Upload folder using huggingface_hub (part 56)

.gitattributes

@@ -3296,3 +3296,33 @@ data/UPB_00000799/plys/2.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00000799/plys/3.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00000799/plys/4.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00000799/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000800/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000800/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000800/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000800/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000800/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000801/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000801/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000801/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000801/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000801/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000802/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000802/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000802/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000802/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000802/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000803/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000803/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000803/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000803/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000803/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000804/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000804/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000804/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000804/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000804/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000804/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000804/plys/7.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000804/plys/8.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000804/plys/9.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000804/plys/model.ply filter=lfs diff=lfs merge=lfs -text

data/UPB_00000800/annotations/part_4.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000800",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Internal Hinge & Pedal Bracket Assembly",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Metal ring/hinge at the rim and a base plate near the bottom that mounts the pedal pivot; forms the fixed mechanism carrier.",
+        "functional_description": "Transfers pedal motion to the lid through a hinge linkage while remaining fixed to the body.",
+        "movement_description": "Rigidly attached to the body; provides pivot axes for the pedal and lid\u2014allowing their controlled rotation.",
+        "grasp_description": "Not accessed during normal use; only handled during maintenance or assembly."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.95,
+        "young": 193.0,
+        "hardness": 180,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000800/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_00000800/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00000800",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "ContainersStorage/WasteRecyclingContainer",
+        "object_name": "Pedal Trash Can"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 4,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000800/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="0.956572 0.956572 0.956572"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.956572 0.956572 0.956572"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.956572 0.956572 0.956572"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.956572 0.956572 0.956572"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.956572 0.956572 0.956572"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.956572 0.956572 0.956572"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.956572 0.956572 0.956572"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.956572 0.956572 0.956572"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.074090 -0.100201" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <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="-0.000000 0.074090 0.100201" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 0.095839 0.115701" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
+    <limit lower="0.0" upper="2.6179938779914944"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 -0.095839 -0.115701" 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_00000800/parts/TrashCan_6PYHPIBVAJYE6PTULI888888_SGMrj.mtl

@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5fcef16c00e3a30001acf3c0
+Kd 0.718400002 0.718400002 0.718400002
+illum 1
+
+newmtl MI_5fcef16c5974ed0001950c82
+Kd 0.209500998 0.209500998 0.211879998
+illum 1
+

data/UPB_00000800/plys/1.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d306630f254c2f4ea3ab1cb9ee82e13f79d39a8af31bbe7cfe19bb5cf9317d86
+size 160242

data/UPB_00000800/plys/2.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ea8b4dc2f066fceed5d59c34f1fef3cccbe903087fd913180e366bcad60e0d4
+size 279394

data/UPB_00000800/plys/3.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d8cf19fca62191762f00dea5f6a6d6a51c22180d25d4f59168ffa02429aeca7
+size 940050

data/UPB_00000800/plys/4.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa2c2dfddf1f39ebb86ad9d1052742fbdced64b71b0d55929f1d3d6d95bd911e
+size 321794

data/UPB_00000800/plys/model.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75371c8d817255c7c6a94aaa7b205af477e805e0e6e9921a41318c3f2e14b19e
+size 1600243

data/UPB_00000801/annotations/object.json

@@ -0,0 +1,10 @@
+{
+    "object_name": "Pedal Trash Can",
+    "category": "ContainersStorage/WasteRecyclingContainer",
+    "volume": [
+        24.0,
+        24.0,
+        34.0
+    ],
+    "mass": 2.2
+}

data/UPB_00000801/annotations/part_1.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000801",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Foot Pedal",
+        "affordance": 1,
+        "graspable": false,
+        "basic_description": "Textured ABS plastic pedal, approx 8*4*1.5 cm, mounted at the lower front opening of the bin.",
+        "functional_description": "Primary human interface pressed by foot to open the lid via the internal mechanism.",
+        "movement_description": "Rotates slightly about a horizontal axle fixed to the body; motion is damped by the return spring/mechanism inside.",
+        "grasp_description": "Operated by stepping; rarely grasped by hand except during cleaning or repositioning."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 12,
+        "poisson": 0.35,
+        "friction": 0.65
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.10134213417768478,
+                    -0.13653956353664398
+                ],
+                "range": [
+                    0.0,
+                    0.2617993877991494
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00000801/annotations/part_2.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000801",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Lid",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Round stainless-steel lid, ~22 cm diameter, ~1.5 cm thick, covering the top opening.",
+        "functional_description": "Seals odors and hides contents; opens when the pedal-actuated mechanism lifts it.",
+        "movement_description": "Rotates about a rear hinge axis relative to the body. Soft closing is aided by internal damping in many bins.",
+        "grasp_description": "Can be lifted by hand when cleaning or when pedal not used; touched on the rim or small tab."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "hardness": 170,
+        "poisson": 0.29,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "C": {
+                "axis": [
+                    -1.0,
+                    0.0,
+                    -1.2246468525851679e-16
+                ],
+                "pos": [
+                    0.0,
+                    0.1303219348192215,
+                    0.15837828814983368
+                ],
+                "range": [
+                    0.0,
+                    2.6179938779914944
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00000801/annotations/part_3.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000801",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Inner Retainer Ring and Base Plate (liner assembly)",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Lightweight polypropylene inner components: a thin bag-retaining ring at the rim and a circular floor plate (~21 cm diameter ring, ~20 cm diameter base).",
+        "functional_description": "Supports and retains the trash bag at the top while providing a smooth inner base; removable for cleaning.",
+        "movement_description": "No motion during normal operation; it is seated rigidly within the body but can be lifted out as one assembly for service.",
+        "grasp_description": "Users may grasp the ring to remove/replace the liner or to secure the trash bag edge."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "hardness": 170,
+        "poisson": 0.29,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000801/annotations/part_4.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000801",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Outer Body (Canister)",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Cylindrical stainless-steel housing with front pedal slot; approx 22 cm diameter and 30 cm tall.",
+        "functional_description": "Provides structural support for the hinge, pedal, and liner; contains the refuse and protects the mechanism.",
+        "movement_description": "Static reference frame for all joints. Hinge and pedal axles are fixed to this body.",
+        "grasp_description": "Users grasp the body to lift or reposition the bin; edges can be held while replacing bags."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "hardness": 170,
+        "poisson": 0.29,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000801/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_00000801/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00000801",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "ContainersStorage/WasteRecyclingContainer",
+        "object_name": "Pedal Trash Can"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 4,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000801/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="0.893502 0.893502 0.893502"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.893502 0.893502 0.893502"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.893502 0.893502 0.893502"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.893502 0.893502 0.893502"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.893502 0.893502 0.893502"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.893502 0.893502 0.893502"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.893502 0.893502 0.893502"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.893502 0.893502 0.893502"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.090549 -0.121998" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <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="-0.000000 0.090549 0.121998" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 0.116443 0.141511" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
+    <limit lower="0.0" upper="2.6179938779914944"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 -0.116443 -0.141511" 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_00000801/parts/TrashCan_SIL5RZ6O7DXBU34BJU888888_RymLJ.mtl

@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5b7434c7b532763878b75dd9
+Kd 0.132080004 0.132080004 0.132080004
+illum 1
+
+newmtl MI_5b7434c7b532763878b75dd8
+Kd 0.163947999 0.163947999 0.163947999
+illum 1
+

data/UPB_00000801/plys/1.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d66098042f703f3e6dc079fbf3d3ef2457886bbb5879b882a701671b8c5b9b9
+size 160242

data/UPB_00000801/plys/2.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93b5c88822123a32840b53258c9e55c506e2dacdecc7b31ab8cef5c6d5ebeadc
+size 279250

data/UPB_00000801/plys/3.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ceb26801fc2e82d1d21c4e363bef4fb7ebf499e4a199fe82be437223ac28c111
+size 322402

data/UPB_00000801/plys/4.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd7c591e4d51fc31246ee1a7a1d61fb57bdd62fd6e1c5c7a3f5f60f87c427201
+size 941090

data/UPB_00000801/plys/model.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ec774afc50ba9025c733fc63e9bca2d90928cb31431c91d5c6406de3bd916f5
+size 1600243

data/UPB_00000802/annotations/object.json

@@ -0,0 +1,10 @@
+{
+    "object_name": "Pedal Trash Can",
+    "category": "ContainersStorage/WasteRecyclingContainer",
+    "volume": [
+        24.0,
+        24.0,
+        35.0
+    ],
+    "mass": 1.9
+}

data/UPB_00000802/annotations/part_1.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000802",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Foot Pedal",
+        "affordance": 1,
+        "graspable": false,
+        "basic_description": "ABS plastic curved pedal pad mounted at the bin\u2019s base front; approx. 9 cm wide, 4 cm deep, 2 cm thick.",
+        "functional_description": "Users press this pad with the foot to actuate the opening of the lid without using hands.",
+        "movement_description": "Rotates downward about a hinge on the base/hinge bracket assembly (part 4); pedal returns by spring and light damping.",
+        "grasp_description": "Not held by hand; pressed by shoe."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.6
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.15471197664737701,
+                    -0.19507379829883575
+                ],
+                "range": [
+                    0.0,
+                    0.24434609527920614
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00000802/annotations/part_2.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000802",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Lid",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Circular stainless-steel lid, ~23.5 cm diameter and ~1.5 cm thick at the rim.",
+        "functional_description": "Covers the opening to contain odors and hide waste; opens via pedal actuation or by hand.",
+        "movement_description": "Rotates about the rear hinge bracket (part 4). A linkage from the pedal lifts it; it falls closed under gravity and spring return with mild damping.",
+        "grasp_description": "Usually touched at the rim when opening/closing manually or for cleaning."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.6
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "C": {
+                "axis": [
+                    -1.0,
+                    0.0,
+                    -1.2246468525851679e-16
+                ],
+                "pos": [
+                    0.0,
+                    0.15110187232494354,
+                    0.1982612907886505
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00000802/annotations/part_3.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000802",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Outer Body (Shell)",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Cylindrical stainless-steel body, ~24 cm diameter and ~32 cm tall; serves as the main container.",
+        "functional_description": "Provides structure, houses the waste liner or bag, and supports the hinge/base assembly.",
+        "movement_description": "Stationary component; rigidly connected to the base/hinge assembly and held by screws.",
+        "grasp_description": "Gripped at the sides when moving or cleaning the bin."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "hardness": 170,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000802/annotations/part_4.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000802",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Base, Hinge Bracket and Bag Ring Assembly",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Black powder-coated steel set including: a circular base plate (~24 cm dia.), a rear vertical hinge bracket (~10 cm tall), and a thin round bag-retaining ring (~3 mm wire) near the rim.",
+        "functional_description": "The base supports the bin and houses the pedal pivot; the rear bracket provides the hinge for the lid; the ring holds a trash bag around the rim.",
+        "movement_description": "Acts as the parent frame for pedal and lid rotations; rigidly fixed to the body by screws.",
+        "grasp_description": "Bag ring is grasped when fitting or removing a liner; base and bracket are usually not touched during normal use."
+    },
+    "basic_info": {
+        "material": "metal/Steel_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 140,
+        "poisson": 0.29,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000802/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_00000802/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00000802",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "ContainersStorage/WasteRecyclingContainer",
+        "object_name": "Pedal Trash Can"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 4,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000802/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="0.769329 0.769329 0.769329"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.769329 0.769329 0.769329"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.769329 0.769329 0.769329"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.769329 0.769329 0.769329"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.769329 0.769329 0.769329"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.769329 0.769329 0.769329"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.769329 0.769329 0.769329"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.769329 0.769329 0.769329"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.119024 -0.150076" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="0.0" upper="0.24434609527920614"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.119024 0.150076" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 0.116247 0.152528" 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 -0.116247 -0.152528" 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_00000802/parts/1.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 1.png

data/UPB_00000802/parts/4.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 4.png