Upload folder using huggingface_hub (part 124)

.gitattributes

@@ -10447,3 +10447,19 @@ data/UPB_00001489/plys/5.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001489/plys/6.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001489/plys/7.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001489/plys/8.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001489/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001490/full_model/model.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001490/parts/part_3.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001490/parts/part_5.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001490/parts/part_8.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001490/parts/part_9.obj filter=lfs diff=lfs merge=lfs -text
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+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_00001489/plys/model.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:2bc94e9a6b51efce3dcce92e80351f670e7a33f038aa409085dc268f62881b38
+size 1600243

data/UPB_00001490/annotations/object.json

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

data/UPB_00001490/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001490",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Front Door with Window",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Circular door assembly with a glass viewing window and surrounding plastic bezel, about \u00d834-36 cm and ~3 cm thick.",
+        "functional_description": "Seals the laundry opening and allows visual monitoring while keeping water inside.",
+        "movement_description": "Hinged on the cabinet frame; rotates outward to provide access to the drum.",
+        "grasp_description": "Users grasp the door\u2019s rim/handle area to pull it open and push it closed."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.2,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "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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+                    0.0
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+                "range": [
+                    0.0,
+                    1.9198621771937625
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+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001490/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001490",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Status Indicator Lens",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Small round PC lens or plug (~1.5-2 cm diameter) mounted near the top-front of the housing.",
+        "functional_description": "Acts as a light/sensor window for status indication or service diagnostics.",
+        "movement_description": "Fixed to the steel housing; no motion.",
+        "grasp_description": "Not intended to be touched during normal operation."
+    },
+    "basic_info": {
+        "material": "plastic/Polycarbonate_PC",
+        "density": 1.2,
+        "young": 2.4,
+        "hardness": 16,
+        "poisson": 0.37,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
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+                "pos": [
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+                "range": [
+                    0.0,
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+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001490/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001490",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Outer Cabinet Shell",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Painted steel box structure forming the washer\u2019s body (approx. 60\u00d760\u00d785 cm) with a circular front opening.",
+        "functional_description": "Provides structural support, mounting points for components, and enclosure for safety and noise control.",
+        "movement_description": "Cabinet is stationary; it serves as the parent structure for the hinged door, rotating drum, service cap, and rigidly mounted parts.",
+        "grasp_description": "Handled only when moving the appliance; not a normal touch surface in operation."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Sheet",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 140,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001490/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001490",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Control Panel Module",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "ABS front control fascia with detergent drawer, rotary selector, and display, about 60\u00d710\u00d73 cm.",
+        "functional_description": "User interface for selecting programs, starting/stopping cycles, and dispensing detergent.",
+        "movement_description": "Rigidly fixed to the cabinet; buttons/knob move internally but the module position is fixed.",
+        "grasp_description": "Users rotate the central knob and press buttons; hand contact is focused on this area."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.3,
+        "hardness": 12,
+        "poisson": 0.35,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001490/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001490",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Assembly Fasteners (Set)",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Set of small steel screws/bolts (approx. M4\u2013M5, 10\u201320 mm) used around the base and panels.",
+        "functional_description": "Provide clamping force to keep panels and internal components securely attached to the cabinet.",
+        "movement_description": "No movement in operation; create rigid joints when tightened.",
+        "grasp_description": "Handled only during service with tools."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.2,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001490/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001490",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Drum Lifters (3 pcs)",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Three polypropylene paddles (~25\u00d75\u00d74 cm each) fixed inside the inner drum.",
+        "functional_description": "Lift and tumble laundry to improve mechanical washing action and water distribution.",
+        "movement_description": "Move only as part of the rotating drum; rigidly attached to the drum cylinder.",
+        "grasp_description": "Not touched by users; only visible inside the drum."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.5,
+        "hardness": 8,
+        "poisson": 0.42,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001490/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001490",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Pump Filter Access Cap",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Round ABS cap/door (~6\u20137 cm diameter) at the lower-front area for pump/filter access.",
+        "functional_description": "Opens to allow cleaning of the drain pump filter and emergency water draining.",
+        "movement_description": "Twist or hinged rotation relative to the cabinet to open/close the service port.",
+        "grasp_description": "Users grip the small tab to rotate and remove or open the cap during maintenance."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.2,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001490/annotations/part_8.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001490",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Inner Drum (Wash Basket)",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Cylindrical stainless-steel basket (~\u00d848 cm, depth ~35 cm) with perforations and internal lifters.",
+        "functional_description": "Holds laundry and rotates to agitate and spin out water.",
+        "movement_description": "Rotates about its axis on bearings relative to the stationary cabinet assembly (via the tub and drive system).",
+        "grasp_description": "Users may touch the rim when loading/unloading, but it is not a primary grasp surface."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001490/annotations/part_9.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001490",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Door Boot Seal (Gasket)",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Flexible EPDM ring (~\u00d838\u201340 cm, cross-section ~3 cm) lining the front opening.",
+        "functional_description": "Provides a watertight seal between the door and the front opening, dampening vibration and preventing leaks.",
+        "movement_description": "Fixed to the front panel; compresses elastically when the door closes but has no independent motion.",
+        "grasp_description": "Occasionally touched during cleaning; not typically grasped."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.2,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001490/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_00001490/full_model/model.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:1b684685f37483be9cf5573754f1a08477cc353e62725d6e8052d014fe38f673
+size 38857977

data/UPB_00001490/meta_data.json

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+{
+    "id": "UPB_00001490",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenDining_Other",
+        "object_name": "Front-Loading Washing Machine"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 9,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001490/model.urdf

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+<?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="0.999860 0.999860 0.999860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.999860 0.999860 0.999860"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.999860 0.999860 0.999860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.999860 0.999860 0.999860"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.999860 0.999860 0.999860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.999860 0.999860 0.999860"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.999860 0.999860 0.999860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.999860 0.999860 0.999860"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.999860 0.999860 0.999860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.999860 0.999860 0.999860"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.999860 0.999860 0.999860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.999860 0.999860 0.999860"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.999860 0.999860 0.999860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.999860 0.999860 0.999860"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.999860 0.999860 0.999860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.999860 0.999860 0.999860"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.999860 0.999860 0.999860"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.999860 0.999860 0.999860"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_3"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.240925 -0.290250 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <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="0.240925 0.290250 -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 -0.291946 0.351420" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 0.291946 -0.351420" 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>
+</robot>

data/UPB_00001490/parts/1.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 1.png

data/UPB_00001490/parts/part_3.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:2d2c24f034bba37569c2a9c379ee56cd50543dd8aac300fe9be071c04773e09c
+size 12398502

data/UPB_00001490/parts/part_5.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:a5261b6739a09a325bb9aa4d0949587fa33cf2d6aeebc0c00d56a4114f8233b8
+size 13289719

data/UPB_00001490/parts/part_8.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:ee100ce4d069c51e4109321301a2b43e9728f4db33698bec1d8672c6254fabed
+size 25937859

data/UPB_00001490/parts/part_9.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:d15694cd569a5ac0655724205769bf22ba0cb6e49372593acb4e3c1b74880505
+size 20576589

data/UPB_00001490/parts/washing_machine_SIYWBYGO7PRR6IREKU888888_mhT6H.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5b528c793cf8ab6cf7a3cc75
+Kd 1 1 1
+Ks 0.100000001 0.100000001 0.100000001
+d 1
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+    "object_name": "Front-Loading Washing Machine",
+    "category": "KitchenDining/KitchenAppliance",
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+        "type_name": "default",
+        "entity": "UPB_00001491",
+        "label": "1"
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+    "part_level": {
+        "part_name": "Door Bezel and Handle (outer door frame)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Injection-molded ABS outer door bezel with integrated handle; approx. 35 cm outer diameter, 6 cm thick.",
+        "functional_description": "Provides the grasping surface to open/close the washer door and houses the transparent window.",
+        "movement_description": "Rotates on a side hinge relative to the cabinet to open for loading/unloading clothes.",
+        "grasp_description": "Users pull/push this bezel by its handle to operate the door."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.2,
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+        "label": "10"
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+    "part_level": {
+        "part_name": "Assembly Screws and Fasteners",
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+        "graspable": false,
+        "basic_description": "Set of zinc-plated steel screws located around the cabinet and panels.",
+        "functional_description": "Provide structural fastening for cabinet panels, hinge brackets, and modules.",
+        "movement_description": "No motion; rigidly clamp parts to the cabinet.",
+        "grasp_description": "Only handled during service with a screwdriver; not a user element."
+    },
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+        "part_name": "Indicator Light Lens",
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+        "graspable": false,
+        "basic_description": "Small round PC lens (\u22482 cm diameter) seated on the control panel.",
+        "functional_description": "Acts as a protective/optical cover for a status LED on the control panel.",
+        "movement_description": "No motion; rigidly fixed to the cabinet/control fascia.",
+        "grasp_description": "Not intended for handling; only viewed."
+    },
+    "basic_info": {
+        "material": "plastic/Polycarbonate_PC",
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+        "entity": "UPB_00001491",
+        "label": "3"
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+    "part_level": {
+        "part_name": "Outer Cabinet and Front Fascia",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Powder-coated steel shell and front fascia; approx. 60\u00d760\u00d785 cm overall envelope.",
+        "functional_description": "Provides structural support, mounting surfaces for drum, door, controls, and interfaces for hoses and fasteners.",
+        "movement_description": "Stationary reference frame; serves as the parent for door, knob, and drum motions.",
+        "grasp_description": "Occasionally touched when moving the appliance but not intended as a handle."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Sheet_COATED",
+        "density": 7.85,
+        "young": 210.0,
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+        "label": "4"
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+    "part_level": {
+        "part_name": "Drain Hose",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Flexible EPDM drain hose, about 1.5 m long, 3 cm outer diameter with molded bends.",
+        "functional_description": "Conveys wastewater from the pump to the household drain.",
+        "movement_description": "No defined joint; flexes but is clamped rigidly at its connection points on the cabinet.",
+        "grasp_description": "Handled during installation to place the hose into a standpipe or sink."
+    },
+    "basic_info": {
+        "material": "rubber/EPDM_Rubber",
+        "density": 1.1,
+        "young": 0.02,
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+}