Upload folder using huggingface_hub (part 125)

.gitattributes

@@ -10463,3 +10463,14 @@ data/UPB_00001490/plys/7.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001490/plys/8.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001490/plys/9.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001490/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001491/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001491/plys/10.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001491/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001491/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001491/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001491/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001491/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001491/plys/7.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001491/plys/8.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001491/plys/9.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001491/plys/model.ply filter=lfs diff=lfs merge=lfs -text

data/UPB_00001491/annotations/part_6.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001491",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Rotating Inner Drum Assembly",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Perforated stainless-steel drum with front support flange; about 48 cm diameter and 35 cm depth.",
+        "functional_description": "Holds laundry and rotates for washing and spinning, allowing water to pass through perforations.",
+        "movement_description": "Rotates about a horizontal axis relative to the cabinet via bearings and drive system.",
+        "grasp_description": "Not grasped during normal use; contacted only when loading laundry through the door."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193.0,
+        "hardness": 180,
+        "poisson": 0.3,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001491/annotations/part_7.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001491",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Program Selector Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Round, textured ABS rotary knob, about 4\u20135 cm diameter.",
+        "functional_description": "User rotates the dial to select wash programs.",
+        "movement_description": "Rotates relative to the cabinet/control panel with detents; limited to near one full turn.",
+        "grasp_description": "Commonly pinched or twisted by thumb and fingers to choose a cycle."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic_Textured",
+        "density": 1.05,
+        "young": 2.2,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001491/annotations/part_8.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001491",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Accessory Pack (boot clamp and hoses)",
+        "affordance": 7,
+        "graspable": true,
+        "basic_description": "Bundle including a stainless-steel clamp ring and flexible hoses/parts packaged with the unit.",
+        "functional_description": "Used during installation to secure the door boot or connect water/drain lines.",
+        "movement_description": "Not mounted by default; only contacts the cabinet when stored or packaged.",
+        "grasp_description": "Handled by installers when setting up the appliance."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_201",
+        "density": 7.8,
+        "young": 190.0,
+        "hardness": 160,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001491/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001491",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Door Window Glass",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Transparent tempered glass bubble, approx. 30 cm diameter and 5\u20136 cm deep.",
+        "functional_description": "Allows viewing of the wash while creating a watertight door surface.",
+        "movement_description": "Moves together with the outer door bezel as a single assembly; no independent motion.",
+        "grasp_description": "Rarely touched directly; users grasp the surrounding bezel/handle."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic_Textured",
+        "density": 1.05,
+        "young": 2.2,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001491/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_00001491/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001491",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Front-Loading Washing Machine"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 10,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001491/model.urdf

@@ -0,0 +1,189 @@
+<?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="1.002893 1.002893 1.002893"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.002893 1.002893 1.002893"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.002893 1.002893 1.002893"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.002893 1.002893 1.002893"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.002893 1.002893 1.002893"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.002893 1.002893 1.002893"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.002893 1.002893 1.002893"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.002893 1.002893 1.002893"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.002893 1.002893 1.002893"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.002893 1.002893 1.002893"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.002893 1.002893 1.002893"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.002893 1.002893 1.002893"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.002893 1.002893 1.002893"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.002893 1.002893 1.002893"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.002893 1.002893 1.002893"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.002893 1.002893 1.002893"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.002893 1.002893 1.002893"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.002893 1.002893 1.002893"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.002893 1.002893 1.002893"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.002893 1.002893 1.002893"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_3"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.254148 -0.246262 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="2.6179938779914944"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.254148 0.246262 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="continuous">
+    <parent link="base_link"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 -0.223508 0.361264" rpy="0 0 0"/>
+    <axis xyz="0.0 0.9816271852379503 -0.19080898616632017"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 0.223508 -0.361264" 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>
+</robot>

data/UPB_00001491/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_00001491/parts/part_2.obj

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data/UPB_00001491/plys/7.ply

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data/UPB_00001491/plys/8.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001491/plys/9.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001491/plys/model.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001492/annotations/object.json

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+{
+    "object_name": "Front-Loading Washing Machine",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        60.0,
+        60.0,
+        85.0
+    ],
+    "mass": 65.0
+}

data/UPB_00001492/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001492",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Rotating Drum",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Cylindrical wash drum made of 304 stainless steel, approx. \u00d850 cm and 35 cm deep.",
+        "functional_description": "Holds laundry and rotates to wash/rinse/spin.",
+        "movement_description": "Rotates continuously on bearings relative to the cabinet; driven by motor and belt.",
+        "grasp_description": "Users place laundry inside but do not grasp the drum as a whole."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
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+                "pos": [
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+                    -0.19664601981639862,
+                    0.0
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+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.02
+            }
+        }
+    }
+}

data/UPB_00001492/annotations/part_10.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001492",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Knob Trim Ring (Indicator)",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Small anodized aluminum trim/indicator ring around the control knob (OD ~3.5 cm).",
+        "functional_description": "Decorative indicator ring that frames the knob and marks the selected position.",
+        "movement_description": "Rigidly fixed to the cabinet; knob turns inside it.",
+        "grasp_description": "Not intended for gripping."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.1,
+        "hardness": 15,
+        "poisson": 0.36,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001492/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001492",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Control Knob",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "ABS program selector knob, about \u00d84 cm, textured for grip.",
+        "functional_description": "Allows users to select wash cycles and options.",
+        "movement_description": "Rotates with light detents relative to the cabinet front panel.",
+        "grasp_description": "Frequently grasped and turned by hand to choose settings."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 15,
+        "poisson": 0.36,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
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+            "C": {
+                "axis": [
+                    0.0,
+                    0.9975640499502206,
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+                "pos": [
+                    0.0,
+                    -0.18127255141735077,
+                    0.31317752599716187
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+                "range": [
+                    0.0,
+                    6.283185307179586
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001492/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001492",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Front Vent Grilles",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Two small ABS grille inserts (each ~3*2 cm) on the control panel area.",
+        "functional_description": "Provide minor ventilation for electronics and speaker openings.",
+        "movement_description": "Rigidly fixed to the cabinet; no motion.",
+        "grasp_description": "Not intended to be touched except for cleaning."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 15,
+        "poisson": 0.36,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001492/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001492",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Fastener Screws",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Set of stainless-steel screws (approx. M5) located around the lower front and corners.",
+        "functional_description": "Secure exterior panels and components to the cabinet.",
+        "movement_description": "Rigid connection; no relative motion in use.",
+        "grasp_description": "Only handled during service with tools."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.1,
+        "hardness": 15,
+        "poisson": 0.36,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001492/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001492",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Knob Bezel Ring",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Black PC trim ring around the selector knob, outer diameter ~5 cm.",
+        "functional_description": "Decorative bezel that frames the knob and protects the panel opening.",
+        "movement_description": "Fixed to the cabinet; the knob turns inside it.",
+        "grasp_description": "Occasionally touched but not meant to be gripped."
+    },
+    "basic_info": {
+        "material": "plastic/Polycarbonate_PC",
+        "density": 1.2,
+        "young": 2.4,
+        "hardness": 20,
+        "poisson": 0.37,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001492/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001492",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Main Cabinet",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Painted steel housing with front circular opening and control panel cutouts (about 60*60*85 cm).",
+        "functional_description": "Provides structural support, mounts all internal and external components, and protects users.",
+        "movement_description": "Stationary reference for all moving parts.",
+        "grasp_description": "Touched when moving or cleaning the appliance but not grasped during operation."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Sheet_Painted",
+        "density": 7.85,
+        "young": 210.0,
+        "hardness": 120,
+        "poisson": 0.29,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001492/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001492",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Control Display Panel",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Tempered glass display window (~18*6 cm) with printed legends and LED segment area.",
+        "functional_description": "Shows cycle time, options and status; touch or buttons beneath may be operated.",
+        "movement_description": "Rigidly fixed to cabinet; no movement.",
+        "grasp_description": "Lightly tapped or wiped; not grasped."
+    },
+    "basic_info": {
+        "material": "glass/Soda_Lime_Glass_Tempered",
+        "density": 2.5,
+        "young": 70.0,
+        "hardness": 550,
+        "poisson": 0.22,
+        "friction": 0.6
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001492/annotations/part_8.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001492",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Door Gasket (Boot Seal)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Flexible silicone boot seal around the door opening (inner \u00d8 ~35\u201340 cm, cross-section ~2 cm).",
+        "functional_description": "Seals between the rotating drum enclosure and the door to prevent water leakage.",
+        "movement_description": "Fixed to the cabinet rim; deforms elastically when the door closes.",
+        "grasp_description": "Touched during cleaning or when retrieving small items but not grasped."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.1,
+        "hardness": 15,
+        "poisson": 0.36,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001492/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001492",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Door Assembly",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Front-loading door with circular frame (OD ~48 cm) and integrated latch/handle, molded ABS.",
+        "functional_description": "Allows access to the drum; latches shut to form a seal with the gasket.",
+        "movement_description": "Rotates on a side hinge relative to the cabinet; soft-close damping.",
+        "grasp_description": "Primary part grasped by users to open/close the machine."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Sheet_Painted",
+        "density": 7.85,
+        "young": 210.0,
+        "hardness": 120,
+        "poisson": 0.29,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001492/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