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UniPhys-Bench-Part2

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3d
physical-grounding
articulation
robotics
simulation
benchmark
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UniPhys-Bench-Part2 / data /UPB_00000021 /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"/>
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</geometry>
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<link name="link_18">
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<link name="link_19">
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<link name="link_20">
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<link name="link_28">
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<joint name="joint_2" type="prismatic">
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<joint name="joint_5" type="fixed">
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<joint name="joint_6" type="fixed">
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<joint name="joint_7" type="fixed">
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<joint name="joint_8" type="fixed">
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<joint name="joint_9" type="fixed">
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<joint name="joint_10" type="fixed">
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<joint name="joint_11" type="fixed">
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<joint name="joint_12" type="fixed">
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<joint name="joint_13" type="fixed">
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<joint name="joint_14" type="fixed">
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<joint name="joint_15" type="fixed">
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<joint name="joint_16" type="fixed">
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<joint name="joint_17" type="fixed">
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<joint name="joint_18" type="fixed">
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<joint name="joint_19" type="fixed">
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<joint name="joint_26" type="fixed">
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<joint name="joint_27" type="fixed">
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<joint name="joint_28" type="fixed">
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<joint name="joint_29" type="fixed">
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<joint name="joint_30" type="fixed">
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<joint name="joint_31" type="fixed">
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<joint name="joint_32" type="fixed">
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<joint name="joint_33" type="fixed">
<parent link="base_link"/>
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</robot>