Add files using upload-large-folder tool

README.md

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+---
+license: cc-by-4.0
+pretty_name: GraspNet-Infinite object pool (Objaverse-LVIS, manipulation-reasonable subset)
+task_categories:
+- robotics
+tags:
+- 3d
+- objaverse
+- grasping
+- synthetic-data
+- scene-generation
+size_categories:
+- 1K<n<10K
+---
+
+# GraspNet-Infinite object pool: 5,074 Objaverse-LVIS objects for tabletop scene generation
+
+5,074 rigid, closed, single-object 3D models (GLB with textures where the source had them) selected from
+[Objaverse-LVIS](https://objaverse.allenai.org/) as **manipulation-reasonable tabletop objects** for a parallel-jaw gripper:
+containers, bottles and packaging, tools, toys and figurines, personal and household items, food, hardware.
+Every object carries a JSON record with its identity, licence and author, LVIS label, mesh statistics, native extent,
+a typical real-world size and the scale factor to metres. The set is meant for composing multi-object tabletop scenes
+(drop-in for BlenderProc, Isaac Sim, Kubric, PyBullet, trimesh/pyrender).
+
+## Layout
+
+```
+objects/A_containers_kitchenware.zip      <lvis_category>/<uid>.glb + <lvis_category>/<uid>.json
+objects/B_bottles_cans_packaging.zip
+objects/C_tools_utensils.zip
+objects/D_toys_figurines_animals.zip
+objects/E_personal_office_household.zip
+objects/F_food.zip
+objects/G_hardware_parts.zip
+manifest.csv / manifest.jsonl              one record per object (same fields as the per-object JSON)
+attribution.csv                            title, author, source URL, licence per object (keep with any redistribution)
+load_example.py                            trimesh example: load, scale to metres, rest on a table
+```
+
+Unzip everything into one folder and the `file` field of each record is a relative path.
+
+## Per-object record
+
+| field | meaning |
+|---|---|
+| `uid` | Objaverse / Sketchfab model id; `file` is `<lvis_category>/<uid>.glb` |
+| `name`, `description`, `tags`, `author`, `author_url`, `source_url`, `published_at`, `licence` | Sketchfab metadata; licence is `CC-BY-4.0` or `CC0-1.0` (nothing else was admitted) |
+| `lvis_category` | the LVIS label Objaverse-LVIS assigns (automatic; a few percent of labels are loose) |
+| `family`, `family_letter` | our grouping: A containers & kitchenware, B bottles, cans & packaging, C tools & utensils, D toys, figurines & animals, E personal, office & household, F food, G hardware & parts |
+| `shape_class` | `box`, `orb`, `cylinder` or `complex` (coarse, assigned per LVIS category) |
+| `faces`, `components`, `watertight`, `textured`, `animated`, `bytes` | mesh statistics after texture-seam merging; `animated` means the GLB carries an animation (rest pose loads fine) |
+| `native_extent`, `native_longest` | axis-aligned bounding-box extent in the GLB's own units (glTF units are nominally metres, but Objaverse scales are arbitrary) |
+| `typical_longest_cm` | typical real-world longest dimension of this kind of object (per LVIS category, from our size table) |
+| `scale_to_metres` | multiply vertex coordinates by this to bring the object to `typical_longest_cm` in metres: `(typical_longest_cm / 100) / native_longest` |
+| `scale_source` | the size is a per-category prior, not a per-instance measurement; a per-object estimate is in progress |
+| `size_note` | `small, kept for the size algorithm` marks categories under 4 cm (coins, beads, caps, berries) |
+| `graspnet_nearest_object`, `graspnet_chamfer`, `graspnet_leakage_radius` | nearest GraspNet-1Billion object (id 0..87) under a scale-normalised, PCA-aligned Chamfer distance, and the radius below which objects were excluded as near-copies |
+
+## How the objects were selected
+
+1. **Label pass** over all 1,156 LVIS categories: kept the seven families above; removed vehicles, furniture, buildings,
+   appliances, people, plants, textiles and deformables, liquids, fixtures, weapons, flat slabs (plates, trays, books,
+   cards, phones, flatbreads), glass and eyewear, objects typically longer than 27 cm, and categories whose LVIS label does
+   not describe the contents (traffic cones filed as `cone`, barrels as `wine_bucket`, game characters as `mascot`).
+   Small objects were kept on purpose. Per-object name rules removed logos, lighting-catalogue uploads, barrels,
+   architecture, weapons under tool labels, NSFW; one object per uploader-and-mesh-count group (duplicates).
+2. **Licence**: CC-BY and CC0 only.
+3. **Mesh gates**: loads as at most 200 bodies, watertight after merging texture seams, at most three bodies,
+   500 to 3,000,000 faces.
+4. **Benchmark leakage**: Chamfer distance to every GraspNet-1Billion object at least 0.01 (scale-normalised).
+
+Not applied yet, so expect them in the set: label noise at the instance level (a few percent), rigged characters and
+human figures (kept as figurines), untextured meshes (36% have no texture), arbitrary resting orientation
+(use stable-pose computation or physics settling), and the per-category size prior (a mug record says 9 cm whether the
+model is an espresso cup or a beer stein).
+
+## Loading
+
+```python
+import json, trimesh
+rec = json.loads(open("A_containers_kitchenware/mug/<uid>.json").read())        # after unzipping
+m = trimesh.load(rec["file"], force="mesh")          # merges the glTF scene into one mesh, keeps the texture
+m.apply_scale(rec["scale_to_metres"])                 # now metres at the typical size
+m.apply_translation(-m.bounds[0] * [0, 0, 1])         # (example) rest on z = 0; glTF is y-up, so pick your table normal first
+```
+
+`load_example.py` does this for a few objects and prints their extents. For scene composition: scale to metres, let a
+physics engine settle the objects on the table (or sample stable poses with `trimesh.poses.compute_stable_poses`),
+render RGB-D with GraspNet-1Billion intrinsics. The `graspnet_*` fields let you keep or drop objects by similarity
+to the benchmark.
+
+## Licence and attribution
+
+Each model keeps its Sketchfab licence (`licence` field): CC-BY 4.0 requires attribution to the author; CC0 does not.
+`attribution.csv` lists title, author, author URL, source URL and licence for every object; keep it with any
+redistribution or publication. The Objaverse metadata is used under its ODC-By 1.0 licence. Please cite Objaverse:
+
+```
+@inproceedings{deitke2023objaverse, title={Objaverse: A Universe of Annotated 3D Objects},
+  author={Deitke, Matt and Schwenk, Dustin and Salvador, Jordi and Weihs, Luca and Michel, Oscar and VanderBilt, Eli and
+  Schmidt, Ludwig and Ehsani, Kiana and Kembhavi, Aniruddha and Farhadi, Ali}, booktitle={CVPR}, year={2023}}
+```
+
+Selection, metadata and size table: Peize Li, 2026 (GraspNet-Infinite project). 5,074 objects, 20.5 GB zipped.
+Family counts: A_containers_kitchenware 580, B_bottles_cans_packaging 317, C_tools_utensils 211, D_toys_figurines_animals 1809, E_personal_office_household 1062, F_food 1058, G_hardware_parts 37.

load_example.py

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+"""Load a few objects, scale them to metres and print their extents. Run after unzipping objects/*.zip into this folder."""
+import csv, itertools, trimesh
+for rec in itertools.islice(csv.DictReader(open("manifest.csv")), 5):
+    m = trimesh.load(rec["file"], force="mesh")
+    m.apply_scale(float(rec["scale_to_metres"]))
+    print(rec["lvis_category"], rec["uid"], "extent m:", [round(float(e), 3) for e in m.extents], "faces", len(m.faces), "watertight", m.is_watertight)

objects/A_containers_kitchenware.zip

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+version https://git-lfs.github.com/spec/v1
+oid sha256:f1f5afd69967c8c6f89ac5146c11f77260d76ba8150fd36b3be60599bcb6e210
+size 1855236115

objects/B_bottles_cans_packaging.zip

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+version https://git-lfs.github.com/spec/v1
+oid sha256:72920c5ab5154f1877c953a5a4159ad899b34e985323a5b5a023fb9ceda7ccb0
+size 629549691

objects/C_tools_utensils.zip

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+version https://git-lfs.github.com/spec/v1
+oid sha256:ba6c81b52e4d62eb1d8ecbcfb0f8edb31f7abfcb2ab90d51f159b935262558c3
+size 474345635

objects/D_toys_figurines_animals.zip

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+version https://git-lfs.github.com/spec/v1
+oid sha256:7f4298c76e51acc40124d8096b437754d36782fe356b8784a026a61178dece4d
+size 8110183905

objects/E_personal_office_household.zip

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+version https://git-lfs.github.com/spec/v1
+oid sha256:13223e84eb900199612190e1f80a09f1f04a3c885265c4dafe1c8a6897a0fe2c
+size 4863652626

objects/F_food.zip

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+version https://git-lfs.github.com/spec/v1
+oid sha256:a43cf6dcc218b660f62adbf4490203c3c803ac8173e766bdd01c3cd812ef0675
+size 4486590640

objects/G_hardware_parts.zip

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+version https://git-lfs.github.com/spec/v1
+oid sha256:e416595d8488eb186c740ed6bfecbed087564229fd6c391ccc18aa2f84a67ac0
+size 66542389