Upload folder using huggingface_hub (part 134)

.gitattributes

@@ -10638,3 +10638,17 @@ data/UPB_00001503/plys/7.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001503/plys/8.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001503/plys/9.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001503/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001504/full_model/model.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001504/parts/part_7.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001504/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001504/plys/10.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001504/plys/11.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001504/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001504/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001504/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001504/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001504/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001504/plys/7.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001504/plys/8.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001504/plys/9.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001504/plys/model.ply filter=lfs diff=lfs merge=lfs -text

data/UPB_00001504/annotations/part_9.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001504",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Rotating drums (upper and lower)",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Two perforated stainless-steel cylindrical drums that contain laundry in the upper and lower compartments.",
+        "functional_description": "Rotate to tumble and wash/dry clothes, supported by bearings and driven by a motor.",
+        "movement_description": "Spin about their axes relative to the cabinet; continuous rotation in both directions during operation.",
+        "grasp_description": "Not grasped directly; users may rest hands on the rim while loading."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 180,
+        "poisson": 0.3,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001504/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_00001504/full_model/model.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:ed7ad401d3f2258e5aeb7313b7ad0095b51e0bae53b56135848e330c4ab764a2
+size 14131855

data/UPB_00001504/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001504",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Dual-Drum Front-Load Washing Machine"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 11,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001504/model.urdf

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+<?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="0.791353 0.791353 0.791353"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.791353 0.791353 0.791353"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.791353 0.791353 0.791353"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.791353 0.791353 0.791353"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.791353 0.791353 0.791353"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.791353 0.791353 0.791353"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.791353 0.791353 0.791353"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.791353 0.791353 0.791353"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.791353 0.791353 0.791353"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.791353 0.791353 0.791353"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.791353 0.791353 0.791353"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.791353 0.791353 0.791353"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.791353 0.791353 0.791353"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.791353 0.791353 0.791353"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.791353 0.791353 0.791353"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.791353 0.791353 0.791353"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.791353 0.791353 0.791353"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.791353 0.791353 0.791353"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.791353 0.791353 0.791353"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.791353 0.791353 0.791353"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.791353 0.791353 0.791353"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.791353 0.791353 0.791353"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_7"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.147338 -0.210998 0.196143" 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="0.147338 0.210998 -0.196143" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_7"/>
+    <child link="helper_link_1"/>
+    <origin xyz="-0.164195 -0.222497 -0.175158" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0.164195 0.222497 0.175158" 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>
+  <joint name="joint_12" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001504/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_00001504/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_00001504/parts/part_4.obj

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+        "part_name": "Upper Brand Badge (BOSCH)",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Small PET label affixed to the upper control area.",
+        "functional_description": "Brand identification; no mechanical function.",
+        "movement_description": "Rigid adhesive bond to the cabinet.",
+        "grasp_description": "Not grasped."
+    },
+    "basic_info": {
+        "material": "plastic/PET_Film",
+        "density": 1.38,
+        "young": 2.5,
+        "hardness": 5,
+        "poisson": 0.4,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001505/annotations/part_12.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001505",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Mid Seam Cover Plate (Left)",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Rectangular ABS cover located near the tray frame; ~8x6 cm.",
+        "functional_description": "Covers wiring or structural seam near the tray; provides finished look.",
+        "movement_description": "Rigidly fixed to the mid tray frame.",
+        "grasp_description": "Not intended for interaction."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.3,
+        "hardness": 11,
+        "poisson": 0.38,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001505/annotations/part_13.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001505",
+        "label": "13"
+    },
+    "part_level": {
+        "part_name": "Upper Rotating Drum (Dryer)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Cylindrical stainless-steel dryer drum; ~45 cm diameter, ~35 cm depth.",
+        "functional_description": "Holds laundry, rotating to tumble items during drying.",
+        "movement_description": "Continuous rotation relative to the cabinet; pulley and internal baffle rotate together.",
+        "grasp_description": "User may touch rim when loading/unloading but does not grasp the drum to move it."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 180,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001505/annotations/part_14.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001505",
+        "label": "14"
+    },
+    "part_level": {
+        "part_name": "Mid Brand Badge (SAMSUNG-style)",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Small PET brand badge affixed near the mid tray region.",
+        "functional_description": "Branding only.",
+        "movement_description": "Rigid adhesive attachment to the tray frame.",
+        "grasp_description": "Not grasped."
+    },
+    "basic_info": {
+        "material": "plastic/PET_Film",
+        "density": 1.38,
+        "young": 2.5,
+        "hardness": 5,
+        "poisson": 0.4,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001505/annotations/part_15.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001505",
+        "label": "15"
+    },
+    "part_level": {
+        "part_name": "Lower Mounting Ring Bracket",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Steel base plate with a circular ring and two arms positioned at the lower front.",
+        "functional_description": "Acts as a support/mounting bracket for accessories or service positioning.",
+        "movement_description": "Bolted rigidly to the lower cabinet area.",
+        "grasp_description": "Not handled in normal use."
+    },
+    "basic_info": {
+        "material": "plastic/PMMA_Acrylic",
+        "density": 1.18,
+        "young": 3.2,
+        "hardness": 18,
+        "poisson": 0.37,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001505/annotations/part_16.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001505",
+        "label": "16"
+    },
+    "part_level": {
+        "part_name": "Pull-out Tray Frame with Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "ABS frame surrounding the pull-out tray with an integrated handhold; ~55x45 cm.",
+        "functional_description": "Supports and guides the sliding tray, providing a user handle.",
+        "movement_description": "Serves as parent to the tray for linear sliding motion.",
+        "grasp_description": "Primary grasp point to pull the tray in and out."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.3,
+        "hardness": 12,
+        "poisson": 0.38,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}