Upload folder using huggingface_hub (part 130)

.gitattributes

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data/UPB_00001499/annotations/object.json

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+{
+    "object_name": "Front-Loading Washing Machine",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        60.0,
+        60.0,
+        85.0
+    ],
+    "mass": 65.0
+}

data/UPB_00001499/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001499",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Front Door Assembly",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Tempered glass front door with a circular viewing window integrated in a rectangular front fa\u00e7ade panel, approx. 55\u00d760 cm.",
+        "functional_description": "Provides access to the drum and forms a watertight seal during washing while allowing visual inspection.",
+        "movement_description": "Hinged on one side of the cabinet; rotates outward about a vertical axis with limited angle and light damping from hinge/door closer.",
+        "grasp_description": "Users grasp the door edge or handle area to open/close it."
+    },
+    "basic_info": {
+        "material": "glass/Soda_Lime_Glass_Tempered",
+        "density": 2.5,
+        "young": 70.0,
+        "hardness": 600,
+        "poisson": 0.23,
+        "friction": 0.5
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+    }
+}

data/UPB_00001499/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001499",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Outer Cabinet Housing",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Painted and galvanized steel sheet enclosure forming the sides, back, and top; approx. 60\u00d760\u00d785 cm.",
+        "functional_description": "Provides structural support and mounts internal components (drum, motor, suspension) and the external parts such as door, controls, and feet.",
+        "movement_description": "Stationary reference frame; door rotates relative to it and leveling feet screw into its base.",
+        "grasp_description": "Not normally grasped during operation; may be held at edges when moving the appliance."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Galvanized_Sheet",
+        "density": 7.85,
+        "young": 210.0,
+        "hardness": 140,
+        "poisson": 0.3,
+        "friction": 0.55
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+}

data/UPB_00001499/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001499",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Leveling Feet (Set of 4)",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Four rubber-capped adjustable feet that thread into the base corners of the cabinet; each about \u00d84 cm, height 2\u20134 cm.",
+        "functional_description": "Provide vibration isolation and allow height/level adjustment on uneven floors.",
+        "movement_description": "Feet rotate on threaded studs relative to the cabinet; rotation converts to small vertical translation for leveling.",
+        "grasp_description": "Grasped by hand or a wrench during installation to rotate and set height; not interacted with during normal use."
+    },
+    "basic_info": {
+        "material": "rubber/Nitrile_Rubber",
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+}

data/UPB_00001499/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
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data/UPB_00001499/meta_data.json

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+{
+    "id": "UPB_00001499",
+    "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": 3,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001499/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="0.997510 0.997510 0.997510"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.997510 0.997510 0.997510"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.997510 0.997510 0.997510"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
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+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
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+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.997510 0.997510 0.997510"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_3"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.297300 -0.272255 -0.405853" 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="0.297300 0.272255 0.405853" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+Ks 0.40000000 0.40000000 0.40000000
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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+Kd 0.40000000 0.40000000 0.40000000
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+# https://github.com/mikedh/trimesh
+mtllib 1.mtl
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+

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_645df3a5229dc40001b6b9df
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+Kd 1 1 1
+illum 1
+map_Kd ./T_645df3a5073fdd0001c4bfab_color.jpg
+
+newmtl MI_645df3a5575f810001f45bf1
+Kd 1 1 1
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+map_Kd ./T_645df3a5575f810001f45bf1_color.jpg
+

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001500/annotations/object.json

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+{
+    "object_name": "Stacked Washer-Dryer (Front Load)",
+    "category": "ToolsEquipment/IndustrialEquipment",
+    "volume": [
+        60.0,
+        65.0,
+        190.0
+    ],
+    "mass": 130.0
+}

data/UPB_00001500/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001500",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Upper Door Handle/Latch",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Injection-molded ABS recessed handle, approx 7*7*3 cm, mounted to the upper door/latch area.",
+        "functional_description": "Allows users to open and close the dryer door by actuating the latch.",
+        "movement_description": "Handle pivots about a small axle relative to the cabinet door frame to release the latch.",
+        "grasp_description": "Typically grasped with fingers in the recess and pulled to open the door."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 10,
+        "poisson": 0.37,
+        "friction": 0.42
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.17941558361053467,
+                    -0.2066851258277893,
+                    0.35081011056900024
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001500/annotations/part_10.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001500",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Rotating Drums (dryer and washer)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Two perforated stainless drums: upper \u00d850*35 cm (dryer), lower \u00d840*30 cm (washer), mounted on bearings.",
+        "functional_description": "Contain laundry and provide tumbling/agitation and airflow during cycles.",
+        "movement_description": "Powered rotation about their central axes relative to the cabinet.",
+        "grasp_description": "Users load/unload items by reaching into the drum, not by grasping the drum itself."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "hardness": 180,
+        "poisson": 0.29,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001500/annotations/part_11.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001500",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "General Mounting Screws (set)",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Assorted small steel screws distributed on the front and base, typical M4\u2013M6.",
+        "functional_description": "Secure trim, covers and brackets to the cabinet.",
+        "movement_description": "Rigidly fixed; removed only during service.",
+        "grasp_description": "Handled with tools, not by hand in normal use."
+    },
+    "basic_info": {
+        "material": "plastic/PVC_Plastic",
+        "density": 1.38,
+        "young": 2.5,
+        "hardness": 3,
+        "poisson": 0.4,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001500/annotations/part_12.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001500",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Drawer/Compartment Slide Rails",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Pair of linear rails near the center-front opening, each ~20*1*1 cm.",
+        "functional_description": "Provide guidance/support for a small pull-out compartment (e.g., detergent drawer or utility tray).",
+        "movement_description": "Rails are fixed to the cabinet; the mating drawer (not shown) slides on them.",
+        "grasp_description": "Not grasped directly; users pull the mating drawer."
+    },
+    "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_00001500/annotations/part_13.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001500",
+        "label": "13"
+    },
+    "part_level": {
+        "part_name": "Control Panel Assemblies (upper and lower)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Two ABS fascia panels each ~45*7*2 cm with window, knob and display areas.",
+        "functional_description": "Primary human\u2013machine interface for cycle selection and status display.",
+        "movement_description": "Panels are fixed; the integrated knob/buttons actuate internal switches.",
+        "grasp_description": "Users rotate the knob and press buttons on these panels frequently."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 10,
+        "poisson": 0.37,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}