Upload folder using huggingface_hub (part 48)

.gitattributes

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data/UPB_00001349/parts/toilet_ZXQZJXJVAIM5MPTUKM888888_K8SIX.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
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data/UPB_00001350/annotations/object.json

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+{
+    "object_name": "Smart Toilet (tankless one-piece)",
+    "category": "PlumbingSanitary/PlumbingFixture",
+    "volume": [
+        60.0,
+        38.0,
+        42.0
+    ],
+    "mass": 33.0
+}

data/UPB_00001350/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001350",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Toilet Lid (cover)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Curved duroplast plastic lid sized roughly 44\u00d735\u00d72 cm; part of a modern smart toilet.",
+        "functional_description": "Covers the bowl opening to reduce odors and provide a neat appearance when closed.",
+        "movement_description": "Rotates upward about the hinge rod at the rear with soft damping.",
+        "grasp_description": "Users grasp the front or sides of the lid to lift or lower it."
+    },
+    "basic_info": {
+        "material": "plastic/UF_Duroplast",
+        "density": 1.5,
+        "young": 8.0,
+        "hardness": 25,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
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+                    -1.0,
+                    0.0,
+                    -1.2246468525851679e-16
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+                "pos": [
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+                    0.19054079055786133,
+                    0.19797512888908386
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+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001350/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001350",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Ceramic Bowl/Body",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Glazed porcelain one-piece bowl (approx. 60\u00d738\u00d742 cm overall), providing the structural body and water path.",
+        "functional_description": "Supports the seating area, contains the water and waste channel, and provides mounting base for seat and controls.",
+        "movement_description": "Rigid, fixed body; other parts mount to it without relative motion.",
+        "grasp_description": "Usually not grasped during normal use; occasionally touched for cleaning."
+    },
+    "basic_info": {
+        "material": "ceramics/Porcelain_Vitreous_China",
+        "density": 2.3,
+        "young": 70.0,
+        "hardness": 600,
+        "poisson": 0.23,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001350/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001350",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Rear Seat/Control Housing and Hinge Bracket",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "ABS plastic rear module (~30\u00d710\u00d74 cm) that covers electronics and provides a hinge mount and button panel.",
+        "functional_description": "Houses wiring/valves for a smart toilet seat area, offers the support for the hinge rod, and carries user buttons.",
+        "movement_description": "Rigidly fixed to the ceramic body; provides linear guides for the push-buttons and a fixed bearing for the hinge.",
+        "grasp_description": "Rarely grasped; touched only during maintenance."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.3,
+        "hardness": 15,
+        "poisson": 0.36,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001350/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001350",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Hinge Rod (seat/lid axle)",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Cylindrical stainless-steel rod (~28 cm long, 1.2 cm diameter) spanning the rear top as the hinge axle.",
+        "functional_description": "Provides a durable pivot for the lid (and seat if present) with corrosion resistance.",
+        "movement_description": "Rigid to the housing; acts as the rotation axis for the lid.",
+        "grasp_description": "Not intended to be grasped; concealed during normal use."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001350/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001350",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Secondary Button/Indicator Cap",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Round PC plastic cap (~2.0 cm diameter) acting as a secondary push button or light lens on the housing.",
+        "functional_description": "Provides an auxiliary control or status interface (e.g., stop or light).",
+        "movement_description": "Slides inward a few millimeters when pressed; returns via internal spring.",
+        "grasp_description": "Operated by pressing with a finger; not grasped firmly."
+    },
+    "basic_info": {
+        "material": "plastic/Polycarbonate_PC",
+        "density": 1.2,
+        "young": 2.5,
+        "hardness": 15,
+        "poisson": 0.37,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001350/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
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data/UPB_00001350/meta_data.json

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+{
+    "id": "UPB_00001350",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "PlumbingSanitary/PlumbingFixture",
+        "object_name": "Smart Toilet (tankless one-piece)"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 5,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001350/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="0.888465 0.888465 0.888465"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.888465 0.888465 0.888465"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.888465 0.888465 0.888465"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.888465 0.888465 0.888465"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.888465 0.888465 0.888465"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.888465 0.888465 0.888465"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.888465 0.888465 0.888465"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
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+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.888465 0.888465 0.888465"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.888465 0.888465 0.888465"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 0.169289 0.175894" rpy="0 0 0"/>
+    <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 -0.169289 -0.175894" 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>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001350/parts/6.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
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data/UPB_00001350/parts/toilet_ZYFNFKRVAIPQ4PTUJU888888_8VASF.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_62344be5470dd70001505db0
+Kd 0.87941581 0.87941581 0.87941581
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+illum 1
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+illum 1
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+newmtl MI_62344be56e137a000171703b
+Kd 1 1 1
+illum 1
+map_Kd ./T_62344be56e137a000171703b_color.jpg
+

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001351/annotations/object.json

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+{
+    "object_name": "Wall-Hung Toilet Set",
+    "category": "PlumbingSanitary/PlumbingFixture",
+    "volume": [
+        55.0,
+        37.0,
+        55.0
+    ],
+    "mass": 25.0
+}

data/UPB_00001351/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001351",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Toilet Seat Lid (Cover)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "A dark-colored, slightly curved toilet seat cover made of duroplast plastic, roughly 45*35*2 cm, matching common modern wall-hung toilets.",
+        "functional_description": "Covers the bowl to reduce odors and splashes and provides a surface to close the toilet; part of a typical soft-close hinged assembly.",
+        "movement_description": "Rotates about a rear hinge axis mounted to the bowl. The hinge provides light damping typical of soft-close lids with about 0\u2013135\u00b0 opening range.",
+        "grasp_description": "Users grasp the front or side edge to lift or lower the cover."
+    },
+    "basic_info": {
+        "material": "plastic/Urea_Formaldehyde_Duroplast",
+        "density": 1.5,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.35,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
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+                    -1.2246468525851679e-16
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+                "damping": 0.06
+            }
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+    }
+}

data/UPB_00001351/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001351",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Flush Actuator Plate",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Rectangular wall-mounted flush plate with three push zones, molded ABS, about 22*15*2 cm.",
+        "functional_description": "Provides the user interface to trigger the concealed cistern\u2019s flush (multi-volume options). Internally, buttons translate a few millimeters to actuate linkages.",
+        "movement_description": "When pressed, each button translates slightly into the wall relative to its frame; the plate itself is fixed to the wall/cistern and independent of the bowl.",
+        "grasp_description": "Users press one of the buttons with a finger or palm; not typically grasped but touched directly for operation."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 15,
+        "poisson": 0.36,
+        "friction": 0.45
+    },
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+            "D"
+        ],
+        "motion_info": {}
+    }
+}