Upload folder using huggingface_hub (part 141)

.gitattributes

@@ -10721,3 +10721,14 @@ data/UPB_00001508/plys/7.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001508/plys/8.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001508/plys/9.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001508/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001509/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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+data/UPB_00001509/plys/5.ply filter=lfs diff=lfs merge=lfs -text
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+data/UPB_00001509/plys/9.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001509/parts/part_2.obj

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+    "object_name": "Front-Loading Washing Machine",
+    "category": "KitchenDining/KitchenAppliance",
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+        "type_name": "default",
+        "entity": "UPB_00001510",
+        "label": "1"
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+    "part_level": {
+        "part_name": "Door Boot Gasket",
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+        "graspable": false,
+        "basic_description": "Flexible EPDM rubber bellows-style ring (approx. outer \u00d8 35-40 cm) that lines the door opening between the cabinet and the tub.",
+        "functional_description": "Provides a watertight seal around the loading port, isolating the rotating drum from the cabinet and preventing leaks.",
+        "movement_description": "No intended relative motion; it is clamped to both the cabinet opening and the tub flange.",
+        "grasp_description": "Normally not grasped directly; users may brush against it while loading laundry."
+    },
+    "basic_info": {
+        "material": "rubber/EPDM_Rubber",
+        "density": 1.15,
+        "young": 0.005,
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data/UPB_00001510/annotations/part_10.json

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+        "label": "10"
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+        "part_name": "Screws and Fasteners",
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+        "basic_description": "Assorted stainless steel screws/fasteners positioned around the panel edges and openings.",
+        "functional_description": "Provide clamping and alignment for the cabinet, gasket, and drum flange assemblies.",
+        "movement_description": "No motion; they rigidly secure joined components.",
+        "grasp_description": "Handled only with tools during assembly or service."
+    },
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data/UPB_00001510/annotations/part_2.json

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+        "part_name": "Program Selector Knob",
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+        "basic_description": "Round ABS plastic dial on the control panel (\u00d8 ~4-5 cm).",
+        "functional_description": "Allows the user to select wash cycles and settings via rotational indexing.",
+        "movement_description": "Rotates about its central shaft relative to the cabinet/control panel with detents.",
+        "grasp_description": "Typically grasped and twisted by hand to choose programs."
+    },
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+        "part_name": "Detergent Drawer/Handle",
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+        "graspable": true,
+        "basic_description": "Slim polypropylene drawer/handle located at the upper-left of the front panel.",
+        "functional_description": "Holds and meters detergent/softener; user pulls it out to fill and pushes it back to engage.",
+        "movement_description": "Slides in and out along linear guides relative to the cabinet.",
+        "grasp_description": "Pulled with fingers from the front to open, then pushed to close."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.5,
+        "hardness": 10,
+        "poisson": 0.42,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001510/annotations/part_4.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001510",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Control Buttons",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Small ABS push buttons adjacent to the display on the control fascia.",
+        "functional_description": "Provide discrete inputs (start/pause, options) to the control electronics.",
+        "movement_description": "Effectively rigid in the CAD view; actuate with a short internal travel against membrane switches.",
+        "grasp_description": "Pressed with a fingertip; no need for a full-hand grasp."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.3,
+        "hardness": 12,
+        "poisson": 0.37,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001510/annotations/part_5.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001510",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Drain/Outlet Hose",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Flexible PVC hose (~1.5-2.0 m long) that loops from the rear of the machine.",
+        "functional_description": "Conveys wastewater from the pump to a household drain during and after cycles.",
+        "movement_description": "No defined mechanical motion relative to the cabinet during operation; flexes as routed and is fixed at its connection points.",
+        "grasp_description": "Handled during installation and when repositioning the appliance."
+    },
+    "basic_info": {
+        "material": "plastic/PVC_Plastic_Flexible",
+        "density": 1.3,
+        "young": 0.01,
+        "hardness": 5,
+        "poisson": 0.49,
+        "friction": 0.6
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001510/annotations/part_6.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001510",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Display Window",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Rectangular glass window (approx. 10*6 cm) covering the electronic display on the fascia.",
+        "functional_description": "Protects and presents cycle information and status to the user.",
+        "movement_description": "Rigidly fixed to the cabinet; no user motion.",
+        "grasp_description": "Not grasped; only viewed and occasionally wiped clean."
+    },
+    "basic_info": {
+        "material": "glass/Soda_Lime_Glass",
+        "density": 2.5,
+        "young": 70.0,
+        "hardness": 550,
+        "poisson": 0.22,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001510/annotations/part_7.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001510",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Front Cabinet Shell",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Powder-coated steel outer housing with front opening, top and side panels integrated.",
+        "functional_description": "Provides structural support, mounting points for controls and drum assembly, and protects internal components.",
+        "movement_description": "Stationary reference frame for all moving components (drawer, knob, rotating drum).",
+        "grasp_description": "Not normally grasped except when moving the appliance."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Sheet_Coated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 120,
+        "poisson": 0.29,
+        "friction": 0.6
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001510/annotations/part_8.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001510",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Inner Drum Assembly",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Stainless steel perforated drum and front flange/tub mouth (approx. \u00d8 45-50 cm) mounted inside the cabinet.",
+        "functional_description": "Holds laundry and rotates to provide mechanical agitation for washing and spinning.",
+        "movement_description": "Rotates about its horizontal axis on bearings relative to the cabinet; driven by a motor via belt or direct drive.",
+        "grasp_description": "Users occasionally touch the rim while loading/unloading but do not grasp it as a control."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001510/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001510",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Inlet Hose and Accessory Kit",
+        "affordance": 9,
+        "graspable": true,
+        "basic_description": "A set of loose items (inlet hose, clamps, small accessories) often placed within the drum opening for shipping.",
+        "functional_description": "Used during installation to connect water supply and secure lines.",
+        "movement_description": "No defined joint; items are free and only contact the drum or cabinet until installed.",
+        "grasp_description": "Picked up by hand during installation."
+    },
+    "basic_info": {
+        "material": "other/Mixed_Materials",
+        "density": 1.2,
+        "young": 2.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001510/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_00001510/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001510",
+    "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_00001510/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="0.990175 0.990175 0.990175"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.990175 0.990175 0.990175"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.990175 0.990175 0.990175"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.990175 0.990175 0.990175"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.990175 0.990175 0.990175"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.990175 0.990175 0.990175"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.990175 0.990175 0.990175"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.990175 0.990175 0.990175"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.990175 0.990175 0.990175"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.990175 0.990175 0.990175"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.990175 0.990175 0.990175"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.990175 0.990175 0.990175"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.990175 0.990175 0.990175"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.990175 0.990175 0.990175"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.990175 0.990175 0.990175"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.990175 0.990175 0.990175"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.990175 0.990175 0.990175"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.990175 0.990175 0.990175"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.990175 0.990175 0.990175"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.990175 0.990175 0.990175"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="base_link"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.255046 -0.253216 -0.387195" 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="0.255046 0.253216 0.387195" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="continuous">
+    <parent link="link_7"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.001034 -0.227760 0.364860" 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="-0.001034 0.227760 -0.364860" 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_00001510/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_00001510/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

data/UPB_00001510/parts/part_2.obj

@@ -0,0 +1,1440 @@
+# https://github.com/mikedh/trimesh
+mtllib 2.mtl
+usemtl material_0
+v 0.00572823 -0.23976000 0.34434590
+v 0.00559828 -0.24009600 0.34516019
+v -0.00350037 -0.24009600 0.34516019
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+v 0.00104897 -0.23739301 0.37090221
+v -0.00260798 -0.24052601 0.35039329
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