Upload folder using huggingface_hub (part 47)

.gitattributes

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data/UPB_00001346/parts/toilet_ZXQVCCRVAITDAPTUKA888888_v38DV.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5a698fe6ef62e01fd7605dda
+Kd 1 1 1
+illum 1
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+illum 1
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+newmtl MI_5a698fe6ef62e01fd7605ddb
+Kd 1 1 1
+illum 1
+map_Kd ./T_5a698fe6ef62e01fd7605ddb_color.jpg
+

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data/UPB_00001347/annotations/object.json

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+{
+    "object_name": "Toilet with Seat and Tank",
+    "category": "PlumbingSanitary/PlumbingFixture",
+    "volume": [
+        70.0,
+        38.0,
+        72.0
+    ],
+    "mass": 39.0
+}

data/UPB_00001347/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001347",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Flush Lever",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Side-mounted chrome-plated brass lever, about 10*3*2 cm, attached to the tank of the toilet.",
+        "functional_description": "User pushes the lever to actuate the flush mechanism inside the tank.",
+        "movement_description": "Rotates about a horizontal shaft through the tank wall; spring or linkage returns it after actuation.",
+        "grasp_description": "Typically pressed with fingers or palm; small, smooth handle suitable for quick push."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy_Chrome_Plated",
+        "density": 8.4,
+        "young": 100,
+        "hardness": 100,
+        "poisson": 0.34,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.15047548711299896,
+                    0.1465522050857544,
+                    0.07744818925857544
+                ],
+                "range": [
+                    0.0,
+                    0.7853981633974483
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001347/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001347",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Tank Lid",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Removable porcelain cover for the tank, roughly 40*20*4 cm, matching the toilet glaze.",
+        "functional_description": "Closes the tank to keep mechanisms protected and reduce noise; removable for maintenance.",
+        "movement_description": "No guided motion; it simply rests on the tank rim and can be lifted off.",
+        "grasp_description": "Lifted with two hands from the edges when accessing internal tank components."
+    },
+    "basic_info": {
+        "material": "ceramics/Porcelain_Vitreous_China",
+        "density": 2.4,
+        "young": 70,
+        "hardness": 550,
+        "poisson": 0.25,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.05521802604198456,
+                    0.28390294313430786,
+                    0.33734098076820374
+                ],
+                "range": [
+                    -0.0020000000949949026,
+                    0.0
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001347/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001347",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Seat Lid (Cover)",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Curved polypropylene lid, approx. 44*36*2 cm, matching the seat outline.",
+        "functional_description": "Covers the bowl and seat when closed and swings upward for use.",
+        "movement_description": "Rotates about the hinge axis mounted on the hinge base at the rear of the bowl; often soft-close.",
+        "grasp_description": "Lifted by the front edge with fingers; smooth edges and light weight."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.91,
+        "young": 1.6,
+        "hardness": 8,
+        "poisson": 0.42,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                3
+            ],
+            "C": {
+                "axis": [
+                    -1.0,
+                    0.0,
+                    -1.2246468525851679e-16
+                ],
+                "pos": [
+                    0.0434730090200901,
+                    0.15864743292331696,
+                    0.14064204692840576
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001347/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001347",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Tank Top Trim/Flush Button Bezel",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Small rectangular ABS trim plate about 6*4*0.5 cm fitted into the tank lid opening.",
+        "functional_description": "Decorative/actuator bezel housed on the tank lid top; provides an opening or surround for a flush actuator.",
+        "movement_description": "Rigidly snapped or screwed to the tank lid; no relative motion.",
+        "grasp_description": "Not normally handled directly by users."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 12,
+        "poisson": 0.38,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001347/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001347",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Hinge Cover Bar",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Narrow ABS strip roughly 32*3*1.5 cm that caps the hinge mechanism at the rear of the bowl.",
+        "functional_description": "Acts as a protective and aesthetic cover over the seat/lid hinge hardware.",
+        "movement_description": "Rigidly fixed to the hinge base; it does not move during seat/lid rotation.",
+        "grasp_description": "Not intended to be grasped; occasionally touched during cleaning."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 12,
+        "poisson": 0.38,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001347/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001347",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Toilet Body (Bowl and Tank)",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Monolithic vitreous-china body including bowl and integrated tank, approx. 70*38*72 cm.",
+        "functional_description": "Provides water storage (tank) and the siphon bowl for waste disposal and flushing.",
+        "movement_description": "Fixed base; interfaces structurally with other parts such as the lever, tank lid, and seat hinge.",
+        "grasp_description": "Not a handled part; contacted only for cleaning or during installation."
+    },
+    "basic_info": {
+        "material": "ceramics/Porcelain_Vitreous_China",
+        "density": 2.4,
+        "young": 70,
+        "hardness": 550,
+        "poisson": 0.25,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001347/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001347",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Seat Hinge Base",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Rear mounting block spanning the bowl, roughly 35*10*6 cm with a top slot for trim.",
+        "functional_description": "Provides the rotational axis and mounting hardware for both the seat ring and lid; attaches securely to the bowl.",
+        "movement_description": "Fixed to the bowl; carries hinges that allow independent rotation of the seat and lid with soft-close damping.",
+        "grasp_description": "Rarely touched directly except during installation or cleaning."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 12,
+        "poisson": 0.38,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001347/annotations/part_8.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001347",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Seat Ring",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Ergonomic polypropylene ring, approx. 44*36*3 cm, forming the seating surface.",
+        "functional_description": "Primary sitting surface; provides comfort and hygiene and lifts for bowl access.",
+        "movement_description": "Rotates upward about the hinge axis on the hinge base; often slow-closing.",
+        "grasp_description": "Lifted at the front or sides by fingers for cleaning or to use the bowl directly."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.91,
+        "young": 1.6,
+        "hardness": 8,
+        "poisson": 0.42,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                8
+            ],
+            "C": {
+                "axis": [
+                    -1.0,
+                    0.0,
+                    -1.2246468525851679e-16
+                ],
+                "pos": [
+                    0.05097033828496933,
+                    0.05121488869190216,
+                    0.07991928607225418
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001347/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_00001347/meta_data.json

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+{
+    "id": "UPB_00001347",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "PlumbingSanitary/PlumbingFixture",
+        "object_name": "Toilet with Seat and Tank"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 8,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001347/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="helper_link_2"/>
+  <link name="helper_link_3"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.988060 0.988060 0.988060"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.988060 0.988060 0.988060"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.988060 0.988060 0.988060"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.988060 0.988060 0.988060"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.988060 0.988060 0.988060"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.988060 0.988060 0.988060"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.988060 0.988060 0.988060"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.988060 0.988060 0.988060"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.988060 0.988060 0.988060"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.988060 0.988060 0.988060"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.988060 0.988060 0.988060"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.988060 0.988060 0.988060"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.988060 0.988060 0.988060"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.988060 0.988060 0.988060"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.988060 0.988060 0.988060"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.988060 0.988060 0.988060"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_6"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.148679 0.144802 0.076523" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="0.0" upper="0.7853981633974483"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.148679 -0.144802 -0.076523" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="base_link"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.054559 0.280513 0.333313" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="-0.0019761203872632714" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.054559 -0.280513 -0.333313" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="link_7"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.042954 0.156753 0.138963" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.042954 -0.156753 -0.138963" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="revolute">
+    <parent link="link_7"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.050362 0.050603 0.078965" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_8"/>
+    <origin xyz="-0.050362 -0.050603 -0.078965" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
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+</robot>

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data/UPB_00001348/annotations/object.json

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+{
+    "object_name": "Countertop Trash Bin with Hinged Lid",
+    "category": "ContainersStorage/WasteRecyclingContainer",
+    "volume": [
+        24.0,
+        18.0,
+        22.0
+    ],
+    "mass": 0.6
+}

data/UPB_00001348/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001348",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Main Lid Panel",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "A slightly rounded rectangular ABS plastic lid panel that covers the opening of the bin.",
+        "functional_description": "Primary closure to contain odors and hide contents. Users press or lift this panel to open/close the bin.",
+        "movement_description": "Rotates about a rear hinge axis relative to the bin body; motion is damped to avoid slamming.",
+        "grasp_description": "Users typically push or lift the front edge with fingers to open; surface is sized for easy grasp or press."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.1,
+        "hardness": 15,
+        "poisson": 0.37,
+        "friction": 0.4
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+}

data/UPB_00001348/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001348",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Rear Hinge Strip",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "A narrow ABS plastic strip located along the rear edge of the lid, forming the hinge interface.",
+        "functional_description": "Provides stiffness and houses the pivot features that connect the lid to the body rim.",
+        "movement_description": "Rotates together with the lid around the rear axis; rigidly fixed to the lid panel.",
+        "grasp_description": "Not intended for direct handling; usually hidden near the back edge."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.1,
+        "hardness": 15,
+        "poisson": 0.37,
+        "friction": 0.42
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+}

data/UPB_00001348/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001348",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Bin Body",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "A tapered polypropylene container forming the main volume of the bin with an open top rim.",
+        "functional_description": "Holds waste and supports the hinge/lid assembly along the rear rim.",
+        "movement_description": "Stationary; serves as the parent reference for the rotating lid assembly.",
+        "grasp_description": "Users grasp the sides or rim to carry, empty, or clean the bin."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.6,
+        "hardness": 12,
+        "poisson": 0.4,
+        "friction": 0.45
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+    }
+}