Upload folder using huggingface_hub (part 9)

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

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001053",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Front Door and Kick Plate",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Stainless steel front door panel with an integrated recessed handle and a narrow lower kick-plate trim; roughly 60 cm wide and 75\u201380 cm tall.",
+        "functional_description": "Seals the wash cavity, provides the user-facing surface and handle, and supports latching and gasket interfaces to contain water and noise.",
+        "movement_description": "Rotates downward about a horizontal bottom hinge relative to the cabinet body (part 2). Motion is damped by hinge springs and/or struts, enabling controlled opening and closing within about 110 degrees.",
+        "grasp_description": "Users grasp the recessed handle area to pull the door open and push it closed; contact occurs frequently with hands and occasionally with forearms."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193,
+        "hardness": 180,
+        "poisson": 0.3,
+        "friction": 0.45
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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001053",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Cabinet Body",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Main dishwasher housing formed from galvanized steel panels; a black-finished outer shell that contains the tub, racks, pump and electronics.",
+        "functional_description": "Provides the structural frame, supports internal mechanisms, and serves as the fixed reference for the door and hinge assembly. It also interfaces with cabinetry and floor for installation.",
+        "movement_description": "Static structure; acts as the parent component about which the door (part 1) rotates on a bottom hinge axis.",
+        "grasp_description": "Not normally grasped; users interact with it indirectly during installation or when moving the appliance."
+    },
+    "basic_info": {
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+}

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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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+{
+    "id": "UPB_00001053",
+    "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": 2,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

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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="1.370968 1.370968 1.370968"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.370968 1.370968 1.370968"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.370968 1.370968 1.370968"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.370968 1.370968 1.370968"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_2"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.353179 -0.417673" 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 0.353179 0.417673" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_2"/>
+    <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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+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_60015dcf7fdaa400014929ca
+Kd 1 1 1
+illum 1
+map_Kd ./T_60015dcf7fdaa400014929ca_color.jpg
+
+newmtl MI_60015dcf5b89690001254bb2
+Kd 1 1 1
+illum 1
+
+newmtl MI_60015dcfc6ff5a000142fb73
+Kd 1 1 1
+Ks 0.100000001 0.100000001 0.100000001
+d 1
+illum 1
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+newmtl MI_60015dcf00e3a30001c8a818
+Kd 1 1 1
+illum 1
+map_Kd ./T_60015dcf00e3a30001c8a818_color.jpg
+
+newmtl MI_60015dcfe113f600011f7ae0
+Kd 1 1 1
+illum 1
+

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+{
+    "object_name": "Built-in Oven with Lower Storage Drawer",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        60.0,
+        60.0,
+        85.0
+    ],
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+}

data/UPB_00001054/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001054",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Oven Door Outer Panel",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Black powder-coated steel outer door panel with top ventilation grille; approx 59*3*55 cm.",
+        "functional_description": "Serves as the oven\u2019s front closure and heat barrier; supports the handle and vents steam through the top slot.",
+        "movement_description": "Rotates downward on bottom hinges relative to the main housing.",
+        "grasp_description": "Users avoid touching the hot panel and grasp the handle to open/close."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Powder_Coated",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 140,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                2
+            ],
+            "C": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.21588784456253052,
+                    -0.13528519868850708
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001054/annotations/part_2.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001054",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Door Handle Bar",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Brushed aluminum tubular handle mounted across the door; about 55*3*3 cm.",
+        "functional_description": "Primary user interface for pulling the door open or pushing it closed.",
+        "movement_description": "No independent motion; rigidly fixed to the door and follows its rotation.",
+        "grasp_description": "Users grasp with one or both hands; cylindrical section offers secure grip and stays cooler than the door surface."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063",
+        "density": 2.7,
+        "young": 69,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001054/annotations/part_3.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001054",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Brand Badge",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Raised ABS logo letters affixed to the lower front; roughly 10*0.5*2 cm.",
+        "functional_description": "Provides branding and visual identification; no structural role.",
+        "movement_description": "Rigidly attached to the lower drawer front and moves with it if the drawer slides.",
+        "grasp_description": "Not intended to be grasped; occasional light contact during cleaning."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.3,
+        "hardness": 15,
+        "poisson": 0.37,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001054/annotations/part_4.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001054",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Status/Indicator Lens",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Small translucent acrylic window on the front chassis; about 18*0.5*4 cm.",
+        "functional_description": "Allows light/status indication (or sensor window) to be visible while protecting internal electronics.",
+        "movement_description": "Rigidly mounted to the main housing with no relative motion.",
+        "grasp_description": "Not meant for handling; only touched during cleaning."
+    },
+    "basic_info": {
+        "material": "plastic/PMMA_Acrylic",
+        "density": 1.18,
+        "young": 3.2,
+        "hardness": 18,
+        "poisson": 0.38,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001054/annotations/part_5.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001054",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Main Housing/Cabinet",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Primary steel chassis that encloses insulation, cavity, and mechanisms; approx 60*56*80 cm.",
+        "functional_description": "Provides structural support and thermal enclosure for the oven cavity and mounting for door, drawer, and controls.",
+        "movement_description": "Static frame; defines the reference for door rotation and drawer translation.",
+        "grasp_description": "Rarely grasped; occasionally touched when installing or cleaning exterior sides."
+    },
+    "basic_info": {
+        "material": "metal/Galvanized_Steel_Sheet",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001054/annotations/part_6.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001054",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Lower Storage Drawer Front",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Black powder-coated steel front for the bottom drawer; about 59*2.5*18 cm.",
+        "functional_description": "Covers and provides grip for the lower storage/warming drawer; carries the brand badge.",
+        "movement_description": "Slides outward on rails relative to the housing to provide access to the drawer cavity.",
+        "grasp_description": "Users pull from the top edge/lip to open and push to close."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Powder_Coated",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 140,
+        "poisson": 0.3,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001054/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_00001054/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001054",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Built-in Oven with Lower Storage Drawer"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 6,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001054/model.urdf

@@ -0,0 +1,114 @@
+<?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="1.207695 1.207695 1.207695"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.207695 1.207695 1.207695"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.207695 1.207695 1.207695"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.207695 1.207695 1.207695"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.207695 1.207695 1.207695"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.207695 1.207695 1.207695"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.207695 1.207695 1.207695"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.207695 1.207695 1.207695"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.207695 1.207695 1.207695"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.207695 1.207695 1.207695"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.207695 1.207695 1.207695"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.207695 1.207695 1.207695"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_5"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.260727 -0.163383" 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 0.260727 0.163383" 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="base_link"/>
+    <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>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001054/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_00001054/parts/dishwasher_ZQDCHKBVAUZYQPTULU888888_E5G53.mtl

@@ -0,0 +1,30 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_6038b8f35b896900015bfbc0
+Kd 0.0392000005 0.0392000005 0.0392000005
+d 0.0231446922
+illum 1
+
+newmtl MI_6038b8f3d849e10001a625f9
+Kd 0.041356001 0.041356001 0.041356001
+illum 1
+
+newmtl MI_6038b8f323bc840001a45517
+Kd 0.663739979 0.663739979 0.663739979
+illum 1
+
+newmtl MI_6038b8f3e113f6000189fd07
+Kd 0.00887342356 0.00887342356 0.00887342356
+illum 1
+
+newmtl MI_6038b8f35ea89f000165bffe
+Kd 1 1 1
+illum 1
+map_Kd ./T_6038b8f35ea89f000165bffe_color.jpg
+
+newmtl MI_6038b8f3b1d8ad00013475f5
+Kd 1 1 1
+illum 1
+map_Kd ./T_6038b8f3b1d8ad00013475f5_color.jpg
+

data/UPB_00001054/parts/part_5.obj

@@ -0,0 +1,57 @@
+mtllib dishwasher_ZQDCHKBVAUZYQPTULU888888_E5G53.mtl
+v 0.279722005 0.265406996 0.332875013
+v -0.280277997 0.265406996 0.332875013
+v -0.280277997 -0.214592993 0.332875013
+v 0.279722005 0.265406996 0.332875013
+v -0.280277997 -0.214592993 0.332875013
+v 0.279722005 -0.214592993 0.332875013
+v -0.280277997 0.265406996 0.332875013
+v -0.280277997 0.265406996 -0.327125013
+v -0.280277997 -0.214592993 -0.327125013
+v -0.280277997 0.265406996 0.332875013
+v -0.280277997 -0.214592993 -0.327125013
+v -0.280277997 -0.214592993 0.332875013
+v -0.280277997 0.265406996 -0.327125013
+v 0.279722005 0.265406996 -0.327125013
+v 0.279722005 -0.214592993 -0.327125013
+v -0.280277997 0.265406996 -0.327125013
+v 0.279722005 -0.214592993 -0.327125013
+v -0.280277997 -0.214592993 -0.327125013
+v 0.279722005 0.265406996 -0.327125013
+v 0.279722005 0.265406996 0.332875013
+v 0.279722005 -0.214592993 0.332875013
+v 0.279722005 0.265406996 -0.327125013
+v 0.279722005 -0.214592993 0.332875013
+v 0.279722005 -0.214592993 -0.327125013
+v -0.280277997 0.265406996 -0.327125013
+v 0.279722005 0.265406996 0.332875013
+v 0.279722005 0.265406996 -0.327125013
+v -0.280277997 0.265406996 0.332875013
+v 0.279722005 0.265406996 0.332875013
+v -0.280277997 0.265406996 -0.327125013
+v -0.280277997 -0.214592993 -0.327125013
+v 0.279722005 -0.214592993 -0.327125013
+v 0.279722005 -0.214592993 0.332875013
+v -0.280277997 -0.214592993 0.332875013
+v -0.280277997 -0.214592993 -0.327125013
+v 0.279722005 -0.214592993 0.332875013
+vt 0.0 0.0 1.0
+vn 0.0 -1.62920998e-07 1.0
+vn -1.0 0.0 0.0
+vn 0.0 1.62920998e-07 -1.0
+vn 1.0 0.0 0.0
+vn 0.0 1.0 1.62920998e-07
+vn 0.0 -1.0 -1.62920998e-07
+usemtl MI_6038b8f3d849e10001a625f9
+f 1/1/1 2/1/1 3/1/1
+f 4/1/1 5/1/1 6/1/1
+f 7/1/2 8/1/2 9/1/2
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+f 19/1/4 20/1/4 21/1/4
+f 22/1/4 23/1/4 24/1/4
+f 25/1/5 26/1/5 27/1/5
+f 28/1/5 29/1/5 30/1/5
+f 31/1/6 32/1/6 33/1/6
+f 34/1/6 35/1/6 36/1/6