Upload folder using huggingface_hub (part 17)

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data/UPB_00001122/plys/6.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001122/plys/7.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001122/plys/8.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001122/plys/9.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001122/plys/model.ply

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data/UPB_00001123/annotations/object.json

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+{
+    "object_name": "Microwave Oven",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        48.0,
+        38.0,
+        28.0
+    ],
+    "mass": 13.0
+}

data/UPB_00001123/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001123",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Door Outer Glass (Viewing Window)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Tempered soda-lime glass panel approximately 45*30*0.4 cm forming the dark outer window of the door.",
+        "functional_description": "Provides a transparent, durable window to view food while containing pressure/steam and shielding with the inner mesh (assumed integrated behind).",
+        "movement_description": "Does not move independently; it is rigidly fastened to the door frame (Part 2) and follows the door\u2019s rotation.",
+        "grasp_description": "Usually touched only for cleaning; not intended as a handle."
+    },
+    "basic_info": {
+        "material": "glass/Soda_Lime_Glass_Tempered",
+        "density": 2.5,
+        "young": 70,
+        "hardness": 550,
+        "poisson": 0.23,
+        "friction": 0.55
+    },
+    "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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+                    -0.1964053064584732,
+                    0.0
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+                "range": [
+                    0.0,
+                    1.9198621771937625
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+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001123/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001123",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Door Frame with Latch Tabs",
+        "affordance": 1,
+        "graspable": false,
+        "basic_description": "ABS door bezel/frame (~47*31*2 cm) with right-side latch features that surround and hold the outer glass.",
+        "functional_description": "Houses the window, provides latch points and hinge connection, creating the opening door assembly.",
+        "movement_description": "Rotates about a vertical hinge axis relative to the main housing (Part 4); hinge friction and latch provide soft closing with moderate damping.",
+        "grasp_description": "Opened via the appliance\u2019s push button; the frame itself is not a primary grasp surface but is touched during closing."
+    },
+    "basic_info": {
+        "material": "metal/Cold_Rolled_Steel_PowderCoated",
+        "density": 7.85,
+        "young": 210,
+        "hardness": 120,
+        "poisson": 0.29,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001123/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001123",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Cooking Cavity (Inner Chamber)",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Stainless-steel box-shaped chamber (~32*32*20 cm) that fits inside the housing.",
+        "functional_description": "Defines the microwave heating cavity, reflecting microwaves for efficient cooking and supporting the turntable (not modeled).",
+        "movement_description": "Rigidly fastened to the outer chassis; no relative movement.",
+        "grasp_description": "Not grasped directly; users place cookware inside and touch only during cleaning."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193,
+        "hardness": 180,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001123/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001123",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Outer Housing/Chassis",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Powder-coated steel enclosure (~48*38*28 cm) including the front frame, sides, top and bottom.",
+        "functional_description": "Provides structural support, mounts electronics, and forms the external body where the door seals and the control labels reside.",
+        "movement_description": "Stationary reference structure; serves as the parent for the rotating door (Part 2).",
+        "grasp_description": "Handled only when moving the appliance; not a typical interaction surface during normal use."
+    },
+    "basic_info": {
+        "material": "metal/Cold_Rolled_Steel_PowderCoated",
+        "density": 7.85,
+        "young": 210,
+        "hardness": 120,
+        "poisson": 0.29,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001123/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001123",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Control Panel Decals and Logo",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Thin printed polycarbonate film pieces (icons, numbers, small badge), adhered to the right front panel area.",
+        "functional_description": "Provide visual markings for controls and branding; no structural function.",
+        "movement_description": "Rigidly adhered to the outer housing; no motion.",
+        "grasp_description": "Not grasped; may be pressed through an underlying button area or simply viewed."
+    },
+    "basic_info": {
+        "material": "metal/Cold_Rolled_Steel_PowderCoated",
+        "density": 7.85,
+        "young": 210,
+        "hardness": 120,
+        "poisson": 0.29,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001123/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_00001123/meta_data.json

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+{
+    "id": "UPB_00001123",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Microwave Oven"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 5,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001123/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="0.804190 0.804190 0.804190"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.804190 0.804190 0.804190"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.804190 0.804190 0.804190"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.804190 0.804190 0.804190"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.804190 0.804190 0.804190"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.804190 0.804190 0.804190"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.804190 0.804190 0.804190"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.804190 0.804190 0.804190"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.804190 0.804190 0.804190"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.804190 0.804190 0.804190"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="base_link"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.195499 -0.157947 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="0.195499 0.157947 -0.000000" 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>
+</robot>

data/UPB_00001123/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_00001123/parts/microwave_oven_ZIJFLEJVAJTCWPTUK4888888_SIbmU.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_662ccff807925a0001f91d0c
+Kd 0 0 0
+illum 1
+
+newmtl MI_662ccff8dc93810001366a34
+Kd 0.0169224162 0.0177826025 0.0182126965
+d 1
+illum 1
+map_d ./T_662ccff8dc93810001366a34_alpha.jpg
+
+newmtl MI_662ccff865a5ef00010c0683
+Kd 0.0169224162 0.0177826025 0.0182126965
+illum 1
+
+newmtl MI_662ccff821e86b00014a68a2
+Kd 0.00291600008 0.00291600008 0.00291600008
+d 0.300000012
+illum 1
+
+newmtl MI_662ccff84b798900011c6fa9
+Kd 0.0326204002 0.0326204002 0.0326204002
+illum 1
+
+newmtl MI_662ccff8f1af2c0001bca6b3
+Kd 0.948916018 0.948916018 0.948916018
+illum 1
+

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+    "category": "KitchenDining/KitchenAppliance",
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data/UPB_00001124/annotations/part_1.json

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+        "part_name": "Front Door Assembly",
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+        "basic_description": "Powder\u2011coated stainless steel door panel with a central viewing window and top trim, approx. 38\u00d727 cm.",
+        "functional_description": "Provides access to the oven cavity and thermal shielding; the window allows viewing food while cooking.",
+        "movement_description": "Rotates downward about a bottom hinge relative to the main housing.",
+        "grasp_description": "Users usually grasp the separate handle, not the panel surface."
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+{
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+        "type_name": "default",
+        "entity": "UPB_00001124",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Main Housing",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Structural shell and cavity of the toaster oven with front frame and base.",
+        "functional_description": "Provides overall structure, thermal enclosure, and mounting points for door, rack, tray, controls, and vent.",
+        "movement_description": "Stationary reference for all movable components.",
+        "grasp_description": "Only touched when repositioning the whole appliance; not regularly grasped during use."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_430_PowderCoated",
+        "density": 7.7,
+        "young": 200,
+        "hardness": 180,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001124/annotations/part_11.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001124",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Crumb Tray Handle Strip",
+        "affordance": 7,
+        "graspable": true,
+        "basic_description": "Slim stainless strip fixed along the front edge of the crumb tray.",
+        "functional_description": "Provides a cool, durable lip to pull the tray out.",
+        "movement_description": "Moves rigidly with the crumb tray as it slides.",
+        "grasp_description": "Pinched between fingers to slide the tray out for cleaning."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193,
+        "hardness": 160,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001124/annotations/part_12.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001124",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Side Vent Grille",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Rectangular side panel with two circular louver patterns for airflow (~12\u00d77 cm).",
+        "functional_description": "Allows cooling air intake/exhaust near the fan and electronics.",
+        "movement_description": "Fixed to the housing; no relative motion.",
+        "grasp_description": "Not a touch surface; may become warm during operation."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Sheet_PowderCoated",
+        "density": 7.85,
+        "young": 205,
+        "hardness": 190,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001124/annotations/part_2.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001124",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Door Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "An anodized aluminum pull bar spanning the door width (~30 cm).",
+        "functional_description": "Primary grasp point to open and close the door, staying cool relative to the hot door surface.",
+        "movement_description": "Moves rigidly with the door as it rotates on the hinge.",
+        "grasp_description": "Users wrap fingers around the bar to pull the door open or push it closed."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063_Anodized",
+        "density": 2.7,
+        "young": 69,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001124/annotations/part_3.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001124",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Control Knob",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Black ABS rotary knob on the front control panel (~3.5 cm diameter).",
+        "functional_description": "Sets temperature/time/mode for the toaster oven.",
+        "movement_description": "Rotates about its shaft relative to the housing with detents.",
+        "grasp_description": "Pinch grip and rotate to desired setting."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.3,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                3
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.09245499968528748,
+                    -0.23455941677093506,
+                    0.25274962186813354
+                ],
+                "range": [
+                    0.0,
+                    6.283185307179586
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001124/annotations/part_4.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001124",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Side Fasteners Set A",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Small steel screws distributed on one side panel.",
+        "functional_description": "Secure the side cover and internal brackets to the housing.",
+        "movement_description": "No motion; rigidly fasten to the housing.",
+        "grasp_description": "Not intended for user contact."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Grade_8.8",
+        "density": 7.85,
+        "young": 205,
+        "hardness": 220,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001124/annotations/part_5.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001124",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Wire Rack",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Stainless steel wire rack with raised side guards, approx. 32\u00d726 cm.",
+        "functional_description": "Supports trays or food and can be slid out to load/unload.",
+        "movement_description": "Translates along slide rails in and out of the cavity.",
+        "grasp_description": "Users pull the rack forward using the front wires; oven mitts recommended when hot."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304_Wire",
+        "density": 7.9,
+        "young": 193,
+        "hardness": 160,
+        "poisson": 0.3,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}