Upload folder using huggingface_hub (part 38)

.gitattributes

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data/UPB_00001268/meta_data.json

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+{
+    "id": "UPB_00001268",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "ElectronicsDevices/ConsumerElectronics",
+        "object_name": "Tabletop Aroma Diffuser"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 6,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001268/model.urdf

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+  </link>
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+    <parent link="base_link"/>
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+    <origin xyz="0.006015 0.000000 0.109792" rpy="0 0 0"/>
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data/UPB_00001269/annotations/object.json

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+{
+    "object_name": "One-piece Toilet with Seat and Tank",
+    "category": "PlumbingSanitary/PlumbingFixture",
+    "volume": [
+        70.0,
+        38.0,
+        70.0
+    ],
+    "mass": 45.0
+}

data/UPB_00001269/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001269",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left rim plug/cap",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Small molded polypropylene plug/cap on the left side near the rim (\u22481.5 cm diameter).",
+        "functional_description": "Covers a small access or screw hole and gives a clean finish; may also help locate the seat hardware.",
+        "movement_description": "No motion; fixed to the ceramic body.",
+        "grasp_description": "Not intended for regular handling; only touched during maintenance."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.6,
+        "hardness": 12,
+        "poisson": 0.42,
+        "friction": 0.4
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+}

data/UPB_00001269/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001269",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Right rim plug/cap",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Small polypropylene plug/cap on the right rim area (\u22481.5 cm).",
+        "functional_description": "Cosmetic cover for a fastener or access point on the bowl.",
+        "movement_description": "Rigidly affixed to the body; no motion.",
+        "grasp_description": "Only handled during installation or replacement."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 195.0,
+        "hardness": 160,
+        "poisson": 0.29,
+        "friction": 0.3
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+}

data/UPB_00001269/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001269",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Rear-left rim plug/cap",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Another small PP plug positioned toward the rear-left rim (\u22481\u20132 cm).",
+        "functional_description": "Closes a minor hole or fastener recess, improving hygiene and appearance.",
+        "movement_description": "No motion; fixed.",
+        "grasp_description": "Not normally touched by users."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.6,
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+        "poisson": 0.42,
+        "friction": 0.4
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+    }
+}

data/UPB_00001269/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001269",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Rear-right rim plug/cap",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Small PP plug/cap at the rear-right rim region (\u22481\u20132 cm).",
+        "functional_description": "Protects and conceals hardware; prevents dirt ingress.",
+        "movement_description": "Rigidly attached; no relative movement.",
+        "grasp_description": "Rarely handled."
+    },
+    "basic_info": {
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+    }
+}

data/UPB_00001269/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001269",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Toilet lid (top cover)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Molded polypropylene lid (\u224844*36*1.5 cm) that covers the seat and bowl.",
+        "functional_description": "Provides a hygienic cover and helps reduce aerosolization when closed.",
+        "movement_description": "Rotates upward about a rear hinge axis; typically closes softly via damping in the hinge.",
+        "grasp_description": "Users grasp the front edge to open or close."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
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+        "friction": 0.35
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+}

data/UPB_00001269/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001269",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Seat hinge bar and mounts",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Stainless-steel hinge rod with mounting bosses (\u224820 cm long) at the back of the seat area.",
+        "functional_description": "Provides the pivot for both the lid and the seat; includes slow-close damping.",
+        "movement_description": "Rigid to the ceramic body; acts as parent for two rotating children (lid and seat).",
+        "grasp_description": "Not directly grasped; hidden under/behind the lid-seat assembly."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 195.0,
+        "hardness": 180,
+        "poisson": 0.29,
+        "friction": 0.25
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001269/annotations/part_7.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001269",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Main ceramic body (bowl and integrated tank shell)",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Glazed vitreous-china one-piece body forming the bowl, base and integrated rear tank shell (overall object scale \u224870*38*70 cm).",
+        "functional_description": "Provides the water-sealed bowl, structural support and mounting interfaces for the seat, lid and flushing mechanism.",
+        "movement_description": "Stationary structural part; other components attach to it rigidly or via hinges.",
+        "grasp_description": "Only touched during cleaning or installation."
+    },
+    "basic_info": {
+        "material": "ceramics/Porcelain_Vitreous_China",
+        "density": 2.4,
+        "young": 65.0,
+        "hardness": 600,
+        "poisson": 0.23,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001269/annotations/part_8.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001269",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Flush button assembly",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Small circular stainless-steel button (\u22483 cm diameter) set into the side of the upper shell.",
+        "functional_description": "Actuates the flush valve via a short push translation.",
+        "movement_description": "Slides axially a few millimeters with spring return; guided by the ceramic housing.",
+        "grasp_description": "Pressed with a finger to flush."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.8,
+        "hardness": 14,
+        "poisson": 0.42,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001269/annotations/part_9.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001269",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Toilet seat (ring)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Molded polypropylene seating ring (\u224843*35*1.8 cm) contoured to the bowl.",
+        "functional_description": "Provides a comfortable, warm-to-touch surface for sitting and protects the bowl rim.",
+        "movement_description": "Rotates about the rear hinge; can stay up or down depending on user preference.",
+        "grasp_description": "Lifted/lowered by hand; edges are grasped for cleaning."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.8,
+        "hardness": 14,
+        "poisson": 0.42,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                9
+            ],
+            "C": {
+                "axis": [
+                    -1.0,
+                    0.0,
+                    -1.2246468525851679e-16
+                ],
+                "pos": [
+                    0.0,
+                    0.03860995173454285,
+                    0.12677401304244995
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001269/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

data/UPB_00001269/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001269",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "PlumbingSanitary/PlumbingFixture",
+        "object_name": "One-piece Toilet with Seat and Tank"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 9,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001269/model.urdf

@@ -0,0 +1,205 @@
+<?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="helper_link_4"/>
+  <link name="helper_link_5"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.053341 1.053341 1.053341"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.053341 1.053341 1.053341"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.053341 1.053341 1.053341"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.053341 1.053341 1.053341"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.053341 1.053341 1.053341"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.053341 1.053341 1.053341"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.053341 1.053341 1.053341"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.053341 1.053341 1.053341"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.053341 1.053341 1.053341"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.053341 1.053341 1.053341"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.053341 1.053341 1.053341"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.053341 1.053341 1.053341"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.053341 1.053341 1.053341"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.053341 1.053341 1.053341"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.053341 1.053341 1.053341"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.053341 1.053341 1.053341"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.053341 1.053341 1.053341"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.053341 1.053341 1.053341"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="base_link"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.198693 0.188292 0.141848" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="-0.0" upper="0.002106682579046002"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.198693 -0.188292 -0.141848" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="base_link"/>
+    <child link="helper_link_1"/>
+    <origin xyz="-0.202528 0.165024 0.141811" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="-0.0" upper="0.002106682579046002"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0.202528 -0.165024 -0.141811" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="base_link"/>
+    <child link="helper_link_2"/>
+    <origin xyz="-0.202616 0.140302 0.141553" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="-0.0" upper="0.002106682579046002"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0.202616 -0.140302 -0.141553" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="prismatic">
+    <parent link="base_link"/>
+    <child link="helper_link_3"/>
+    <origin xyz="-0.203337 0.111331 0.142103" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="-0.0" upper="0.002106682579046002"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="0.203337 -0.111331 -0.142103" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="revolute">
+    <parent link="link_6"/>
+    <child link="helper_link_4"/>
+    <origin xyz="0.000000 0.182473 0.276739" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_5"/>
+    <origin xyz="-0.000000 -0.182473 -0.276739" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="revolute">
+    <parent link="link_6"/>
+    <child link="helper_link_5"/>
+    <origin xyz="0.000000 0.040669 0.133536" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="helper_link_5"/>
+    <child link="link_9"/>
+    <origin xyz="-0.000000 -0.040669 -0.133536" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001269/parts/toilet_6DOU4ZUTD5TGM5RBKI888888_7zCtV.mtl

@@ -0,0 +1,15 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5ce3d80944c5ba48546e495e
+Kd 0.750576019 0.750576019 0.750576019
+illum 1
+
+newmtl MI_5ce3d80944c5ba48546e495c
+Kd 0.416056007 0.514975011 0.658351004
+illum 1
+
+newmtl MI_5ce3d80944c5ba48546e495d
+Kd 1 1 1
+illum 1
+

data/UPB_00001269/plys/1.ply

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+size 160242

data/UPB_00001269/plys/2.ply

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+size 160242

data/UPB_00001269/plys/3.ply

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data/UPB_00001269/plys/4.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001269/plys/5.ply

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+version https://git-lfs.github.com/spec/v1
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+size 238530

data/UPB_00001269/plys/6.ply

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+version https://git-lfs.github.com/spec/v1
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