Upload folder using huggingface_hub (part 59)

.gitattributes

@@ -3368,3 +3368,26 @@ data/UPB_00000811/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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+version https://git-lfs.github.com/spec/v1
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data/UPB_00000812/annotations/object.json

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+{
+    "object_name": "Countertop Trash Bin with Hinged Lid",
+    "category": "ContainersStorage/WasteRecyclingContainer",
+    "volume": [
+        28.0,
+        18.0,
+        18.0
+    ],
+    "mass": 1.1
+}

data/UPB_00000812/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000812",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Top Lid Assembly",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "A shallow rectangular ABS plastic lid (~18\u00d718\u00d73 cm) with rounded corners and a slight inset panel on top.",
+        "functional_description": "Covers the bin to contain odors and conceal contents; may house a simple push area or indicator.",
+        "movement_description": "Rotates about a rear-edge hinge relative to the main body, opening up to roughly 110 degrees. Damping reflects hinge friction and soft-close feel.",
+        "grasp_description": "Users grasp the front edge of the lid to lift and close it during use."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.2,
+        "hardness": 15,
+        "poisson": 0.38,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    -1.0,
+                    0.0,
+                    -1.2246468525851679e-16
+                ],
+                "pos": [
+                    0.0,
+                    0.15369032323360443,
+                    0.1544208526611328
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00000812/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000812",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Anti-slip Base Pad",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Dark rubber pad (~15\u00d715\u00d70.4 cm) bonded to the bin\u2019s bottom footprint.",
+        "functional_description": "Provides grip and vibration isolation so the bin stays put on countertops and does not scratch surfaces.",
+        "movement_description": "Rigidly fixed to the body; it does not move relative to the bin.",
+        "grasp_description": "Not intended to be grasped; contacts the supporting surface."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.6,
+        "hardness": 10,
+        "poisson": 0.42,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000812/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000812",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Front Pull Tab",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "A small brown polyester webbing strap (~2\u00d75\u00d70.2 cm) fixed at the upper front of the body.",
+        "functional_description": "Acts as a finger hold to assist opening or lifting an inner liner/bucket, making bag changes easier.",
+        "movement_description": "Affixed to the body; it flexes as textile but is considered rigidly attached as a part of the assembly.",
+        "grasp_description": "Users pinch and pull this strap when removing liners or manipulating the bin near the rim."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.6,
+        "hardness": 10,
+        "poisson": 0.42,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000812/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000812",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Main Body Container",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Rectangular PP plastic container (~28 cm high, 18\u00d718 cm footprint) with rounded corners and an upper rim for the lid seat.",
+        "functional_description": "Holds waste or small household items; provides structural integrity and interface surfaces for the lid, strap, and base pad.",
+        "movement_description": "Stationary reference part. Other parts are attached to or move relative to this container.",
+        "grasp_description": "Users grasp the sides or rim when relocating the bin or emptying contents."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.6,
+        "hardness": 10,
+        "poisson": 0.42,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000812/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_00000812/meta_data.json

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+{
+    "id": "UPB_00000812",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "ContainersStorage/WasteRecyclingContainer",
+        "object_name": "Countertop Trash Bin with Hinged Lid"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 4,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000812/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="0.629856 0.629856 0.629856"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.629856 0.629856 0.629856"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.629856 0.629856 0.629856"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
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+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.629856 0.629856 0.629856"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.629856 0.629856 0.629856"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.629856 0.629856 0.629856"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_4"/>
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+    <axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
+    <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="-0.000000 -0.096803 -0.097263" 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>
+</robot>

data/UPB_00000812/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_00000812/parts/TrashCan_ZMFS5UJVALTN2PTUKI888888_2uubV.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_6735b774656f790001f92ccc
+Kd 0.298000008 0.219600007 0.152899995
+illum 1
+
+newmtl MI_6735b77466bb0300010120c6
+Kd 0.847100019 0.847100019 0.847100019
+illum 1
+
+newmtl MI_6735b7744bb1960001c2cb6d
+Kd 0.0519615971 0.0519615971 0.0519615971
+illum 1
+
+newmtl MI_6735b7747f9eac0001ff6641
+Kd 0.478399992 0.478399992 0.478399992
+illum 1
+
+newmtl MI_6735b77481b8290001ad08dc
+Kd 0 0 0
+Ke 0.189500004 1 0.455599993
+illum 1
+
+newmtl MI_6735b77417a1f400011532ed
+Kd 0 0 0
+Ke 1 1 1
+illum 1
+

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data/UPB_00000812/plys/1.ply

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+size 661794

data/UPB_00000812/plys/2.ply

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data/UPB_00000812/plys/3.ply

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data/UPB_00000812/plys/4.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00000812/plys/model.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00000813/annotations/object.json

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+{
+    "object_name": "Pedal Trash Bin (Step Can)",
+    "category": "ContainersStorage/WasteRecyclingContainer",
+    "volume": [
+        20.0,
+        20.0,
+        30.0
+    ],
+    "mass": 1.8
+}

data/UPB_00000813/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000813",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Foot Pedal",
+        "affordance": 1,
+        "graspable": false,
+        "basic_description": "A curved ABS plastic pedal located at the base front of the bin; black, textured surface for foot actuation.",
+        "functional_description": "Translates the user\u2019s foot input into motion that opens the lid via an internal linkage.",
+        "movement_description": "The pedal pivots about a horizontal axle fixed to the outer shell/base (part 3); limited angular travel (~25\u00b0) with light damping.",
+        "grasp_description": "Operated by foot pressing; not typically grasped by hand."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.3,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.6
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
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+            "C": {
+                "axis": [
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+                "range": [
+                    0.0,
+                    0.2617993877991494
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00000813/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000813",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Lid",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "A circular stainless-steel lid sized to the bin\u2019s mouth.",
+        "functional_description": "Covers the opening to contain odor and conceal waste; opens when the pedal is pressed or when lifted by hand.",
+        "movement_description": "Rotates about a rear hinge mounted to the outer shell (part 3), with a typical opening up to about 90\u201395 degrees; motion is actuated through the pedal linkage.",
+        "grasp_description": "May be touched by hand for cleaning or lifted manually if desired."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "hardness": 180,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
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+            "C": {
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+                    -1.1882695845624556e-16
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+                    0.14384599030017853,
+                    0.14221161603927612
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+                "range": [
+                    0.0,
+                    1.7453292519943295
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+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00000813/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000813",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Outer Shell Rings and Base Frame",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Metal structural rings at the top rim and base that represent the outer shell/frame of the bin; includes the mounting area for pedal and lid hinges.",
+        "functional_description": "Provides structural support, defines the bin\u2019s shape, carries the hinges/axles, and supports the inner bucket.",
+        "movement_description": "Acts as the fixed reference for other moving parts: the pedal and lid rotate relative to it; the inner bucket slides vertically for removal.",
+        "grasp_description": "Users may hold the body/frame to reposition the bin during cleaning."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.95,
+        "young": 200.0,
+        "hardness": 160,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000813/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000813",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Inner Bucket",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "A dark plastic cylindrical insert that fits inside the metal body.",
+        "functional_description": "Holds the trash bag and contains waste; removable for emptying and cleaning.",
+        "movement_description": "Slides vertically relative to the outer shell/frame (part 3) when lifted out; otherwise rests seated at the base.",
+        "grasp_description": "Grasped by the rim to lift out for bag changes and cleaning."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.7,
+        "hardness": 8,
+        "poisson": 0.42,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000813/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_00000813/meta_data.json

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+{
+    "id": "UPB_00000813",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "ContainersStorage/WasteRecyclingContainer",
+        "object_name": "Pedal Trash Bin (Step Can)"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 4,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000813/model.urdf

@@ -0,0 +1,88 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.766323 0.766323 0.766323"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.766323 0.766323 0.766323"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.766323 0.766323 0.766323"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.766323 0.766323 0.766323"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.766323 0.766323 0.766323"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.766323 0.766323 0.766323"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.766323 0.766323 0.766323"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.766323 0.766323 0.766323"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_3"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.032472 -0.074598 -0.116888" rpy="0 0 0"/>
+    <axis xyz="0.8828131161132905 0.4694000590386863 -0.01745240937004516"/>
+    <limit lower="0.0" upper="0.2617993877991494"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.032472 0.074598 0.116888" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_3"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.015852 0.110232 0.108980" rpy="0 0 0"/>
+    <axis xyz="-0.9702957270336685 0.24192189256081104 -1.1882695845624556e-16"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.015852 -0.110232 -0.108980" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00000813/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_00000813/parts/TrashCan_ZMFSY4BVAINYSPTULU888888_PeVro.mtl

@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_6735b77281b8290001ad08da
+Kd 0.0837280005 0.0837280005 0.0837280005
+illum 1
+
+newmtl MI_6735b772656f790001f92ccb
+Kd 0.0588000007 0.0588000007 0.0588000007
+illum 1
+

data/UPB_00000813/parts/part_1.obj

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+mtllib 1.mtl
+usemtl material_0
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data/UPB_00000814/annotations/object.json

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+{
+    "object_name": "Sensor-Lid Trash Can",
+    "category": "ContainersStorage/WasteRecyclingContainer",
+    "volume": [
+        32.0,
+        25.0,
+        60.0
+    ],
+    "mass": 3.2
+}

data/UPB_00000814/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000814",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Top Lid Housing",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Injection-molded ABS housing forming the top module (~30*23*5 cm). Features a dark front window/trim and mounts for the main lid.",
+        "functional_description": "Provides the structural frame for the opening, contains the hinge posts and optional sensor window, and interfaces rigidly with the bin body.",
+        "movement_description": "Rigidly fixed to the body. Serves as the parent component for the rotating lid panel (Part 4) via a back-edge hinge.",
+        "grasp_description": "Users may grasp edges when moving the can or removing the top module for cleaning."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.2,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
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+            "C": {
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+                    0.0,
+                    -1.2246468525851679e-16
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+                "pos": [
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+                    0.17164874076843262,
+                    0.17297442257404327
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+                    1.9198621771937625
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+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000814/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000814",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Bin Body",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Polypropylene container (~30*23*57 cm) with tapered sides and rounded corners.",
+        "functional_description": "Holds waste and supports the lid housing. Its interior volume provides the primary storage capacity.",
+        "movement_description": "No relative motion; acts as the base structure to which the top housing and logo are fixed.",
+        "grasp_description": "Grasped around the rim or sides when lifting the can, emptying, or cleaning."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.6,
+        "hardness": 10,
+        "poisson": 0.42,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}