Upload folder using huggingface_hub (part 122)

.gitattributes

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+data/UPB_00001488/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001488/plys/7.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001488/plys/8.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001488/plys/9.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001488/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001489/full_model/model.obj filter=lfs diff=lfs merge=lfs -text

data/UPB_00001488/plys/6.ply

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data/UPB_00001488/plys/7.ply

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data/UPB_00001488/plys/8.ply

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data/UPB_00001488/plys/9.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001488/plys/model.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001489/annotations/object.json

@@ -0,0 +1,10 @@
+{
+    "object_name": "Top-Loading Washing Machine",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        60.0,
+        60.0,
+        95.0
+    ],
+    "mass": 45.0
+}

data/UPB_00001489/annotations/part_1.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001489",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Tempered-glass Top Lid",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "A rectangular tempered-glass lid (~54\u00d750\u00d71 cm) with a plastic rim, sitting on the washer\u2019s top opening.",
+        "functional_description": "Covers the drum to contain water and noise and to prevent access during operation while allowing visibility.",
+        "movement_description": "Hinged along the rear edge; rotates upward relative to the cabinet with soft-close damping.",
+        "grasp_description": "Users grasp the front edge to open and close the lid for loading and unloading laundry."
+    },
+    "basic_info": {
+        "material": "plastic/PVC_Plastic",
+        "density": 1.38,
+        "young": 3.0,
+        "hardness": 12,
+        "poisson": 0.38,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    -1.0,
+                    0.0,
+                    -1.2246468525851679e-16
+                ],
+                "pos": [
+                    0.0,
+                    0.14334020018577576,
+                    0.4439951777458191
+                ],
+                "range": [
+                    0.0,
+                    1.7453292519943295
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001489/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001489",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Leveling Feet (set)",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Five small rubber-tipped supports (~3 cm diameter) mounted at the base corners/points.",
+        "functional_description": "Provide vibration isolation and allow height adjustment for leveling on uneven floors.",
+        "movement_description": "Each foot threads in/out of the base for fine vertical adjustment.",
+        "grasp_description": "Rarely handled; adjusted with fingers or a wrench during installation."
+    },
+    "basic_info": {
+        "material": "rubber/Nitrile_Rubber",
+        "density": 1.15,
+        "young": 0.01,
+        "hardness": 5,
+        "poisson": 0.49,
+        "friction": 0.8
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001489/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001489",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Control Console Housing/Bezel",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "A long molded ABS panel (~55\u00d712\u00d73 cm) at the rear top, forming the console structure.",
+        "functional_description": "Houses the electronics, display window, and dial shaft to which the control knob attaches.",
+        "movement_description": "Rigidly fixed to the cabinet; serves as the stationary base for the rotating dial knob.",
+        "grasp_description": "Not intended for grasping; only supports the user interface components."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.1,
+        "hardness": 10,
+        "poisson": 0.37,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001489/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001489",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "User Interface Overlay Panel",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "A thin PC overlay (~50\u00d710\u00d70.3 cm) with printed icons and display window mounted on the console.",
+        "functional_description": "Provides labeled interface surfaces for buttons and the dial indicator, protecting electronics beneath.",
+        "movement_description": "Rigidly bonded to the console housing with no relative motion.",
+        "grasp_description": "Touched to press buttons or read indicators but not grasped."
+    },
+    "basic_info": {
+        "material": "plastic/Polycarbonate_PC",
+        "density": 1.2,
+        "young": 2.4,
+        "hardness": 15,
+        "poisson": 0.37,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001489/annotations/part_5.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001489",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Drain Hose Connector",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "A short stepped PVC spigot (~5 cm long) on the lower side/rear of the cabinet.",
+        "functional_description": "Provides a sealed interface for attaching the drain hose from the pump to household plumbing.",
+        "movement_description": "Fixed to the cabinet; no intended motion during normal use.",
+        "grasp_description": "Grasped to connect or remove the drain hose during installation or maintenance."
+    },
+    "basic_info": {
+        "material": "plastic/PVC_Plastic",
+        "density": 1.38,
+        "young": 3.0,
+        "hardness": 12,
+        "poisson": 0.38,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001489/annotations/part_6.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001489",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Rotary Control Knob (dial ring)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "A circular aluminum ring (~4 cm outer diameter) that fits over the console\u2019s dial shaft.",
+        "functional_description": "Allows the user to select cycles by rotating the internal encoder/potentiometer.",
+        "movement_description": "Rotates relative to the fixed console housing with light detents.",
+        "grasp_description": "Frequently grasped and turned by hand to choose programs."
+    },
+    "basic_info": {
+        "material": "plastic/PVC_Plastic",
+        "density": 1.38,
+        "young": 3.0,
+        "hardness": 12,
+        "poisson": 0.38,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001489/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001489",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Main Cabinet (outer shell)",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Powder-coated steel outer shell (~60\u00d760\u00d795 cm) forming the appliance\u2019s structural body.",
+        "functional_description": "Houses the drum, motor and electronics; provides mounting points for the lid, console, and base.",
+        "movement_description": "Stationary structural component to which movable elements are mounted.",
+        "grasp_description": "Users may grasp the sides or rear to reposition the machine."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Sheet",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 120,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001489/annotations/part_8.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001489",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Base/Plinth Assembly",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "A rigid steel plinth (~55\u00d755\u00d78 cm) with ventilation and mounting points for feet and internal components.",
+        "functional_description": "Supports the cabinet and internal suspension, transmitting loads to the floor.",
+        "movement_description": "Fixed to the cabinet; provides threaded receptacles for adjustable feet.",
+        "grasp_description": "Not typically touched during normal operation."
+    },
+    "basic_info": {
+        "material": "plastic/PVC_Plastic",
+        "density": 1.38,
+        "young": 3.0,
+        "hardness": 12,
+        "poisson": 0.38,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001489/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_00001489/full_model/model.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:87b65e7fa8d65d652f20abb187b696c7c83cdba9c84f02e8e23fbe78e67f4e36
+size 11394643

data/UPB_00001489/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001489",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Top-Loading Washing Machine"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 8,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001489/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>
+        <mesh filename="parts/part_1.obj" scale="0.886860 0.886860 0.886860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.886860 0.886860 0.886860"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.886860 0.886860 0.886860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.886860 0.886860 0.886860"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.886860 0.886860 0.886860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.886860 0.886860 0.886860"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.886860 0.886860 0.886860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.886860 0.886860 0.886860"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.886860 0.886860 0.886860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.886860 0.886860 0.886860"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.886860 0.886860 0.886860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.886860 0.886860 0.886860"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.886860 0.886860 0.886860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.886860 0.886860 0.886860"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.886860 0.886860 0.886860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.886860 0.886860 0.886860"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_7"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 0.127123 0.393761" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
+    <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 -0.127123 -0.393761" 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>
+  <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>
+  <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>
+</robot>

data/UPB_00001489/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