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/dev/null +++ b/data/UPB_00001346/plys/2.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:259f3d05e7c91bd0246014027b42b647d728124b62a9ceb299c2fe74b86b9725 +size 250514 diff --git a/data/UPB_00001346/plys/3.ply b/data/UPB_00001346/plys/3.ply new file mode 100644 index 0000000000000000000000000000000000000000..41d4c3b1c5dcbaa5ccaa4026c13d1cf53ffd9cd2 --- /dev/null +++ b/data/UPB_00001346/plys/3.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85e128593d846b2453f2b8c4ecd718e9aaa042759cb6399f507e2cccd5c490e9 +size 1027554 diff --git a/data/UPB_00001346/plys/4.ply b/data/UPB_00001346/plys/4.ply new file mode 100644 index 0000000000000000000000000000000000000000..23fdfd2debbec8f19ab8411e544ccb32cdaf5d8c --- /dev/null +++ b/data/UPB_00001346/plys/4.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fdcf57be395ebb59271a1548d8b612c7a30a6a2b3c10440266e61fa9a4d967c6 +size 160242 diff --git a/data/UPB_00001346/plys/5.ply b/data/UPB_00001346/plys/5.ply new file mode 100644 index 0000000000000000000000000000000000000000..09d1521c67a7e974b1f07a8a8bcf198ba2cd39a7 --- /dev/null +++ b/data/UPB_00001346/plys/5.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e27a433ae7d18a5ba9be801053363139f887bf17451c04e9ad9691784fc1f362 +size 205010 diff --git a/data/UPB_00001346/plys/model.ply b/data/UPB_00001346/plys/model.ply new file mode 100644 index 0000000000000000000000000000000000000000..63ee86f2fee9414e92712cab3369319e8dbb07ba --- /dev/null +++ b/data/UPB_00001346/plys/model.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1cd562b3e14f154621fe4456e6c5e55892bfb4d1c2c0302c31fe6a1a6dec8402 +size 1600243 diff --git a/data/UPB_00001347/annotations/object.json b/data/UPB_00001347/annotations/object.json new file mode 100644 index 0000000000000000000000000000000000000000..a777982ac52900ea3c7cae11c8cc2dadbd994ff2 --- /dev/null +++ b/data/UPB_00001347/annotations/object.json @@ -0,0 +1,10 @@ +{ + "object_name": "Toilet with Seat and Tank", + "category": "PlumbingSanitary/PlumbingFixture", + "volume": [ + 70.0, + 38.0, + 72.0 + ], + "mass": 39.0 +} \ No newline at end of file diff --git a/data/UPB_00001347/annotations/part_1.json b/data/UPB_00001347/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..5b06d59ffec7d80f5a2323aa265ef9aedcc5bd7b --- /dev/null +++ b/data/UPB_00001347/annotations/part_1.json @@ -0,0 +1,51 @@ +{ + "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 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001347/annotations/part_2.json b/data/UPB_00001347/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..ecdc7e4c28ed0fccd245a6272f454c0c73d5d093 --- /dev/null +++ b/data/UPB_00001347/annotations/part_2.json @@ -0,0 +1,51 @@ +{ + "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 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001347/annotations/part_3.json b/data/UPB_00001347/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..ab3c57921ee6b1dd66a9c55dfac530e127ab3772 --- /dev/null +++ b/data/UPB_00001347/annotations/part_3.json @@ -0,0 +1,51 @@ +{ + "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 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001347/annotations/part_4.json b/data/UPB_00001347/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..523ae9c9e9bf50e9ad2e2c514aab1a21b2024b85 --- /dev/null +++ b/data/UPB_00001347/annotations/part_4.json @@ -0,0 +1,30 @@ +{ + "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": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001347/annotations/part_5.json b/data/UPB_00001347/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..54ec4971ef818b31080a1655adae9f983d735c6a --- /dev/null +++ b/data/UPB_00001347/annotations/part_5.json @@ -0,0 +1,30 @@ +{ + "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": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001347/annotations/part_6.json b/data/UPB_00001347/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..60e916027874aa9172ebe9bc967f1a8b29d748c7 --- /dev/null +++ b/data/UPB_00001347/annotations/part_6.json @@ -0,0 +1,30 @@ +{ + "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": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001347/annotations/part_7.json b/data/UPB_00001347/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..80597f776f31a9d9a7358e3cef7ef51f33a77bb8 --- /dev/null +++ b/data/UPB_00001347/annotations/part_7.json @@ -0,0 +1,30 @@ +{ + "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": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001347/annotations/part_8.json b/data/UPB_00001347/annotations/part_8.json new file mode 100644 index 0000000000000000000000000000000000000000..efe96e615104f1a34700519f1e7578fef967f005 --- /dev/null +++ b/data/UPB_00001347/annotations/part_8.json @@ -0,0 +1,51 @@ +{ + "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 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001347/full_model/material.mtl b/data/UPB_00001347/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00001347/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_00001347/full_model/material_0.png b/data/UPB_00001347/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..f2d23ab3d0362a990b3631255bb7d4e55ae9e407 --- /dev/null +++ b/data/UPB_00001347/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1306a38d48b6f5a02c21064a7e438b43488293c3d68c1041f65d6c258b747f6c +size 112 diff --git a/data/UPB_00001347/full_model/model.obj b/data/UPB_00001347/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..b1687d311e4b59682b75ae27c5103ac886a182f6 --- /dev/null +++ b/data/UPB_00001347/full_model/model.obj @@ -0,0 +1,260172 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v -0.25581315 -0.04674400 0.09022070 +v -0.25588086 -0.04689940 0.09009190 +v -0.25544295 -0.04706470 0.09009190 +v -0.19668595 -0.04536570 0.06459530 +v -0.19683145 -0.04524710 0.06446650 +v -0.19654395 -0.04486670 0.06446650 +v -0.19638985 -0.04497160 0.06459530 +v -0.19657275 -0.04545790 0.06498160 +v -0.19668595 -0.04536570 0.06459530 +v -0.19638985 -0.04497160 0.06459530 +v -0.20743436 0.16678681 0.06768580 +v -0.20741415 0.16671901 0.06652680 +v -0.20909265 0.16618140 0.06652680 +v -0.21041925 0.16561660 0.06652680 +v -0.21044256 0.16566950 0.06768580 +v -0.20911305 0.16623551 0.06768580 +v -0.25813344 -0.04560550 0.06498160 +v -0.25819075 -0.04566850 0.06562540 +v -0.25849676 -0.04537690 0.06562540 +v -0.16055974 0.16886701 0.09022070 +v -0.16385615 0.16873960 0.09022070 +v -0.16155775 0.11311290 0.09022070 +v -0.19702205 -0.04573520 0.06459530 +v -0.19715846 -0.04560210 0.06446650 +v -0.19683145 -0.04524710 0.06446650 +v -0.19683145 -0.04524710 0.06446650 +v -0.19668595 -0.04536570 0.06459530 +v -0.19702205 -0.04573520 0.06459530 +v -0.19691585 -0.04583880 0.06498160 +v -0.19702205 -0.04573520 0.06459530 +v -0.19668595 -0.04536570 0.06459530 +v -0.18804655 0.16688450 0.09022070 +v -0.18096144 0.11160930 0.09022070 +v -0.17918625 0.11193040 0.09022070 +v -0.23869304 0.14538790 0.09009190 +v -0.23785105 0.14459090 0.09022070 +v -0.23570405 0.14678930 0.09022070 +v -0.24082565 0.14299880 0.09009190 +v -0.23993686 0.14225410 0.09022070 +v -0.23785105 0.14459090 0.09022070 +v -0.23869304 0.14538790 0.09009190 +v -0.21695645 0.16263890 0.06652680 +v -0.21699215 0.16271511 0.06768580 +v -0.21508046 0.16359200 0.06768580 +v -0.22224695 0.15716200 0.09022070 +v -0.22269745 0.15797420 0.09009190 +v -0.22495885 0.15658180 0.09009190 +v -0.19572125 -0.04312460 0.06446650 +v -0.19554165 -0.04318320 0.06459530 +v -0.19570865 -0.04365930 0.06459530 +v -0.19570865 -0.04365930 0.06459530 +v -0.19588286 -0.04359070 0.06446650 +v -0.19572125 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at end of file diff --git a/data/UPB_00001348/annotations/part_1.json b/data/UPB_00001348/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..164ff2f829715692d78f81914fc394dcadb0edb3 --- /dev/null +++ b/data/UPB_00001348/annotations/part_1.json @@ -0,0 +1,51 @@ +{ + "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 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 1 + ], + "C": { + "axis": [ + -1.0, + 0.0, + -1.2246468525851679e-16 + ], + "pos": [ + 0.0, + 0.18573300540447235, + 0.12353280931711197 + ], + "range": [ + 0.0, + 1.9198621771937625 + ], + "damping": 0.04 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001348/annotations/part_2.json b/data/UPB_00001348/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..d8f29239d778fb0f3df788e577db4e27c2ab9e46 --- /dev/null +++ b/data/UPB_00001348/annotations/part_2.json @@ -0,0 +1,30 @@ +{ + "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 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001348/annotations/part_3.json b/data/UPB_00001348/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..843008a6f31df0568fafdfeca8bc6f230cea97b8 --- /dev/null +++ b/data/UPB_00001348/annotations/part_3.json @@ -0,0 +1,30 @@ +{ + "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 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001348/full_model/material.mtl b/data/UPB_00001348/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00001348/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_00001348/full_model/material_0.png b/data/UPB_00001348/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..babd18f8efdba66da705d2e64d866377ec888021 --- /dev/null +++ b/data/UPB_00001348/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ee2998f1e5cd89559700c6b93f9909333066997307bccd32d73bc4c01f4eebd +size 91 diff --git a/data/UPB_00001348/full_model/model.obj b/data/UPB_00001348/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..902debfe84b6412deede2e6347772cfd985497ac --- /dev/null +++ b/data/UPB_00001348/full_model/model.obj @@ -0,0 +1,7784 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v -0.17560700 -0.27494499 0.15118501 +v -0.17568301 -0.27491501 0.15060100 +v -0.17270500 -0.27837300 0.15038000 +v 0.16508099 -0.28385401 0.15061299 +v 0.16887499 -0.28137299 0.15077300 +v 0.16879199 -0.28132901 0.15135001 +v 0.17219000 -0.27836201 0.15154000 +v 0.16511600 -0.28386000 0.15002900 +v 0.17513700 -0.27493799 0.15175900 +v 0.17229401 -0.27838901 0.15096401 +v 0.17525899 -0.27494499 0.15118501 +v 0.17533500 -0.27491501 0.15060100 +v 0.17235699 -0.27837300 0.15038000 +v 0.17238601 -0.27832100 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b/data/UPB_00001348/parts/toilet_ZXQYVDZVAIMMMPTULA888888_WvFUu.mtl new file mode 100644 index 0000000000000000000000000000000000000000..677459d9d7a66a2e915cef89de1befeff0029c3e --- /dev/null +++ b/data/UPB_00001348/parts/toilet_ZXQYVDZVAIMMMPTULA888888_WvFUu.mtl @@ -0,0 +1,11 @@ +# File produced by Open Asset Import Library (http://www.assimp.sf.net) +# (assimp v5.4.0) + +newmtl MI_5cc5045644c5ba2b106a49ca +Kd 1 1 1 +illum 1 + +newmtl MI_5cc5045644c5ba2b106a49cb +Kd 0.178097993 0.120530002 0.0519680008 +illum 1 + diff --git a/data/UPB_00001348/plys/1.ply b/data/UPB_00001348/plys/1.ply new file mode 100644 index 0000000000000000000000000000000000000000..300064b91e0a80087ca9c699a8d46b2b70c3ef52 --- /dev/null +++ b/data/UPB_00001348/plys/1.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92fbafe8a9c75942224ceac45111cae81f7263edea2c23eeca44aa8c2056816b +size 461458 diff --git a/data/UPB_00001348/plys/2.ply b/data/UPB_00001348/plys/2.ply new file mode 100644 index 0000000000000000000000000000000000000000..6c80258680e6e57ee5cd8b9dee9f7ecda6782218 --- /dev/null +++ b/data/UPB_00001348/plys/2.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c35bd69992b440ab2d50e820cb82a199dbe9c77fa407d73f81cc44938b63004 +size 160242 diff --git a/data/UPB_00001348/plys/3.ply b/data/UPB_00001348/plys/3.ply new file mode 100644 index 0000000000000000000000000000000000000000..1573197056d4520fcf2ceed33350048da289353a --- /dev/null +++ b/data/UPB_00001348/plys/3.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c12828edd087b4e02edd60e017bbe5229420a49dc76bdff6fa0eb40be3e3a46 +size 990082 diff --git a/data/UPB_00001348/plys/model.ply b/data/UPB_00001348/plys/model.ply new file mode 100644 index 0000000000000000000000000000000000000000..cc3d827e10fe943f5c4be471c568d4bf74e38e05 --- /dev/null +++ b/data/UPB_00001348/plys/model.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15f2b72edc3448b09f1799a22d70041b4033aa4e5e266d73db18f11c207e5832 +size 1600243 diff --git a/data/UPB_00001349/annotations/object.json b/data/UPB_00001349/annotations/object.json new file mode 100644 index 0000000000000000000000000000000000000000..6f89a6731c9af933092a32da2d7059c5aafe19ea --- /dev/null +++ b/data/UPB_00001349/annotations/object.json @@ -0,0 +1,10 @@ +{ + "object_name": "Smart One-piece Toilet", + "category": "PlumbingSanitary/PlumbingFixture", + "volume": [ + 70.0, + 38.0, + 50.0 + ], + "mass": 35.0 +} \ No newline at end of file diff --git a/data/UPB_00001349/annotations/part_1.json b/data/UPB_00001349/annotations/part_1.json new file mode 100644 index 0000000000000000000000000000000000000000..4bab615e0f8ca48a4d71e302ec74029c57fd4c72 --- /dev/null +++ b/data/UPB_00001349/annotations/part_1.json @@ -0,0 +1,51 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001349", + "label": "1" + }, + "part_level": { + "part_name": "Toilet Lid (cover)", + "affordance": 3, + "graspable": true, + "basic_description": "Curved polypropylene toilet lid sized roughly 35\u00d740\u00d71.5 cm, matching the top outline of the bowl.", + "functional_description": "Covers the seat and bowl to contain odors, provide hygiene, and protect the seat when not in use.", + "movement_description": "Rotates upward/downward about a rear hinge axis anchored in the rear console/hinge bracket.", + "grasp_description": "Users grasp the outer edge of the lid to lift or lower it." + }, + "basic_info": { + "material": "plastic/PP_Plastic", + "density": 0.9, + "young": 1.5, + "hardness": 12, + "poisson": 0.42, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "C" + ], + "motion_info": { + "dependency": [ + 1 + ], + "C": { + "axis": [ + -1.0, + 0.0, + -1.2246468525851679e-16 + ], + "pos": [ + 0.0, + 0.17849020659923553, + 0.24106362462043762 + ], + "range": [ + 0.0, + 2.6179938779914944 + ], + "damping": 0.06 + } + } + } +} \ No newline at end of file diff --git a/data/UPB_00001349/annotations/part_2.json b/data/UPB_00001349/annotations/part_2.json new file mode 100644 index 0000000000000000000000000000000000000000..4666ab48b952c806c60a65d9a4c40671b24b2fc1 --- /dev/null +++ b/data/UPB_00001349/annotations/part_2.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001349", + "label": "2" + }, + "part_level": { + "part_name": "Lid Bumper Pad", + "affordance": 10, + "graspable": false, + "basic_description": "Small silicone pad adhered to the underside of the lid; soft and compliant.", + "functional_description": "Acts as a cushion/stop to prevent hard impacts and reduce noise when the lid closes.", + "movement_description": "No relative motion; it is bonded to the lid and compresses elastically on contact.", + "grasp_description": "Not intended to be touched; remains hidden under the lid." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.05, + "young": 2.2, + "hardness": 16, + "poisson": 0.37, + "friction": 0.48 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001349/annotations/part_3.json b/data/UPB_00001349/annotations/part_3.json new file mode 100644 index 0000000000000000000000000000000000000000..d76881cfbb7c20a54b9f9121140b19b33c307bd0 --- /dev/null +++ b/data/UPB_00001349/annotations/part_3.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001349", + "label": "3" + }, + "part_level": { + "part_name": "Hinge Bushing Ring", + "affordance": 9, + "graspable": false, + "basic_description": "Nylon sleeve/bushing with an offset bore used in the hinge assembly.", + "functional_description": "Provides low-friction support and wear resistance for the rotating lid/seat hinges.", + "movement_description": "Static relative to the rear console; moving parts rotate around/within it.", + "grasp_description": "Never grasped directly; service-only component." + }, + "basic_info": { + "material": "plastic/Nylon_PA66", + "density": 1.14, + "young": 2.8, + "hardness": 25, + "poisson": 0.39, + "friction": 0.35 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001349/annotations/part_4.json b/data/UPB_00001349/annotations/part_4.json new file mode 100644 index 0000000000000000000000000000000000000000..987a5ede56a8347aaf47d3bf87cd68ad1c47672d --- /dev/null +++ b/data/UPB_00001349/annotations/part_4.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001349", + "label": "4" + }, + "part_level": { + "part_name": "Toilet Seat Ring", + "affordance": 2, + "graspable": true, + "basic_description": "Ergonomically contoured polypropylene seat ring sized to the bowl opening, approx. 34\u00d728 cm seating area.", + "functional_description": "Provides the sitting surface for the user and aligns with the bowl for comfort and hygiene.", + "movement_description": "Rotates about the same rear hinge axis as the lid for raising/lowering.", + "grasp_description": "Users grasp the side/front edge to lift or position the seat." + }, + "basic_info": { + "material": "plastic/PP_Plastic", + "density": 0.9, + "young": 1.5, + "hardness": 12, + "poisson": 0.42, + "friction": 0.5 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001349/annotations/part_5.json b/data/UPB_00001349/annotations/part_5.json new file mode 100644 index 0000000000000000000000000000000000000000..2f0e7d0ff1e2c6edeff4b53d046ad985c530df63 --- /dev/null +++ b/data/UPB_00001349/annotations/part_5.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001349", + "label": "5" + }, + "part_level": { + "part_name": "Flush Bar Button", + "affordance": 1, + "graspable": false, + "basic_description": "Elongated ABS push-bar located on the top rear console.", + "functional_description": "User-actuated control to trigger the main flush cycle via a short downward press.", + "movement_description": "Translates downward a small distance against a return spring and then rebounds.", + "grasp_description": "Typically pressed with a finger; not grasped." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.04, + "young": 2.1, + "hardness": 15, + "poisson": 0.37, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001349/annotations/part_6.json b/data/UPB_00001349/annotations/part_6.json new file mode 100644 index 0000000000000000000000000000000000000000..01086d7baf7b875f974593705b56be5b87952be7 --- /dev/null +++ b/data/UPB_00001349/annotations/part_6.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001349", + "label": "6" + }, + "part_level": { + "part_name": "Eco Flush Round Button", + "affordance": 2, + "graspable": false, + "basic_description": "Circular ABS pushbutton on the rear console top surface.", + "functional_description": "Provides an alternate lower-volume flush mode (dual-flush control).", + "movement_description": "Short linear depression and release relative to the console housing.", + "grasp_description": "Pressed with fingertip; not grasped." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.04, + "young": 2.1, + "hardness": 15, + "poisson": 0.37, + "friction": 0.45 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001349/annotations/part_7.json b/data/UPB_00001349/annotations/part_7.json new file mode 100644 index 0000000000000000000000000000000000000000..960354b874d624e72da4bb3ed971664f1c8a5f7e --- /dev/null +++ b/data/UPB_00001349/annotations/part_7.json @@ -0,0 +1,30 @@ +{ + "index": { + "type_name": "default", + "entity": "UPB_00001349", + "label": "7" + }, + "part_level": { + "part_name": "Rear Console and Hinge Bracket", + "affordance": 5, + "graspable": false, + "basic_description": "ABS housing at the rear of the toilet that integrates the hinge mounts and a top control panel with openings for buttons.", + "functional_description": "Supports hinge hardware for lid and seat and houses the user flush controls/electronics.", + "movement_description": "Stationary reference part; moving elements (lid, seat, buttons) act relative to it.", + "grasp_description": "Generally not touched except during cleaning or maintenance." + }, + "basic_info": { + "material": "plastic/ABS_Plastic", + "density": 1.05, + "young": 2.2, + "hardness": 16, + "poisson": 0.37, + "friction": 0.48 + }, + "kinematic_info": { + "motion_types": [ + "D" + ], + "motion_info": {} + } +} \ No newline at end of file diff --git a/data/UPB_00001349/full_model/material.mtl b/data/UPB_00001349/full_model/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5 --- /dev/null +++ b/data/UPB_00001349/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_00001349/full_model/material_0.png b/data/UPB_00001349/full_model/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..3f60fefba358aa48850a36939c967a870d4f7d08 --- /dev/null +++ b/data/UPB_00001349/full_model/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2cc7c87a8075d09f89e0e96d66728b578e86040baa34e4e529416d31fa01a638 +size 194570 diff --git a/data/UPB_00001349/full_model/model.obj b/data/UPB_00001349/full_model/model.obj new file mode 100644 index 0000000000000000000000000000000000000000..60685761e0ced6022930a932f828fbd4336bfa67 --- /dev/null +++ b/data/UPB_00001349/full_model/model.obj @@ -0,0 +1,116200 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl material_0 +v 0.18422835 -0.02960885 0.10206520 +v 0.18186575 -0.02951596 0.10187090 +v 0.18240245 -0.01962426 0.10177270 +v 0.18608046 -0.01996605 0.10230760 +v 0.18476915 -0.01972426 0.10197590 +v 0.18509614 -0.01312376 0.10198630 +v 0.18643186 -0.01337926 0.10233870 +v 0.18271674 -0.01302026 0.10178610 +v 0.18286355 -0.00888676 0.10209330 +v 0.18527556 -0.00898946 0.10226530 +v 0.18663874 -0.00924696 0.10262260 +v 0.19163404 -0.01596355 0.19677110 +v 0.19241954 -0.00873746 0.19865170 +v 0.19136015 -0.00881646 0.20014951 +v 0.19057155 -0.01603786 0.19826479 +v 0.18840765 -0.01609136 0.19991051 +v 0.19057155 -0.01603786 0.19826479 +v 0.19136015 -0.00881646 0.20014951 +v 0.18918885 -0.00887316 0.20179790 +v 0.18018276 -0.00196556 0.20713881 +v 0.17949724 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"UPB_00001349", + "source": [ + { + "dataset": "UniPhys-Bench", + "organization": "Manycore Tech Inc.", + "license_ref": "UniPhys-Bench" + } + ], + "object": { + "category": "PlumbingSanitary/PlumbingFixture", + "object_name": "Smart One-piece Toilet" + }, + "geometry": { + "asset_type": "decomposed_parts", + "num_parts": 7, + "format": "obj" + }, + "annotation": { + "version": "v1.0" + } +} \ No newline at end of file diff --git a/data/UPB_00001349/model.urdf b/data/UPB_00001349/model.urdf new file mode 100644 index 0000000000000000000000000000000000000000..b3aa0e1d2fbcd49598042a470481e277755a3a2f --- /dev/null +++ b/data/UPB_00001349/model.urdf @@ -0,0 +1,131 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file