Upload folder using huggingface_hub (part 18)

.gitattributes

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data/UPB_00001131/meta_data.json

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+{
+    "id": "UPB_00001131",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Countertop Microwave Oven"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 13,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001131/model.urdf

@@ -0,0 +1,240 @@
+<?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="1.073934 1.073934 1.073934"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.073934 1.073934 1.073934"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.073934 1.073934 1.073934"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.073934 1.073934 1.073934"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.073934 1.073934 1.073934"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.073934 1.073934 1.073934"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.073934 1.073934 1.073934"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.073934 1.073934 1.073934"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.073934 1.073934 1.073934"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.073934 1.073934 1.073934"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.073934 1.073934 1.073934"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.073934 1.073934 1.073934"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.073934 1.073934 1.073934"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.073934 1.073934 1.073934"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.073934 1.073934 1.073934"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.073934 1.073934 1.073934"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.073934 1.073934 1.073934"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.073934 1.073934 1.073934"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="1.073934 1.073934 1.073934"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="1.073934 1.073934 1.073934"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="1.073934 1.073934 1.073934"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="1.073934 1.073934 1.073934"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="1.073934 1.073934 1.073934"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="1.073934 1.073934 1.073934"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_14">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="1.073934 1.073934 1.073934"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="1.073934 1.073934 1.073934"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="base_link"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.217171 -0.126644 0.000000" 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="0.217171 0.126644 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="continuous">
+    <parent link="link_8"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.177259 -0.130676 -0.043618" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_4"/>
+    <origin xyz="-0.177259 0.130676 0.043618" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_3"/>
+    <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_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_12"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_13"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_14"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001131/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_00001131/parts/11.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 11.png

data/UPB_00001131/parts/4.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 4.png

data/UPB_00001131/parts/microwave_oven_ZKBAHUJVAIBE4PTUKE888888_bO9b4.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_66bc9b867910d90001350591
+Kd 0.673270881 0.673270881 0.673270881
+illum 1
+
+newmtl MI_66bc9b8643abbf00015a2625
+Kd 0.394566268 0.394566268 0.394566268
+illum 1
+
+newmtl MI_66bc9b869ca5eb000107abe2
+Kd 0.00389999989 0.00389999989 0.00389999989
+illum 1
+
+newmtl MI_66bc9b86ada6f900012b969e
+Kd 1 1 1
+illum 1
+map_Kd ./T_66bc9b86ada6f900012b969e_color.jpg
+
+newmtl MI_66bc9b86211b3f0001d5a8b3
+Kd 0.00389999989 0.00389999989 0.00389999989
+illum 1
+
+newmtl MI_66bc9b8697087a000193bfdf
+Kd 1 1 1
+Ks 0.100000001 0.100000001 0.100000001
+d 1
+illum 1
+
+newmtl MI_66bc9b865ac2620001ea3b29
+Kd 0.00389999989 0.00389999989 0.00389999989
+illum 1
+
+newmtl MI_66bc9b864875c6000173d2b6
+Kd 0.250999987 0.250999987 0.250999987
+illum 1
+
+newmtl MI_66bc9b86ddbd0d000166db19
+Kd 0 0 0
+Ke 0.157199994 0.352200001 1
+illum 1
+
+newmtl MI_66bc9b8629274f0001d7f346
+Kd 0.509800017 0.0549000017 0.0549000017
+illum 1
+
+newmtl MI_66bc9b86ca5d910001294394
+Kd 0.690199971 0.690199971 0.690199971
+illum 1
+
+newmtl MI_66bc9b864750b400014539f8
+Kd 0.00389999989 0.00389999989 0.00389999989
+illum 1
+

data/UPB_00001131/parts/part_10.obj

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+mtllib microwave_oven_ZKBAHUJVAIBE4PTUKE888888_bO9b4.mtl
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+v 0.149173155 -0.119718388 0.0781426281
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+vt 0.879891992 0.5 1.0
+vt 0.855062008 0.5 1.0
+vt 0.830797017 0.5 1.0
+vt 0.830796003 0.5 1.0
+vt 0.903093994 0.5 1.0
+vn 1.40000002e-05 -1.0 1.99999999e-06
+vn 4.99999987e-06 -1.0 9.99999997e-07
+vn 5.99999985e-05 -1.0 9.99999997e-07
+vn 6.09999988e-05 -1.0 9.99999997e-07
+vn 0.000237 -1.0 0.0
+vn 0.000236000007 -1.0 9.99999997e-07
+vn 0.000377999997 -1.0 -9.99999997e-07
+vn 3.00000011e-06 -1.0 9.99999997e-07
+vn 1.29999999e-05 -1.0 1.99999999e-06
+vn 0.000376000011 -1.0 0.0
+usemtl MI_66bc9b8697087a000193bfdf
+f 1/3/1 2/4/2 3/5/8
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data/UPB_00001132/annotations/object.json

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+{
+    "object_name": "Countertop Microwave Oven",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        50.0,
+        40.0,
+        30.0
+    ],
+    "mass": 13.0
+}

data/UPB_00001132/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001132",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Door with Viewing Window",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Tempered glass door panel with a thin metal frame, about 45*2*26 cm.",
+        "functional_description": "Provides access to the cooking cavity while allowing users to see food; includes integral metal mesh for RF shielding (typical for microwave doors).",
+        "movement_description": "Rotates about a vertical hinge mounted to the front frame; opens to roughly a right angle.",
+        "grasp_description": "Users pull the right edge or integrated handle area to open/close the door."
+    },
+    "basic_info": {
+        "material": "metal/Low_Carbon_Steel_Sheet",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 140,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
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+                    0.0,
+                    -1.0
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+                "pos": [
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+                "range": [
+                    0.0,
+                    1.9198621771937625
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+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001132/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001132",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Outer Steel Cabinet",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Painted low\u2011carbon steel outer shell with side ventilation, roughly 50*40*30 cm enclosing the oven.",
+        "functional_description": "Provides structural enclosure, supports internal modules, and offers electromagnetic shielding together with other panels.",
+        "movement_description": "Rigidly attached to the front frame, cavity, and control panel backing; no relative motion.",
+        "grasp_description": "Only touched when moving the whole appliance; not a normal grasp surface during operation."
+    },
+    "basic_info": {
+        "material": "metal/Low_Carbon_Steel_Sheet",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 140,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001132/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001132",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Cooking Cavity (Inner Box)",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Rectangular stainless-steel chamber about 32*32*20 cm that houses the food during heating.",
+        "functional_description": "Forms the resonant cavity for microwave heating and contains spills and steam.",
+        "movement_description": "Fixed to the cabinet; the door seals against its front opening but does not move with it.",
+        "grasp_description": "Users place dishes inside but do not grasp this panelized box directly."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_430",
+        "density": 7.7,
+        "young": 200.0,
+        "hardness": 180,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001132/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001132",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Front Frame/Bezel",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Stamped steel front frame with door aperture and a right-side cutout for the control panel, ~45*1*27 cm.",
+        "functional_description": "Supports the door hinge and latch, provides sealing surfaces, and carries the control-panel components.",
+        "movement_description": "Rigidly attached to the cabinet; acts as the parent structure for the door and release button.",
+        "grasp_description": "Typically not grasped; may be touched around the edges when cleaning."
+    },
+    "basic_info": {
+        "material": "metal/Low_Carbon_Steel_Sheet",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 140,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001132/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001132",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Door Release Button",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "ABS plastic L\u2011shaped push button located on the right front, approx. 12*2*2 cm including the finger pad.",
+        "functional_description": "When pressed, actuates the latch mechanism to release the door catch.",
+        "movement_description": "Translates inward a short distance against a return spring or lever, then returns to rest.",
+        "grasp_description": "Pressed with a fingertip; not intended to be grasped."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.2,
+        "hardness": 15,
+        "poisson": 0.37,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001132/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001132",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Keypad Membrane and Display Overlay",
+        "affordance": 1,
+        "graspable": false,
+        "basic_description": "Thin PET film with printed buttons and a window for the display, roughly 16*7*0.3 cm.",
+        "functional_description": "User interface for entering time/power settings and program selections; overlays tactile switches underneath.",
+        "movement_description": "Adhered to the control panel backing; no motion relative to it.",
+        "grasp_description": "Pressed and wiped during use and cleaning; not gripped."
+    },
+    "basic_info": {
+        "material": "plastic/PET_Plastic",
+        "density": 1.38,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.38,
+        "friction": 0.6
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001132/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001132",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Door Latch Catch Block",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Small nylon catch piece mounted inside the front frame, about 3*2*2 cm.",
+        "functional_description": "Provides the mechanical engagement point that holds the door closed until released.",
+        "movement_description": "Fixed to the frame; interacts with the door hook and is nudged by the release mechanism.",
+        "grasp_description": "Never touched by users; hidden behind the front trim."
+    },
+    "basic_info": {
+        "material": "plastic/Nylon_PA66",
+        "density": 1.14,
+        "young": 2.8,
+        "hardness": 25,
+        "poisson": 0.34,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001132/annotations/part_8.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001132",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Control Panel Backing Plate",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "ABS plastic vertical plate that fills the right-side front opening, approx. 18*10*1 cm, with a notch for the display area.",
+        "functional_description": "Provides mounting and alignment for the keypad membrane and internal control electronics.",
+        "movement_description": "Screwed or snapped to the front frame; stationary during operation.",
+        "grasp_description": "Not directly interacted with; hidden under the keypad overlay."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.2,
+        "hardness": 15,
+        "poisson": 0.37,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001132/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