Initial release: 15 sim-verified articulated objects

.gitattributes

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 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+assets/bread-box/base.glb filter=lfs diff=lfs merge=lfs -text
+assets/bread-box/lid_closed.glb filter=lfs diff=lfs merge=lfs -text
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README.md

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+---
+license: cc-by-4.0
+pretty_name: "njc-articulated-hinge: sim-verified articulated 3D objects"
+language:
+  - en
+size_categories:
+  - n<1K
+tags:
+  - robotics
+  - 3d
+  - articulated
+  - urdf
+  - mujoco
+  - simulation
+  - reinforcement-learning
+  - mesh
+  - glb
+  - synthetic
+---
+
+# njc-articulated-hinge: sim-verified articulated 3D objects
+
+Fifteen household objects rebuilt as physics-valid articulated assets for robot
+learning. Each object has one revolute joint (a lid, door, or clamshell hinge)
+and ships as URDF and native MuJoCo MJCF with textured visual meshes, convex
+collision decomposition, computed mass and inertia, a tuned joint, and its own
+actuator. **Every object was actuated through its full range in MuJoCo and had
+to pass an automated 26-check physics gate before inclusion. Executability: 15/15.**
+
+Built by [notjustchairs.ai](https://notjustchairs.ai).
+
+## Why this dataset
+
+Most articulated-object assets are kinematics-only: joints with a type, axis,
+and limits, but no validated dynamics. Loaded into a physics simulator they
+interpenetrate, jam, fly apart, or fall open under gravity. This set inverts
+the priority: the simulator is the gatekeeper. An asset only ships if, loaded
+cold from the published files with contacts fully active, it:
+
+- rests closed on the floor without interpenetration (worst-case contact depth budgeted at 5 mm),
+- actuates through at least 90% of its authored joint range,
+- holds position when released with the actuator disabled (no gravity flop),
+- survives a full-force slam without going unstable,
+- does not topple from its own articulation (instability is recorded when present),
+- and passes structural checks on meshes, textures, inertia tensors, and file formats.
+
+## The 15 objects
+
+| Class | Objects |
+|---|---|
+| Lid (8) | wooden box, jewelry box, toolbox, bread box, cooler, toy chest, trash bin, toilet |
+| Door (6) | kitchen cabinet, medicine cabinet, minifridge, microwave, safe, locker |
+| Clamshell (1) | laptop |
+
+## What's in each asset
+
+Each asset is a folder under `assets/<id>/`:
+
+| File | Description |
+|---|---|
+| `object.urdf` | Free-standing URDF: two links, one revolute joint with limits, effort/velocity bounds, damping and friction, explicit inertials. |
+| `object.xml` | Native MuJoCo MJCF: free-floating base, hinge joint with full dynamics, position actuator, visual and collision geoms. |
+| `scene.xml` | MuJoCo scene wrapper (object + floor + light), Menagerie-style; load this to simulate immediately. |
+| `base.glb`, `lid_closed.glb` | Textured visual meshes (movable part baked at the closed pose). |
+| `base_final.obj`, `lid_final.obj` (+ `.mtl`, `.png`) | Visual meshes referenced by URDF/MJCF. |
+| `collision/*.obj` | Convex decomposition (CoACD), separate from visuals. |
+| `web_joint.json` | Hinge point, axis, and limit for browser viewers. |
+| `meta.json` | Scale provenance, material, masses, inertia method, joint schema, gravity-torque analysis, holding mechanism, and the full QC gate record. |
+| `qc.json` | The 26-check validation report for this object. |
+| `sim.gif` | The MuJoCo verification sweep, rendered. |
+| `source.png` | The concept image the object was reconstructed from. |
+
+A top-level **`metadata.jsonl`** holds one row per asset; **`stats.json`** has
+aggregate numbers.
+
+## Physics fields worth knowing
+
+- **Real-world scale**: every object is metrically scaled from a user-provided
+  real height (`scale_source: "user"`), not normalized units.
+- **Mass and inertia**: computed from the actual mesh shell (voxel-shell method
+  for non-watertight parts, recorded per part in `inertia_method`), optionally
+  rescaled to user-provided masses. A hollow box is not a solid block here.
+- **Joint dynamics**: each joint records its maximum gravity torque and a
+  `holding_mechanism`. Gravity-opening joints receive dry friction or a
+  counterbalance spring (in the MJCF; URDF has no native spring element, so
+  URDF consumers should read `meta.json` and inject equivalents at load time,
+  the same pattern ManiSkill uses for PartNet-Mobility).
+- **Collision honesty**: convex decomposition cannot represent every nesting
+  shape perfectly; where a simplification was applied it is recorded in
+  `meta.json` (`collision_note`), never silent.
+
+## Intended uses
+
+- **Robot-learning environments**: drop `scene.xml` into MuJoCo and train
+  open/close manipulation immediately; URDF for other simulators.
+- **Articulated-object understanding**: paired source image, textured mesh,
+  parts, and joint parameters per object.
+- **Scene composition**: retrieval-ready articulated assets for simulation
+  scene generators.
+
+## Limitations
+
+- 15 objects, one revolute joint each. No prismatic joints, no multi-joint
+  objects in this release.
+- Collision is convex decomposition: shapes that nest (a flip-lid skirt over a
+  rim) carry a documented clearance floor in `meta.json`.
+- Visual meshes are single-image 3D reconstructions: stylized, occasional small
+  surface artifacts, not CAD or scans of specific real products.
+- Masses and materials are assigned per object (recorded with provenance), not
+  measured from physical references.
+- Validated in MuJoCo. URDF loads cleanly elsewhere, but other simulators'
+  defaults differ; PhysX/Isaac validation is planned, not included.
+
+## License & attribution
+
+Released under **[CC-BY-4.0](https://creativecommons.org/licenses/by/4.0/)**:
+
+> "njc-articulated-hinge: sim-verified articulated 3D objects" by notjustchairs.ai, CC-BY-4.0.
+
+Reconstruction and processing use open tools and models with permissive
+licenses, including TRELLIS (MIT outputs), BiRefNet, CoACD, and MuJoCo. See
+`THIRD-PARTY-LICENSES.md`.
+
+## Citation
+
+```bibtex
+@misc{notjustchairs_articulatedhinge_2026,
+  title  = {njc-articulated-hinge: sim-verified articulated 3D objects},
+  author = {notjustchairs.ai},
+  year   = {2026},
+  howpublished = {Hugging Face Datasets},
+  note   = {CC-BY-4.0}
+}
+```
+
+## Dataset statistics
+
+- **15 objects**: 8 lids, 6 doors, 1 clamshell
+- **390 automated QC checks passed** (26 per object, zero failures)
+- **Executability: 15/15** (full-range actuation in MuJoCo from the shipped files, contacts active)
+- **1296 convex collision hulls** across the set
+- All objects metrically scaled with user provenance; masses assigned per object
+
+| Object | Class | Mass (base+lid kg) | Open range | Hulls | QC |
+|---|---|---|---|---|---|
+| laptop | clamshell | 3.0 + 1.5 | 105 deg | 53 | 26/26 |
+| kitchen cabinet | door | 6.0 + 1.6 | 105 deg | 124 | 26/26 |
+| locker | door | 25.0 + 4.0 | 127 deg | 49 | 26/26 |
+| medicine cabinet | door | 8.0 + 2.0 | 80 deg | 71 | 26/26 |
+| microwave | door | 12.0 + 1.5 | 83 deg | 95 | 26/26 |
+| minifridge | door | 18.0 + 3.0 | 113 deg | 59 | 26/26 |
+| safe | door | 35.0 + 7.0 | 89 deg | 82 | 26/26 |
+| bread box | lid | 1.5 + 0.5 | 113 deg | 75 | 26/26 |
+| cooler | lid | 4.0 + 1.5 | 129 deg | 121 | 26/26 |
+| jewelry box | lid | 0.5 + 0.1 | 142 deg | 53 | 26/26 |
+| toilet | lid | 25.0 + 2.0 | 94 deg | 124 | 26/26 |
+| toolbox | lid | 3.0 + 0.8 | 130 deg | 60 | 26/26 |
+| toy chest | lid | 7.0 + 2.0 | 171 deg | 130 | 26/26 |
+| trash bin | lid | 2.5 + 0.4 | 120 deg | 110 | 26/26 |
+| wooden box | lid | 3.2 + 1.3 | 139 deg | 90 | 26/26 |
+
+---
+
+*Questions, custom articulated collections, or verified data for your pipeline?
+[Get in touch](https://notjustchairs.ai/connect).*

THIRD-PARTY-LICENSES.md

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+# Third-party licenses and attribution
+
+The assets in this dataset were produced with the following open tools and
+models. The dataset itself is released under CC-BY-4.0; the tools below carry
+their own permissive licenses, listed for attribution.
+
+| Tool / model | Use | License |
+|---|---|---|
+| TRELLIS (Microsoft) | image-to-3D reconstruction | MIT (code); outputs unrestricted |
+| BiRefNet | background matting of source images | MIT |
+| CoACD | convex collision decomposition | MIT |
+| MuJoCo (Google DeepMind) | physics validation and simulation artifacts | Apache-2.0 |
+| trimesh | mesh processing | MIT |
+
+Source concept images were created by notjustchairs.ai.

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assets/bread-box/collision/base_c10.obj

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assets/bread-box/collision/base_c11.obj

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assets/bread-box/collision/base_c12.obj

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assets/bread-box/collision/base_c13.obj

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assets/bread-box/collision/base_c14.obj

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assets/bread-box/collision/base_c15.obj

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assets/bread-box/collision/base_c16.obj

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assets/bread-box/collision/base_c17.obj

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assets/bread-box/collision/base_c18.obj

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assets/bread-box/collision/base_c19.obj

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assets/bread-box/collision/base_c2.obj

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assets/bread-box/collision/base_c20.obj

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assets/bread-box/collision/base_c21.obj

@@ -0,0 +1,172 @@
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assets/bread-box/collision/base_c22.obj

@@ -0,0 +1,187 @@
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assets/bread-box/collision/base_c23.obj

@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+

assets/bread-box/collision/base_c24.obj

@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+

assets/bread-box/collision/base_c25.obj

@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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+

assets/bread-box/collision/base_c26.obj

@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+

assets/bread-box/collision/base_c27.obj

@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
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assets/bread-box/collision/base_c28.obj

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assets/bread-box/collision/base_c29.obj

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assets/bread-box/collision/base_c3.obj

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assets/bread-box/collision/base_c30.obj

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assets/bread-box/collision/base_c31.obj

@@ -0,0 +1,220 @@
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assets/bread-box/collision/base_c32.obj

@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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assets/bread-box/collision/base_c33.obj

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assets/bread-box/collision/base_c34.obj

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assets/bread-box/collision/base_c35.obj

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assets/bread-box/collision/base_c36.obj

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assets/bread-box/collision/base_c37.obj

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assets/bread-box/collision/base_c38.obj

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assets/bread-box/collision/base_c39.obj

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assets/bread-box/collision/base_c4.obj

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assets/bread-box/collision/base_c40.obj

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assets/bread-box/collision/base_c41.obj

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assets/bread-box/collision/base_c42.obj

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assets/bread-box/collision/base_c43.obj

@@ -0,0 +1,223 @@
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assets/bread-box/collision/base_c44.obj

@@ -0,0 +1,118 @@
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assets/bread-box/collision/base_c45.obj

@@ -0,0 +1,274 @@
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assets/bread-box/collision/base_c46.obj

@@ -0,0 +1,157 @@
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assets/bread-box/collision/base_c47.obj

@@ -0,0 +1,73 @@
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assets/bread-box/collision/base_c5.obj

@@ -0,0 +1,175 @@
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assets/bread-box/collision/base_c6.obj

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