Upload folder using huggingface_hub (part 35)

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+    "category": "KitchenDining/KitchenAppliance",
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+        "part_name": "Door outer glass panel",
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+        "basic_description": "Tempered glass front panel of the oven door, approximately 55*2*35 cm.",
+        "functional_description": "Provides a heat-resistant viewing window and exterior finish for the drop-down door.",
+        "movement_description": "Rigidly fixed to the door assembly; the entire door rotates downward about a bottom hinge relative to the main body.",
+        "grasp_description": "Usually not grasped directly; users pull the handle attached to this panel."
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+{
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+        "basic_description": "Two small stainless tabs/grilles near the top front edge, each roughly 2*0.5*3 cm.",
+        "functional_description": "Act as small vent or mounting tabs at the front edge to manage airflow/trim alignment.",
+        "movement_description": "Rigidly fixed to the main body; no motion.",
+        "grasp_description": "Not touched during normal operation."
+    },
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+{
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+        "basic_description": "Two stainless-steel bosses/caps that secure the door handle to the door face, each about 2*2*2 cm.",
+        "functional_description": "Transfer loads from the user\u2019s pull on the handle into the door structure.",
+        "movement_description": "Rigidly fixed to both the handle and the door; move with the door when it opens.",
+        "grasp_description": "Not intended for direct contact."
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+        "functional_description": "Primary user interface for opening/closing the oven door.",
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+        "grasp_description": "Users grasp this bar with one or two hands to operate the door."
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data/UPB_00001245/annotations/part_4.json

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+{
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+        "functional_description": "Houses the heating elements, insulation, fan and supports for all front components.",
+        "movement_description": "Stationary reference frame of the appliance; other moving parts (door and knobs) move relative to it.",
+        "grasp_description": "Not directly grasped during normal use."
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+    }
+}

data/UPB_00001245/annotations/part_5.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001245",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Oven lamp housing and lens",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Heat-resistant glass-ceramic light cover and socket housing, about 10*6*6 cm.",
+        "functional_description": "Protects the oven bulb and provides a clear window for illuminating the cavity.",
+        "movement_description": "Fixed to the cavity wall; no motion relative to the body.",
+        "grasp_description": "Only handled during maintenance with the oven powered off."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_430",
+        "density": 7.7,
+        "young": 200.0,
+        "hardness": 170,
+        "poisson": 0.29,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001245/annotations/part_6.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001245",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Front control touch display",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Black glass-ceramic touch interface panel about 25*8*0.5 cm set in the upper fascia.",
+        "functional_description": "Provides digital controls and display for modes, temperature and timers.",
+        "movement_description": "Rigidly mounted to the body; no mechanical movement.",
+        "grasp_description": "Users tap or press the touch areas; minimal force contact."
+    },
+    "basic_info": {
+        "material": "glass/Glass_Ceramic",
+        "density": 2.5,
+        "young": 90.0,
+        "hardness": 600,
+        "poisson": 0.25,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001245/annotations/part_7.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001245",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Left rotary control knob",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Heat-resistant phenolic plastic knob, ~4 cm diameter and 3 cm depth.",
+        "functional_description": "User turns this knob to select a function (e.g., bake mode).",
+        "movement_description": "Rotates about a shaft relative to the oven body with indexed detents.",
+        "grasp_description": "Pinch or twist with fingers to rotate to the desired setting."
+    },
+    "basic_info": {
+        "material": "plastic/Phenolic_Bakelite",
+        "density": 1.3,
+        "young": 9.0,
+        "hardness": 20,
+        "poisson": 0.35,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001245/annotations/part_8.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001245",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Upper fascia/trim panel",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Stainless-steel trim strip spanning the width above the door, approx. 60*6*1 cm.",
+        "functional_description": "Provides structural face support for the control panel and a finished appearance.",
+        "movement_description": "Rigidly fixed to the main body; no motion.",
+        "grasp_description": "Occasionally touched while reaching for controls but not intended as a handle."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_430",
+        "density": 7.7,
+        "young": 200.0,
+        "hardness": 170,
+        "poisson": 0.29,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001245/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001245",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Right rotary control knob",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Heat-resistant phenolic plastic knob, ~4 cm diameter and 3 cm depth.",
+        "functional_description": "Typically used to set temperature or time, depending on configuration.",
+        "movement_description": "Rotates on a shaft relative to the body with detents providing tactile feedback.",
+        "grasp_description": "Twisted by hand; knurled or matte surface aids grip."
+    },
+    "basic_info": {
+        "material": "plastic/Phenolic_Bakelite",
+        "density": 1.3,
+        "young": 9.0,
+        "hardness": 20,
+        "poisson": 0.35,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001245/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_00001245/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001245",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Built-in Convection Oven"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 10,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001245/model.urdf

@@ -0,0 +1,182 @@
+<?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="0.810811 0.810811 0.810811"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.810811 0.810811 0.810811"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.810811 0.810811 0.810811"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.810811 0.810811 0.810811"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.810811 0.810811 0.810811"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.810811 0.810811 0.810811"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.810811 0.810811 0.810811"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.810811 0.810811 0.810811"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.810811 0.810811 0.810811"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.810811 0.810811 0.810811"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.810811 0.810811 0.810811"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.810811 0.810811 0.810811"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.810811 0.810811 0.810811"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.810811 0.810811 0.810811"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.810811 0.810811 0.810811"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.810811 0.810811 0.810811"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.810811 0.810811 0.810811"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.810811 0.810811 0.810811"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.810811 0.810811 0.810811"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.810811 0.810811 0.810811"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.191506 -0.196891" 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 0.191506 0.196891" 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>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <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>
+</robot>

data/UPB_00001245/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_00001245/parts/oven_ZSMNDBBVAU3DQPTUKI888888_iXviq.mtl

@@ -0,0 +1,46 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_60a64e77e113f60001ebec15
+Kd 0.862699986 0.862699986 0.862699986
+illum 1
+
+newmtl MI_60a64e77c6ff5a0001405cc4
+Kd 0.0611609183 0.0611609183 0.0611609183
+illum 1
+
+newmtl MI_60a64e775974ed0001236aff
+Kd 0.443686157 0.443686157 0.443686157
+illum 1
+
+newmtl MI_60a64e77e77dfc0001cec4e2
+Kd 0.0611609183 0.0611609183 0.0611609183
+d 1
+illum 1
+map_d ./T_60a64e77e77dfc0001cec4e2_alpha.jpg
+
+newmtl MI_60a64e77efa6d0000154bb88
+Kd 1 1 1
+illum 1
+map_Kd ./T_60a64e77efa6d0000154bb88_color.jpg
+
+newmtl MI_60a64e77c9c5fa00013eac37
+Kd 1 1 1
+illum 1
+map_Kd ./T_60a64e77c9c5fa00013eac37_color.jpg
+
+newmtl MI_60a64e77d849e1000176f613
+Kd 0 0 0
+Ke 1 0.511799991 0.192900002
+illum 1
+
+newmtl MI_60a64e7717e93b0001b314af
+Kd 0 0 0
+illum 1
+
+newmtl MI_60a64e7723bc840001d39553
+Kd 1 1 1
+Ks 0.100000001 0.100000001 0.100000001
+d 1
+illum 1
+