Upload folder using huggingface_hub (part 42)

.gitattributes

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data/UPB_00001307/parts/toilet_ZDULP5RVAJSUWPTULA888888_rB92r.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_64d62e56cbf375000165f035
+Kd 0.0290937517 0.0288873725 0.028483212
+illum 1
+

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data/UPB_00001308/annotations/object.json

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+{
+    "object_name": "One-piece Toilet with Lid",
+    "category": "PlumbingSanitary/PlumbingFixture",
+    "volume": [
+        70.0,
+        39.0,
+        55.0
+    ],
+    "mass": 34.0
+}

data/UPB_00001308/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001308",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Lid",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "A polypropylene toilet lid, approximately 45*35*2 cm, smooth top surface with gentle curvature.",
+        "functional_description": "Covers the bowl to reduce odors and splashes and provides a surface to close the toilet when not in use.",
+        "movement_description": "Rotates about a rear hinge axis fixed to the porcelain body. Slow-close damping is represented by a small damping coefficient.",
+        "grasp_description": "Users grasp the front edge or the attached grip strip to open/close the lid."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.6,
+        "hardness": 10,
+        "poisson": 0.42,
+        "friction": 0.35
+    },
+    "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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+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001308/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001308",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Lid Grip Strip",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "A narrow silicone rubber strip mounted along the top/edge of the lid, about 25*3*1 cm, providing a soft, high-friction grip.",
+        "functional_description": "Acts as the tactile handle to lift or lower the lid comfortably and hygienically.",
+        "movement_description": "No independent motion; it is rigidly fixed to the lid and moves together with it.",
+        "grasp_description": "Users pinch or pull this strip to raise or lower the lid, benefiting from its compliant, non-slip surface."
+    },
+    "basic_info": {
+        "material": "rubber/Silicone_Rubber",
+        "density": 1.1,
+        "young": 0.01,
+        "hardness": 2,
+        "poisson": 0.49,
+        "friction": 0.7
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+        "motion_info": {}
+    }
+}

data/UPB_00001308/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001308",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Main Body (Bowl and Base)",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "The vitreous porcelain one-piece toilet body with integrated bowl and rear hinge bosses; about 70*39*55 cm.",
+        "functional_description": "Provides structural support, houses the bowl and trapway, and anchors the hinge for the lid.",
+        "movement_description": "Rigidly fixed; acts as the stationary parent for the rotating lid.",
+        "grasp_description": "Not typically grasped during normal use, though touched during cleaning and installation."
+    },
+    "basic_info": {
+        "material": "ceramics/Porcelain",
+        "density": 2.3,
+        "young": 70.0,
+        "hardness": 600,
+        "poisson": 0.22,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001308/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_00001308/meta_data.json

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+{
+    "id": "UPB_00001308",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "PlumbingSanitary/PlumbingFixture",
+        "object_name": "One-piece Toilet with Lid"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 3,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001308/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="0.934275 0.934275 0.934275"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.934275 0.934275 0.934275"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.934275 0.934275 0.934275"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.934275 0.934275 0.934275"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.934275 0.934275 0.934275"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.934275 0.934275 0.934275"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_3"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 0.059358 0.132466" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 -0.059358 -0.132466" 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>
+</robot>

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
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+Kd 0.617356002 0.617356002 0.617356002
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data/UPB_00001309/annotations/object.json

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+{
+    "object_name": "Smart Bidet Toilet (one-piece)",
+    "category": "PlumbingSanitary/PlumbingFixture",
+    "volume": [
+        70.0,
+        38.0,
+        43.0
+    ],
+    "mass": 45.0
+}

data/UPB_00001309/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001309",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Top Access Plug (right)",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Small round ABS plug on the top-right of the bidet seat housing; approx. \u00d83.5*0.5 cm.",
+        "functional_description": "Covers a fastener or service access on the seat housing; provides a clean appearance and protection from moisture.",
+        "movement_description": "No intended motion in normal use; rigidly snapped into the housing (Part 3).",
+        "grasp_description": "Not normally grasped; may be pried off with a tool during maintenance."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.3,
+        "hardness": 20,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
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+                "range": [
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+                    0.0
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001309/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001309",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Toilet Lid",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Curved polypropylene lid, roughly 45*35*2 cm, covering the seat opening.",
+        "functional_description": "Closes over the seat for hygiene and aesthetics; often soft-close via damped hinge integrated in Part 3.",
+        "movement_description": "Rotates about a rear hinge axis relative to the seat housing (Part 3). Range from closed (0\u00b0) to fully open (~110\u2013120\u00b0).",
+        "grasp_description": "Users grasp the front edge to open/close the lid."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.7,
+        "hardness": 12,
+        "poisson": 0.42,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "C": {
+                "axis": [
+                    -1.0,
+                    0.0,
+                    -1.2246468525851679e-16
+                ],
+                "pos": [
+                    0.0,
+                    0.07088234275579453,
+                    0.2334943264722824
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001309/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001309",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Seat (ring and hinge housing)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Primary seat ring with integrated rear hinge housing; approx. 50*37*7 cm polypropylene assembly.",
+        "functional_description": "Supports the user and provides the hinge mount for the lid. In a smart toilet, this housing also carries electronics and controls.",
+        "movement_description": "Acts as the hinge base for the lid (Part 2). It remains fixed relative to the toilet bowl in normal use; other attached parts (1,4,5) are rigid with it.",
+        "grasp_description": "Users may lift the seat by its front edge for cleaning or to access the bowl."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.6,
+        "hardness": 12,
+        "poisson": 0.42,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001309/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001309",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Top Access Plug (center)",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Another small ABS round cap positioned near the center-rear of the seat housing; approx. \u00d84*0.6 cm.",
+        "functional_description": "Caps an additional service or fastener hole; prevents water ingress and hides hardware.",
+        "movement_description": "Rigidly snapped into the seat housing (Part 3); no motion.",
+        "grasp_description": "Not intended to be handled; removed only for servicing."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.3,
+        "hardness": 20,
+        "poisson": 0.35,
+        "friction": 0.44
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001309/annotations/part_5.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001309",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Top Control Panel Cover",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Glossy black acrylic cover plate on the top-right rear; about 9*7*0.3 cm, slightly curved to match the housing.",
+        "functional_description": "Protects touch buttons or display elements of the bidet control interface while providing a smooth, cleanable surface.",
+        "movement_description": "No relative motion; it is bonded/screwed to the seat housing (Part 3). Button actuation occurs beneath the cover.",
+        "grasp_description": "Users touch-tap the surface to actuate functions; not usually grasped."
+    },
+    "basic_info": {
+        "material": "plastic/PMMA_Acrylic",
+        "density": 1.18,
+        "young": 3.2,
+        "hardness": 18,
+        "poisson": 0.35,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001309/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_00001309/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001309",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "PlumbingSanitary/PlumbingFixture",
+        "object_name": "Smart Bidet Toilet (one-piece)"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 5,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001309/model.urdf

@@ -0,0 +1,105 @@
+<?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="0.961968 0.961968 0.961968"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.961968 0.961968 0.961968"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.961968 0.961968 0.961968"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.961968 0.961968 0.961968"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.961968 0.961968 0.961968"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.961968 0.961968 0.961968"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.961968 0.961968 0.961968"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.961968 0.961968 0.961968"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.961968 0.961968 0.961968"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.961968 0.961968 0.961968"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="base_link"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 0.233154 0.262564" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="-0.0019239360148500364" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 -0.233154 -0.262564" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_3"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 0.068187 0.224614" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 -0.068187 -0.224614" 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>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001309/parts/part_5.obj

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data/UPB_00001309/parts/toilet_ZEMTTUETQY7FWPTUKA888888_2rYzs.mtl

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+illum 1
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data/UPB_00001309/plys/1.ply

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data/UPB_00001309/plys/2.ply

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data/UPB_00001309/plys/model.ply

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data/UPB_00001310/annotations/object.json

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+{
+    "object_name": "One-piece Smart Toilet",
+    "category": "PlumbingSanitary/PlumbingFixture",
+    "volume": [
+        68.0,
+        38.0,
+        50.0
+    ],
+    "mass": 42.0
+}

data/UPB_00001310/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001310",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Logo/Decorative Badge",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Small rounded-rectangular stainless steel badge (~4*2.5*0.2 cm) adhered to the toilet lid surface.",
+        "functional_description": "Provides branding and a clean finished look; no structural role.",
+        "movement_description": "No motion; fixed to the lid with adhesive or clips.",
+        "grasp_description": "Not intended to be grasped."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.35
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+        }
+    }
+}

data/UPB_00001310/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001310",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Toilet Lid (Seat Cover)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "ABS plastic lid (~44*35*1.5 cm) with a smooth, slightly curved top surface.",
+        "functional_description": "Covers the bowl and seat, reducing odors and providing a clean appearance; often includes soft-close damping in the hinge.",
+        "movement_description": "Rotates upward about the rear hinge axis relative to the hinge base; soft-close damping slows the final degrees of motion.",
+        "grasp_description": "Users grasp the front edge to open/close the lid."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.3,
+        "hardness": 15,
+        "poisson": 0.37,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "C": {
+                "axis": [
+                    -1.0,
+                    0.0,
+                    -1.2246468525851679e-16
+                ],
+                "pos": [
+                    0.0,
+                    0.11979005485773087,
+                    0.200168177485466
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001310/annotations/part_3.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001310",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Toilet Seat Ring",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Thermoset urea-formaldehyde ring (~42*35*2 cm outer profile) with hinge blocks at the rear.",
+        "functional_description": "Provides the seating surface; stiff and scratch-resistant for hygiene and durability.",
+        "movement_description": "Rotates about the same rear hinge axis as the lid, allowing the seat to be lifted independently.",
+        "grasp_description": "Users lift the ring by its front or side edges for cleaning or use."
+    },
+    "basic_info": {
+        "material": "plastic/Urea_Formaldehyde",
+        "density": 1.5,
+        "young": 7.0,
+        "hardness": 60,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                3
+            ],
+            "C": {
+                "axis": [
+                    -1.0,
+                    0.0,
+                    -1.2246468525851679e-16
+                ],
+                "pos": [
+                    0.0,
+                    0.05049999803304672,
+                    0.14354896545410156
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}