internal components and provides a flat surface; detachable for maintenance.", + "movement_description": "Fixed to the cabinet with fasteners (Part 7); removed only for service.", + "grasp_description": "Not normally grasped; may be handled by technicians during servicing." + }, + "basic_info": { + "material": "plastic/PC_ABS_Blend", + "density": 1.17, + "young": 2.3, + "hardness": 12, + "poisson": 0.37, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001493/annotations/part_6.json b/data/UPB_00001493/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..22d9a5b360de9374cfe2b182c89e3cb07af5cfd9 --- /dev/null +++ b/data/UPB_00001493/annotations/part_6.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001493", + "label": "6" + }, + "part_level": { + "part_name": "Lower Access Door (Drain Filter Cover)", + "affordance": 3, + "graspable": true, + "basic_description": "Small rectangular polypropylene cover located on the lower front of the cabinet.", + "functional_description": "Provides user access to the drain pump filter or emergency drain hose.", + "movement_description": "Hinged to the cabinet; swings outward for service and snaps shut to flush.", + "grasp_description": "Pulled open by hand when cleaning the filter." + }, + "basic_info": { + "material": "plastic/PP_Plastic", + "density": 0.9, + "young": 1.5, + "hardness": 8, + "poisson": 0.42, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001493/annotations/part_7.json b/data/UPB_00001493/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..5db1c75eb0a0f3e91035614bbf2c1f069516bc89 --- /dev/null +++ b/data/UPB_00001493/annotations/part_7.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001493", + "label": "7" + }, + "part_level": { + "part_name": "Mounting Screws/Hardware Set", + "affordance": 9, + "graspable": false, + "basic_description": "Set of small stainless-steel fasteners located around the front and lower panels.", + "functional_description": "Secure body panels and trims to the cabinet, maintaining structural integrity.", + "movement_description": "Rigidly fix connected parts; no relative motion once tightened.", + "grasp_description": "Handled only with tools during assembly or repair." + }, + "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": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001493/annotations/part_8.json b/data/UPB_00001493/annotations/part_8.json new file mode 100644 index 0000000000000000000000000000000000000000..f54fa86755ca4e23cbcb933d5982f719de4dc4c5 --- /dev/null +++ b/data/UPB_00001493/annotations/part_8.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001493", + "label": "8" + }, + "part_level": { + "part_name": "Control Panel (User Interface)", + "affordance": 1, + "graspable": true, + "basic_description": "Black PC-ABS control fascia with integrated display and buttons/knobs.", + "functional_description": "Primary human\u2013machine interface for selecting programs, temperatures, and options; houses electronics and indicators.", + "movement_description": "Rigidly mounted to the cabinet; buttons and switches move locally but the panel itself is fixed.", + "grasp_description": "Users press buttons and interact with the display frequently." + }, + "basic_info": { + "material": "plastic/PC_ABS_Blend", + "density": 1.17, + "young": 2.3, + "hardness": 12, + "poisson": 0.37, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001493/full_model/material.mtl b/data/UPB_00001493/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00001493/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 \ No newline at end of file diff --git a/data/UPB_00001493/full_model/material_0.png b/data/UPB_00001493/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..1eb6e5306ac5720632fde26a9b121986e8a85b81 --- /dev/null +++ b/data/UPB_00001493/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8135d25be2bc36b0c906f630505c07ec99742d21542e52f52098d105874c1cfd +size 102999 diff --git a/data/UPB_00001493/full_model/model.obj b/data/UPB_00001493/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..d8eeaae5c93b922445b20d6af25b886154b5b775 --- /dev/null +++ b/data/UPB_00001493/full_model/model.obj @@ -0,0 +1,104606 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v -0.16669454 -0.18570410 0.00202489 +v -0.15380917 -0.18565361 0.00202503 +v -0.15292725 -0.18565022 0.01872491 +v -0.16573350 -0.18570037 0.02005533 +v -0.14970136 -0.18546267 0.00202476 +v -0.14884436 -0.18545938 0.01829848 +v -0.14622998 -0.18484715 0.00202492 +v -0.14539401 -0.18484390 0.01793688 +v -0.14327536 -0.18367866 0.00202473 +v -0.14245728 -0.18367545 0.01762794 +v -0.14077485 -0.18187489 0.00202488 +v -0.13997179 -0.18187176 0.01736602 +v -0.13865817 -0.17944697 0.00202488 +v -0.13786781 -0.17944393 0.01714312 +v -0.13676010 -0.17640546 0.00202488 +v -0.13598116 -0.17640243 0.01694304 +v -0.13487203 -0.17269120 0.00202492 +v -0.13410449 -0.17268820 0.01674349 +v 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mode 100644 index 0000000000000000000000000000000000000000..e4027ea4a9900c6c3946fb53f76a871419585f7b --- /dev/null +++ b/data/UPB_00001493/model.urdf @@ -0,0 +1,148 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/data/UPB_00001493/parts/1.mtl b/data/UPB_00001493/parts/1.mtl new file mode 100644 index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc --- /dev/null +++ b/data/UPB_00001493/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 diff --git a/data/UPB_00001493/parts/1.png b/data/UPB_00001493/parts/1.png new file mode 100644 index 0000000000000000000000000000000000000000..6b0efbf0e73003ccab376d7600e6cb76b79c0015 --- /dev/null +++ b/data/UPB_00001493/parts/1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d138d362583bc47d76d54968066a8da86701f4046e9d80745cfdbb204b2aef0 +size 91 diff --git a/data/UPB_00001493/parts/T_68642561ff742900015f65bb_color.jpg b/data/UPB_00001493/parts/T_68642561ff742900015f65bb_color.jpg new file mode 100644 index 0000000000000000000000000000000000000000..6a402acef1e7b83db82b7c87e7d5cf89f8392ae1 --- /dev/null +++ b/data/UPB_00001493/parts/T_68642561ff742900015f65bb_color.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a04c6faff61ad579cf671ef98bb2074d4e8c13145ade92935d696b7460db3e2 +size 34159 diff --git a/data/UPB_00001493/parts/T_68642561ff742900015f65bb_metallic.jpg b/data/UPB_00001493/parts/T_68642561ff742900015f65bb_metallic.jpg new file mode 100644 index 0000000000000000000000000000000000000000..bd2bff4e4c080cea422f6e80abc8f7367a1ad757 --- /dev/null +++ b/data/UPB_00001493/parts/T_68642561ff742900015f65bb_metallic.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4eee4b1e4a99d9c445e8b208c609d156c008a27689bf634f98ec05a485f1cfff +size 14443 diff --git a/data/UPB_00001493/parts/part_1.obj b/data/UPB_00001493/parts/part_1.obj new file mode 100644 index 0000000000000000000000000000000000000000..eeba9b55a559522a0a973a10e1a262b8b2b686d8 --- /dev/null +++ b/data/UPB_00001493/parts/part_1.obj @@ -0,0 +1,28858 @@ +# https://github.com/mikedh/trimesh +mtllib 1.mtl +usemtl material_0 +v -0.16669454 -0.18570410 0.00202489 +v -0.15380917 -0.18565361 0.00202503 +v -0.15292725 -0.18565022 0.01872491 +v -0.16573350 -0.18570037 0.02005533 +v -0.14970136 -0.18546267 0.00202476 +v -0.14884436 -0.18545938 0.01829848 +v -0.14622998 -0.18484715 0.00202492 +v -0.14539401 -0.18484390 0.01793688 +v -0.14327536 -0.18367866 0.00202473 +v 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