Upload folder using huggingface_hub (part 4)

.gitattributes

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data/UPB_00000998/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000998",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Outer Chassis Shell",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "U-shaped ABS shell forming the device\u2019s top and side walls with side carry holes; approx. 42\u00d734\u00d736 cm envelope.",
+        "functional_description": "Provides structural housing for internal mechanisms and surfaces users grasp when carrying the unit.",
+        "movement_description": "Stationary reference frame; other parts attach or move relative to it.",
+        "grasp_description": "Users can grip the side cutouts to lift and reposition the massager."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.0,
+        "hardness": 11,
+        "poisson": 0.36,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000998/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000998",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Inner Door Liner/Structural Panel",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Injection-molded polypropylene inner panel with ribs and stiffeners that backs the outer door.",
+        "functional_description": "Reinforces the front cover and provides internal mounting points and sealing surfaces.",
+        "movement_description": "Moves rigidly with the front door as a single assembly.",
+        "grasp_description": "Rarely touched directly; may be wiped during cleaning."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.6,
+        "hardness": 5,
+        "poisson": 0.42,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000998/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000998",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Door Latch/Slider Knobs (pair)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Two small oval silicone knobs located near the door handle slot.",
+        "functional_description": "Provide tactile, high-friction points to actuate or secure the door and cushion contact when closed.",
+        "movement_description": "Fixed to the door; they translate only if the door itself moves.",
+        "grasp_description": "Pinched or pressed by fingers to assist in unlatching/opening."
+    },
+    "basic_info": {
+        "material": "rubber/Silicone_Rubber",
+        "density": 1.15,
+        "young": 0.005,
+        "hardness": 2,
+        "poisson": 0.49,
+        "friction": 0.75
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000998/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_00000998/full_model/model.obj

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00000998/meta_data.json

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+{
+    "id": "UPB_00000998",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "ElectronicsDevices/ConsumerElectronics",
+        "object_name": "Foot Massager (front-cover type)"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 4,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000998/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>
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+      </geometry>
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+    <collision>
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+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
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+  </link>
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+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_1"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.157497 -0.192894" 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="-0.000000 0.157497 0.192894" 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>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00000998/parts/1.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
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data/UPB_00000998/parts/dishwasher_66YUS44TDZTWMK5FKU888888_iPwHl.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5b8fd9710d69eb15d0a90fe6
+Kd 1 1 1
+illum 1
+map_Kd ./T_5b8fd9710d69eb15d0a90fe6_color.jpg
+
+newmtl MI_5b8fd9710d69eb15d0a90fe5
+Kd 0.462700009 0.451000005 0.4824
+illum 1
+bump ./T_5b8fd9710d69eb15d0a90fe5_normal.jpg
+map_bump ./T_5b8fd9710d69eb15d0a90fe5_normal.jpg
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+newmtl MI_5b8fd9710d69eb15d0a90fe3
+Kd 1 1 1
+illum 1
+map_Kd ./T_5b8fd9710d69eb15d0a90fe3_color.jpg
+
+newmtl MI_5b8fd9710d69eb15d0a90fe9
+Kd 0.882399976 0.898000002 0.945100009
+illum 1
+
+newmtl MI_5b8fd9710d69eb15d0a90fe8
+Kd 0 0 0
+Ke 0.5 0.5 0.5
+illum 1
+
+newmtl MI_5b8fd9710d69eb15d0a90fea
+Kd 1 1 1
+illum 1
+map_Kd ./T_5b8fd9710d69eb15d0a90fea_color.jpg
+
+newmtl MI_5b8fd9710d69eb15d0a90fe4
+Kd 1 1 1
+illum 1
+map_Kd ./T_5b8fd9710d69eb15d0a90fe4_color.jpg
+
+newmtl MI_5b8fd9710d69eb15d0a90fe7
+Kd 1 1 1
+illum 1
+map_Kd ./T_5b8fd9710d69eb15d0a90fe7_color.jpg
+

data/UPB_00000998/parts/part_4.obj

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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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data/UPB_00000999/annotations/object.json

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+{
+    "object_name": "Built-in Dishwasher",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        60.0,
+        60.0,
+        85.0
+    ],
+    "mass": 42.0
+}

data/UPB_00000999/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000999",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Front Door Panel",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Brushed stainless-steel rectangular door panel, about 59.5 cm wide, 72 cm high and ~1.5 cm thick. Serves as the exterior of the dishwasher door.",
+        "functional_description": "Provides a rigid surface to seal the tub opening, support the handle hardware, and carry sound/thermal insulation on its inner side.",
+        "movement_description": "Rotates downward about a bottom hinge relative to the cabinet body (Part 4) with a typical opening range up to roughly 110 degrees; motion is damped by the hinge springs.",
+        "grasp_description": "Users push or steady the panel when closing and occasionally pull from the top edge; primarily grasped via the handle (Part 3)."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193,
+        "hardness": 170,
+        "poisson": 0.29,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                2,
+                3
+            ],
+            "C": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
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+                "pos": [
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+                "range": [
+                    0.0,
+                    1.7453292519943295
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+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00000999/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000999",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Handle Mounting Bosses",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Two small stainless posts/fasteners spaced to support the bar handle; each roughly 3 cm long and 1 cm in diameter.",
+        "functional_description": "Rigidly fixes the bar handle to the door panel, transferring pull forces to the door structure.",
+        "movement_description": "No relative movement; solidly clamped to the door panel and handle.",
+        "grasp_description": "Not intended to be touched directly."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193,
+        "hardness": 170,
+        "poisson": 0.29,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+        "motion_info": {}
+    }
+}

data/UPB_00000999/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000999",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Bar Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Curved stainless-steel pull bar about 45 cm long and ~2 cm diameter, mounted near the top of the door.",
+        "functional_description": "Primary user interface to pull the door open and push it closed; must be comfortable and strong.",
+        "movement_description": "Rigidly attached to the door via mounting bosses; moves together with the door as one unit.",
+        "grasp_description": "Users wrap fingers around the bar to open/close the dishwasher door."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193,
+        "hardness": 170,
+        "poisson": 0.29,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000999/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000999",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Cabinet Body (Outer Case & Tub)",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Rectangular stainless-steel cabinet/tub assembly roughly 60 cm wide, 60 cm deep, and 85 cm high, forming the main structure and wash cavity.",
+        "functional_description": "Provides structural integrity, supports internal racks and mechanisms, and interfaces with the door to seal during operation.",
+        "movement_description": "Stationary reference frame for the entire appliance; door (Part 1) rotates relative to this body; base panel is fixed to it.",
+        "grasp_description": "Rarely touched by users during normal operation except for installation or cleaning around the edges."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193,
+        "hardness": 170,
+        "poisson": 0.29,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000999/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000999",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Toe-Kick/Base Panel",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Dark ABS plastic toe-kick/base cover, about 60 cm wide, 10 cm high, and ~1.5 cm thick, spanning the lower front of the cabinet.",
+        "functional_description": "Conceals leveling feet and plumbing/electrical clearances, provides a durable kick surface and minor sound damping.",
+        "movement_description": "Rigidly fixed to the cabinet body; no relative motion during operation.",
+        "grasp_description": "Not intended for grasping; may be contacted by feet during use."
+    },
+    "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": {}
+    }
+}

data/UPB_00000999/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_00000999/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00000999",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Built-in Dishwasher"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 5,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000999/model.urdf

@@ -0,0 +1,97 @@
+<?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="0.962231 0.962231 0.962231"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.962231 0.962231 0.962231"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.962231 0.962231 0.962231"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.962231 0.962231 0.962231"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.962231 0.962231 0.962231"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.962231 0.962231 0.962231"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.962231 0.962231 0.962231"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.962231 0.962231 0.962231"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.962231 0.962231 0.962231"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.962231 0.962231 0.962231"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.278206 -0.279258" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.278206 0.279258" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00000999/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_00000999/parts/dishwasher_6CACOHMTDD52APP4LM888888_00Tnj.mtl

@@ -0,0 +1,28 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5cbebc2211af430389640177
+Kd 0.582065523 0.582065523 0.582065523
+illum 1
+bump ./T_5cbebc2211af430389640177_normal.jpg
+map_bump ./T_5cbebc2211af430389640177_normal.jpg
+
+newmtl MI_5cbebc2211af430389640173
+Kd 0.840318501 0.840318501 0.840318501
+illum 1
+
+newmtl MI_5cbebc2211af430389640176
+Kd 1 1 1
+illum 1
+map_Kd ./T_5cbebc2211af430389640176_color.jpg
+
+newmtl MI_5cbebc2211af430389640178
+Kd 0.0118000004 0.0118000004 0.0118000004
+illum 1
+bump ./T_5cbebc2211af430389640178_normal.jpg
+map_bump ./T_5cbebc2211af430389640178_normal.jpg
+
+newmtl MI_5cbebc2211af430389640179
+Kd 0.0901999995 0.0901999995 0.0901999995
+illum 1
+

data/UPB_00000999/plys/1.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c934659bd327477bb5322584b6619990a0353e167c37bc81aa1aa3eb651853a6
+size 293410