Upload folder using huggingface_hub (part 41)

.gitattributes

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data/UPB_00001300/meta_data.json

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+{
+    "id": "UPB_00001300",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "ContainersStorage/GeneralContainer",
+        "object_name": "Wet Wipes Dispenser Box"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 3,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001300/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="0.290699 0.290699 0.290699"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.290699 0.290699 0.290699"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.290699 0.290699 0.290699"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.290699 0.290699 0.290699"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.290699 0.290699 0.290699"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.290699 0.290699 0.290699"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_3"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 0.067251 -0.043913" 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 -0.067251 0.043913" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001300/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_00001300/parts/3.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 3.png

data/UPB_00001300/parts/toilet_YQ5QKEJVALSCAPTUKQ888888_ZKCdc.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_68059f16ab7f920001b46a36
+Kd 1 1 1
+illum 1
+map_Kd ./T_68059f16ab7f920001b46a36_color.jpg
+
+newmtl MI_68059f16121f790001138246
+Kd 0.0392000005 0.0392000005 0.0392000005
+illum 1
+
+newmtl MI_68059f1601a06d0001d88b61
+Kd 0.970899999 0.970899999 0.970899999
+Ks 0.100000001 0.100000001 0.100000001
+d 1
+illum 1
+
+newmtl MI_68059f16bfd8090001491399
+Kd 0.0274999999 0.0274999999 0.0274999999
+illum 1
+
+newmtl MI_68059f16fb065d0001464a09
+Kd 0.0471000001 0.0471000001 0.0471000001
+illum 1
+

data/UPB_00001300/plys/1.ply

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+version https://git-lfs.github.com/spec/v1
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+size 937058

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+version https://git-lfs.github.com/spec/v1
+oid sha256:607db12a9078f748733037da53577614c871c54ac35849efa25672f63e2df427
+size 211042

data/UPB_00001300/plys/model.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001301/annotations/object.json

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+{
+    "object_name": "Smart Toilet with Seat and Lid",
+    "category": "PlumbingSanitary/PlumbingFixture",
+    "volume": [
+        68.0,
+        38.0,
+        52.0
+    ],
+    "mass": 36.0
+}

data/UPB_00001301/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001301",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Lid",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "A polypropylene toilet lid, roughly 44*36*2 cm, forming the top cover of the seat assembly.",
+        "functional_description": "Covers the bowl and seat; reduces odor escape; may be part of a soft-close mechanism.",
+        "movement_description": "Rotates about the rear hinge axis attached to the hinge module; soft-close damping limits closing speed.",
+        "grasp_description": "Users grasp the front or side edge to lift or lower the lid."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.7,
+        "hardness": 12,
+        "poisson": 0.42,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
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+            "C": {
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+                    -1.0,
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+                "pos": [
+                    0.0,
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+                "range": [
+                    0.0,
+                    1.9198621771937625
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+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001301/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001301",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Hinge Module and Rear Housing",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "ABS rear housing with integrated hinge pins and mounts, approx 24*12*5 cm.",
+        "functional_description": "Provides structural mounting for the seat and lid, contains fittings for control/sensor components.",
+        "movement_description": "Acts as the fixed hinge base; lid and seat rotate about its axis; rigidly attached to the ceramic bowl.",
+        "grasp_description": "Not typically grasped; handled during installation or maintenance only."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.3,
+        "hardness": 15,
+        "poisson": 0.4,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001301/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001301",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Top Control Panel Cover",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Tempered glass panel, roughly 20*12*0.5 cm, mounted on the rear housing.",
+        "functional_description": "Protects and presents touch controls or display for flushing and bidet functions.",
+        "movement_description": "Rigidly fixed to the hinge housing; no motion relative to the toilet.",
+        "grasp_description": "Users touch the panel surface to control functions; not lifted or moved."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.7,
+        "hardness": 12,
+        "poisson": 0.42,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001301/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001301",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Ceramic Bowl Body",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Main vitreous china body of the toilet, approx 68*38*52 cm.",
+        "functional_description": "Provides structural form, water path, and mounting surfaces for the seat/lid assembly.",
+        "movement_description": "Fixed component; all other parts attach to it without relative movement.",
+        "grasp_description": "Touched for cleaning and when moving/installing; not intended for regular grasping during use."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.7,
+        "hardness": 12,
+        "poisson": 0.42,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001301/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001301",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "IR Sensor Window",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "A small black polycarbonate window, about 3*2*1 cm, set on the housing\u2019s outer surface.",
+        "functional_description": "Allows an infrared presence sensor to detect users for automatic functions.",
+        "movement_description": "Rigidly mounted to the rear housing; no relative motion.",
+        "grasp_description": "Not grasped; may be wiped clean occasionally."
+    },
+    "basic_info": {
+        "material": "plastic/PC_Polycarbonate_Black",
+        "density": 1.2,
+        "young": 2.6,
+        "hardness": 20,
+        "poisson": 0.37,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001301/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001301",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Status Indicator Light Diffuser",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Curved translucent acrylic lens, roughly 3*1.5*0.5 cm, fitted to the housing.",
+        "functional_description": "Diffuses LED status light (power, heating, flush state).",
+        "movement_description": "Rigidly fixed to the rear housing; no motion.",
+        "grasp_description": "Not grasped; only cleaned gently."
+    },
+    "basic_info": {
+        "material": "plastic/PMMA_Acrylic_Translucent",
+        "density": 1.18,
+        "young": 3.2,
+        "hardness": 18,
+        "poisson": 0.37,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001301/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001301",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Seat Ring",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Polypropylene seat ring with an oval opening, about 43*35*3 cm.",
+        "functional_description": "Provides the sitting surface; rotates up for cleaning or space.",
+        "movement_description": "Rotates about the rear hinge axis on the hinge module; soft-close may be applied.",
+        "grasp_description": "Users grasp the front or side to lift, lower, or adjust during cleaning."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.7,
+        "hardness": 12,
+        "poisson": 0.42,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                7
+            ],
+            "C": {
+                "axis": [
+                    -1.0,
+                    0.0,
+                    -1.2246468525851679e-16
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+                "pos": [
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+                "range": [
+                    0.0,
+                    1.7453292519943295
+                ],
+                "damping": 0.08
+            }
+        }
+    }
+}

data/UPB_00001301/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_00001301/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001301",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "PlumbingSanitary/PlumbingFixture",
+        "object_name": "Smart Toilet with Seat and Lid"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 7,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001301/model.urdf

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+<?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="1.278215 1.278215 1.278215"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.278215 1.278215 1.278215"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.278215 1.278215 1.278215"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.278215 1.278215 1.278215"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.278215 1.278215 1.278215"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.278215 1.278215 1.278215"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.278215 1.278215 1.278215"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.278215 1.278215 1.278215"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.278215 1.278215 1.278215"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.278215 1.278215 1.278215"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.278215 1.278215 1.278215"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.278215 1.278215 1.278215"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.278215 1.278215 1.278215"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
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+{
+    "object_name": "One-piece Dual-Flush Toilet",
+    "category": "PlumbingSanitary/PlumbingFixture",
+    "volume": [
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+        38.0,
+        75.0
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+}

data/UPB_00001302/annotations/part_1.json

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+{
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+        "type_name": "default",
+        "entity": "UPB_00001302",
+        "label": "1"
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+    "part_level": {
+        "part_name": "Small Flush Button (left)",
+        "affordance": 1,
+        "graspable": false,
+        "basic_description": "A small rectangular stainless-steel push button (~3.5*2.5*0.5 cm) mounted on the tank top trim.",
+        "functional_description": "Triggers the reduced-volume flush when pressed, actuating the valve mechanism inside the tank.",
+        "movement_description": "Translates vertically downward within the housing with a short stroke and returns via a spring.",
+        "grasp_description": "Not grasped; it is pressed with a fingertip."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic_Chrome_Plated",
+        "density": 1.04,
+        "young": 2.1,
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+        "friction": 0.35
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+}

data/UPB_00001302/annotations/part_2.json

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+        "entity": "UPB_00001302",
+        "label": "2"
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+    "part_level": {
+        "part_name": "Large Flush Button (right)",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "A slightly larger stainless-steel push button (~4.0*3.0*0.5 cm) paired with the housing on the tank top.",
+        "functional_description": "Activates the full-volume flush cycle when pressed.",
+        "movement_description": "Moves linearly downward within the same housing, with similar stroke and spring return.",
+        "grasp_description": "Pressed with a finger; generally not grasped."
+    },
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+}