diff --git a/.gitattributes b/.gitattributes index 160aa6b71a38d2c1a7c0c25d015eb530ae089b46..7441b6c35e0793398c7e0c553037599da58ffd6e 100644 --- a/.gitattributes +++ b/.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 +data/UPB_00001490/plys/1.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001490/plys/2.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001490/plys/3.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001490/plys/4.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001490/plys/5.ply filter=lfs diff=lfs merge=lfs -text +data/UPB_00001490/plys/6.ply filter=lfs diff=lfs merge=lfs -text +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 diff --git a/data/UPB_00001489/plys/model.ply b/data/UPB_00001489/plys/model.ply new file mode 100644 index 0000000000000000000000000000000000000000..0b173cf3c91ef80bd640898e21fd8cc75acf196f --- /dev/null +++ b/data/UPB_00001489/plys/model.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2bc94e9a6b51efce3dcce92e80351f670e7a33f038aa409085dc268f62881b38 +size 1600243 diff --git a/data/UPB_00001490/annotations/object.json b/data/UPB_00001490/annotations/object.json new file mode 100644 index 0000000000000000000000000000000000000000..6163244d3d35db1a808fd47b00321570b739419e --- /dev/null +++ b/data/UPB_00001490/annotations/object.json @@ -0,0 +1,10 @@ +{ + "object_name": "Front-Loading Washing Machine", + "category": "KitchenDining/KitchenDining_Other", + "volume": [ + 60.0, + 60.0, + 85.0 + ], + "mass": 65.0 +} \ No newline at end of file diff --git a/data/UPB_00001490/annotations/part_1.json b/data/UPB_00001490/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..8863e4c408563640e5038c67ffe5078a4472a03f --- /dev/null +++ b/data/UPB_00001490/annotations/part_1.json @@ -0,0 +1,51 @@ +{ + "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 + ], + "pos": [ + -0.24095852673053741, + -0.2902907729148865, + 0.0 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001490/annotations/part_2.json b/data/UPB_00001490/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..3ad7a0a74f107286c42c077c7f93fe5efc82da58 --- /dev/null +++ b/data/UPB_00001490/annotations/part_2.json @@ -0,0 +1,51 @@ +{ + "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 + ], + "pos": [ + 0.0, + -0.2919865846633911, + 0.351468950510025 + ], + "range": [ + 0.0, + 6.283185307179586 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001490/annotations/part_3.json b/data/UPB_00001490/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..230a3f8059c4f6f9dcf343b3eed3918bc980fd0f --- /dev/null +++ b/data/UPB_00001490/annotations/part_3.json @@ -0,0 +1,30 @@ +{ + "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": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001490/annotations/part_4.json b/data/UPB_00001490/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..8bb345af21ff1e43d3bbecd4b1ae37f537e85c9f --- /dev/null +++ b/data/UPB_00001490/annotations/part_4.json @@ -0,0 +1,30 @@ +{ + "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": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001490/annotations/part_5.json b/data/UPB_00001490/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..9c7df1d3d4dd081620b0eb72788d2f4cd325c561 --- /dev/null +++ b/data/UPB_00001490/annotations/part_5.json @@ -0,0 +1,30 @@ +{ + "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": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001490/annotations/part_6.json b/data/UPB_00001490/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..5fc0f60e3e1c45372d36791863619aa3e093622c --- /dev/null +++ b/data/UPB_00001490/annotations/part_6.json @@ -0,0 +1,30 @@ +{ + "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": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001490/annotations/part_7.json b/data/UPB_00001490/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..51b7001710a262ec7d2bce268f8355e77702de99 --- /dev/null +++ b/data/UPB_00001490/annotations/part_7.json @@ -0,0 +1,30 @@ +{ + "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": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001490/annotations/part_8.json b/data/UPB_00001490/annotations/part_8.json new file mode 100644 index 0000000000000000000000000000000000000000..46249dde30c44661d9ab8f2c2f309b26dc8ae3bd --- /dev/null +++ b/data/UPB_00001490/annotations/part_8.json @@ -0,0 +1,30 @@ +{ + "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": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001490/annotations/part_9.json b/data/UPB_00001490/annotations/part_9.json new file mode 100644 index 0000000000000000000000000000000000000000..4db6e30cdf5ae0683d752bb03889ef68a7c41225 --- /dev/null +++ b/data/UPB_00001490/annotations/part_9.json @@ -0,0 +1,30 @@ +{ + "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": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001490/full_model/material.mtl b/data/UPB_00001490/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00001490/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 \ No newline at end of file diff --git a/data/UPB_00001490/full_model/material_0.png b/data/UPB_00001490/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..418fbb351445d6d2c16554df2724003bf50bee02 --- /dev/null +++ b/data/UPB_00001490/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1398cf88b1ad58f539a50bafbe4e008403521960ee86723b2d8998a82911747 +size 1895881 diff --git a/data/UPB_00001490/full_model/model.obj b/data/UPB_00001490/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..bce095887b7af79f0dff2014fa50e089de2b48af --- /dev/null +++ b/data/UPB_00001490/full_model/model.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b684685f37483be9cf5573754f1a08477cc353e62725d6e8052d014fe38f673 +size 38857977 diff --git a/data/UPB_00001490/meta_data.json b/data/UPB_00001490/meta_data.json new file mode 100644 index 0000000000000000000000000000000000000000..8f32cc0587ddd68cdb8edcb7d63e8e31493a895a --- /dev/null +++ b/data/UPB_00001490/meta_data.json @@ -0,0 +1,22 @@ +{ + "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" + } +} \ No newline at end of file diff --git a/data/UPB_00001490/model.urdf b/data/UPB_00001490/model.urdf new file mode 100644 index 0000000000000000000000000000000000000000..e9f692335063a517b9a9e8104056d725da355cf4 --- /dev/null +++ b/data/UPB_00001490/model.urdf @@ -0,0 +1,172 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/data/UPB_00001490/parts/1.mtl b/data/UPB_00001490/parts/1.mtl new file mode 100644 index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc --- /dev/null +++ b/data/UPB_00001490/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 diff --git a/data/UPB_00001490/parts/1.png b/data/UPB_00001490/parts/1.png new file mode 100644 index 0000000000000000000000000000000000000000..716094b1cb80d81b6f5cb9cf4a8ec5b454c98d19 --- /dev/null +++ b/data/UPB_00001490/parts/1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7dd329f619d3eb3356470fe1c8fa66ca896b108446306f1230c0a8bcb6334e0 +size 1532615 diff --git a/data/UPB_00001490/parts/T_5b528c793cf8ab6cf7a3cc6f_color.jpg b/data/UPB_00001490/parts/T_5b528c793cf8ab6cf7a3cc6f_color.jpg new file mode 100644 index 0000000000000000000000000000000000000000..9b7530265560189395e66cf3c75c2b182ad4facb --- /dev/null +++ b/data/UPB_00001490/parts/T_5b528c793cf8ab6cf7a3cc6f_color.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca296a7b153fc2417e66ff81cae9465506c8e2fc7f50ed23aa37479bca58f24c +size 739 diff --git a/data/UPB_00001490/parts/T_5b528c793cf8ab6cf7a3cc70_color.jpg b/data/UPB_00001490/parts/T_5b528c793cf8ab6cf7a3cc70_color.jpg new file mode 100644 index 0000000000000000000000000000000000000000..61c0707d18ef739268571f006486ad4bcfd6e302 --- /dev/null +++ b/data/UPB_00001490/parts/T_5b528c793cf8ab6cf7a3cc70_color.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:641bb6e3e11ce25de4c90a3d38387b2378f7ce3b7d4c12132e19455b5e62f9bb +size 17057 diff --git a/data/UPB_00001490/parts/T_5b528c793cf8ab6cf7a3cc71_color.jpg b/data/UPB_00001490/parts/T_5b528c793cf8ab6cf7a3cc71_color.jpg new file mode 100644 index 0000000000000000000000000000000000000000..7bc5b46ce3bae960d2a86c27c4356f1d4a04a2b6 --- /dev/null +++ b/data/UPB_00001490/parts/T_5b528c793cf8ab6cf7a3cc71_color.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c76dff0105d7eb58620e6d0719d49d78f82755bfd675287ecbd8efd1c12f9bd +size 495519 diff --git a/data/UPB_00001490/parts/T_5b528c793cf8ab6cf7a3cc71_metallic.jpg b/data/UPB_00001490/parts/T_5b528c793cf8ab6cf7a3cc71_metallic.jpg new file mode 100644 index 0000000000000000000000000000000000000000..a43ccbc4c97dc8230cbf4bb058b87e61f6bf4f9d --- /dev/null +++ b/data/UPB_00001490/parts/T_5b528c793cf8ab6cf7a3cc71_metallic.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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Washing Machine", + "category": "KitchenDining/KitchenAppliance", + "volume": [ + 60.0, + 60.0, + 85.0 + ], + "mass": 65.0 +} \ No newline at end of file diff --git a/data/UPB_00001491/annotations/part_1.json b/data/UPB_00001491/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..e47e1b1f6a1a77f8d9f7ae7e434e6f961a6de036 --- /dev/null +++ b/data/UPB_00001491/annotations/part_1.json @@ -0,0 +1,51 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001491", + "label": "1" + }, + "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, + "hardness": 15, + "poisson": 0.35, + "friction": 0.42 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 1 + ], + "C": { + "axis": [ + 0.0, + 0.0, + -1.0 + ], + "pos": [ + -0.25341475009918213, + -0.2455519288778305, + 0.0 + ], + "range": [ + 0.0, + 2.6179938779914944 + ], + "damping": 0.05 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001491/annotations/part_10.json b/data/UPB_00001491/annotations/part_10.json new file mode 100644 index 0000000000000000000000000000000000000000..3e09c7d706a99f9ef9c3ab5ab73c00b57b18f2e6 --- /dev/null +++ b/data/UPB_00001491/annotations/part_10.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001491", + "label": "10" + }, + "part_level": { + 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b/data/UPB_00001491/annotations/part_2.json @@ -0,0 +1,51 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001491", + "label": "2" + }, + "part_level": { + "part_name": "Indicator Light Lens", + "affordance": 9, + "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", + "density": 1.2, + "young": 2.6, + "hardness": 14, + "poisson": 0.37, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 2 + ], + "C": { + "axis": [ + 0.0, + 0.9816271852379503, + -0.19080898616632017 + ], + "pos": [ + 0.0, + -0.22286295890808105, + 0.3602212965488434 + ], + "range": [ + 0.0, + 6.283185307179586 + ], + "damping": 0.03 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001491/annotations/part_3.json b/data/UPB_00001491/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..06025693d20fa67296b5851ad65000e5356d408e --- /dev/null +++ b/data/UPB_00001491/annotations/part_3.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001491", + "label": "3" + }, + "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, + "hardness": 120, + "poisson": 0.3, + "friction": 0.4 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001491/annotations/part_4.json b/data/UPB_00001491/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..cef72432fb84724da7d3689ca9327ce3df04310e --- /dev/null +++ b/data/UPB_00001491/annotations/part_4.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001491", + "label": "4" + }, + "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, + "hardness": 2, + "poisson": 0.49, + "friction": 0.75 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001491/annotations/part_5.json b/data/UPB_00001491/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..14dc1a1d5de5e5e3055044f022017e2629609995 --- /dev/null +++ b/data/UPB_00001491/annotations/part_5.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001491", + "label": "5" + }, + "part_level": { + "part_name": "Control Display Module", + "affordance": 3, + "graspable": true, + "basic_description": "Rectangular ABS-faced display/control board cover, approx. 16\u00d78 cm.", + "functional_description": "Shows cycle information and provides touch/soft keys for selecting options.", + "movement_description": "Rigidly fixed to the cabinet.", + "grasp_description": "Users touch the face to select settings; not pulled." + }, + "basic_info": { + "material": "glass/Soda_Lime_Glass_Tempered", + "density": 2.5, + "young": 70.0, + "hardness": 520, + "poisson": 0.22, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file