Upload folder using huggingface_hub (part 83)

.gitattributes

@@ -9451,3 +9451,27 @@ data/UPB_00001412/plys/7.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001412/plys/8.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001412/plys/9.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001412/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001413/full_model/model.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001413/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001413/plys/10.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001413/plys/11.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001413/plys/12.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001413/plys/13.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001413/plys/14.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001413/plys/15.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001413/plys/16.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001413/plys/17.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001413/plys/18.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001413/plys/19.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001413/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001413/plys/20.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001413/plys/21.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001413/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001413/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001413/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001413/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001413/plys/7.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001413/plys/8.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001413/plys/9.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001413/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001414/full_model/model.obj filter=lfs diff=lfs merge=lfs -text

data/UPB_00001413/annotations/part_16.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001413",
+        "label": "16"
+    },
+    "part_level": {
+        "part_name": "Knob for Tall Door F",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Matte black aluminum knob, ~3*3*2 cm.",
+        "functional_description": "Handhold for the right tall wardrobe door.",
+        "movement_description": "No relative motion; rigid to Door F.",
+        "grasp_description": "Pinch and pull to open/close the door."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_Anodized_Black",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 120,
+        "poisson": 0.33,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001413/annotations/part_17.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001413",
+        "label": "17"
+    },
+    "part_level": {
+        "part_name": "Knob for Drawer 1",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Small square metal drawer knob, ~3*3*2 cm.",
+        "functional_description": "Interface to pull the left drawer.",
+        "movement_description": "Rigid to the drawer front; translates together with the drawer.",
+        "grasp_description": "Fingers wrap and pull to slide the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_Anodized_Black",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 120,
+        "poisson": 0.33,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001413/annotations/part_18.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001413",
+        "label": "18"
+    },
+    "part_level": {
+        "part_name": "Knob for Drawer 2",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Metal knob for the second drawer, ~3*3*2 cm.",
+        "functional_description": "Provides grip to open Drawer 2.",
+        "movement_description": "Rigidly fastened; follows the drawer\u2019s translation.",
+        "grasp_description": "Pinch and pull to actuate the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_Anodized_Black",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 120,
+        "poisson": 0.33,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001413/annotations/part_19.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001413",
+        "label": "19"
+    },
+    "part_level": {
+        "part_name": "Knob for Drawer 3",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Square anodized aluminum knob for Drawer 3.",
+        "functional_description": "Handhold to pull the third drawer.",
+        "movement_description": "Rigid to the drawer front; no independent motion.",
+        "grasp_description": "Pulled with fingertips to slide the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_Anodized_Black",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 120,
+        "poisson": 0.33,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001413/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001413",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Left-Center Drawer 2",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Middle-left drawer, MDF painted, approx. 55*45*20 cm.",
+        "functional_description": "Storage for small items beneath the open shelf.",
+        "movement_description": "Translates on slides relative to the carcass.",
+        "grasp_description": "Pulled by its dedicated knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 12,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                18
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
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+                    -1.0980947017669678
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001413/annotations/part_20.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001413",
+        "label": "20"
+    },
+    "part_level": {
+        "part_name": "Knob for Drawer 4",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Metal knob for the rightmost drawer, ~3*3*2 cm.",
+        "functional_description": "Primary grip to operate Drawer 4.",
+        "movement_description": "Rigid connection; moves with the drawer during translation.",
+        "grasp_description": "Fingertips pull rearward to open."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_Anodized_Black",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 120,
+        "poisson": 0.33,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001413/annotations/part_21.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001413",
+        "label": "21"
+    },
+    "part_level": {
+        "part_name": "Cabinet Carcass and Shelves",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Main structural body with fixed panels and shelves, covering the full cabinet size 240*60*220 cm, laminated particle board.",
+        "functional_description": "Provides structural support, internal shelving, and mounting points for drawer slides and door hinges.",
+        "movement_description": "Static reference; other parts translate or rotate relative to this carcass.",
+        "grasp_description": "Not grasped directly during typical use, except incidental contact when placing items."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminate",
+        "density": 0.65,
+        "young": 2.5,
+        "hardness": 10,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001413/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001413",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Right-Center Drawer 3",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Middle-right drawer, MDF painted, approx. 55*45*20 cm.",
+        "functional_description": "Provides drawer storage under the open niche.",
+        "movement_description": "Slides in translation along runners attached to the cabinet.",
+        "grasp_description": "User grips the knob to open/close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 12,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                19
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
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+                "pos": [
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+                "range": [
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+                    0.0
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+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001413/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001413",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Right Drawer 4",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Rightmost drawer, MDF painted, approx. 55*45*20 cm.",
+        "functional_description": "Right-hand drawer storage.",
+        "movement_description": "Slides in/out relative to the cabinet structure.",
+        "grasp_description": "Operated by the attached knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 12,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                20
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
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+                    0.0
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+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001413/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001413",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Upper Door A (far left)",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Tall rectangular cabinet door panel for the left upper bay, approx. 40*80*1.8 cm, MDF painted.",
+        "functional_description": "Covers an upper storage compartment.",
+        "movement_description": "Rotates about a vertical hinge line relative to the carcass.",
+        "grasp_description": "Opened by pulling its knob; door surface itself is not typically grasped."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 12,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                5,
+                11
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -1.38238525390625,
+                    -0.25591349601745605,
+                    0.684066116809845
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001413/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001413",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Upper Door B (left-center)",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Upper door panel for the second bay from left, approx. 40*80*1.8 cm, MDF painted.",
+        "functional_description": "Covers an upper storage cubby.",
+        "movement_description": "Swings on vertical hinges relative to the carcass.",
+        "grasp_description": "Pulled by its knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 12,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                6,
+                12
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+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    -0.4688880145549774,
+                    -0.27052855491638184,
+                    0.3949497640132904
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+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001413/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001413",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Upper Door C (center-right)",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Upper door panel, third from left, approx. 40*80*1.8 cm, MDF painted.",
+        "functional_description": "Closes a compartment above the open niche.",
+        "movement_description": "Rotational opening about a vertical axis via hinges.",
+        "grasp_description": "Operated with the attached knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 12,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                7,
+                13
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.4536105692386627,
+                    -0.2714948356151581,
+                    0.5950634479522705
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001413/annotations/part_8.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001413",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Upper Door D (far right of upper row)",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Rightmost door in the upper row, approx. 40*80*1.8 cm, MDF painted.",
+        "functional_description": "Covers the right-most upper storage bay.",
+        "movement_description": "Rotates open on hinges attached to the carcass.",
+        "grasp_description": "Pulled by its knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 12,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                8,
+                14
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+            "C": {
+                "axis": [
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+                    0.0,
+                    1.0
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+                "pos": [
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+                    0.3385605216026306
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001413/annotations/part_9.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001413",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Tall Door E (right section, left leaf)",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Full-height wardrobe door for the left bay of the right section, approx. 50*210*1.8 cm, MDF painted.",
+        "functional_description": "Encloses a tall hanging/shelved compartment.",
+        "movement_description": "Swings about a vertical hinge line relative to the carcass.",
+        "grasp_description": "Opened using the knob mounted at a convenient height."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 12,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                9,
+                15
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    0.45929187536239624,
+                    -0.27971363067626953,
+                    0.39408841729164124
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001413/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_00001413/full_model/model.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:19f6e994cc43d95276a171e3615eee5aa0fc36aecda106bfb35aad2b5a22ba4e
+size 19913558

data/UPB_00001413/meta_data.json

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+{
+    "id": "UPB_00001413",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Wardrobe Cabinet with Drawers"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 21,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001413/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="helper_link_2"/>
+  <link name="helper_link_3"/>
+  <link name="helper_link_4"/>
+  <link name="helper_link_5"/>
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+  <link name="helper_link_7"/>
+  <link name="helper_link_8"/>
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+        <mesh filename="parts/part_4.obj" scale="0.836965 0.836965 0.836965"/>
+      </geometry>
+    </visual>
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+        <mesh filename="parts/part_5.obj" scale="0.836965 0.836965 0.836965"/>
+      </geometry>
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+        <mesh filename="parts/part_5.obj" scale="0.836965 0.836965 0.836965"/>
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+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.836965 0.836965 0.836965"/>
+      </geometry>
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+        <mesh filename="parts/part_6.obj" scale="0.836965 0.836965 0.836965"/>
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+  </link>
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+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.836965 0.836965 0.836965"/>
+      </geometry>
+    </visual>
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+        <mesh filename="parts/part_7.obj" scale="0.836965 0.836965 0.836965"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.836965 0.836965 0.836965"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.836965 0.836965 0.836965"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.836965 0.836965 0.836965"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.836965 0.836965 0.836965"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.836965 0.836965 0.836965"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.836965 0.836965 0.836965"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.836965 0.836965 0.836965"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.836965 0.836965 0.836965"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.836965 0.836965 0.836965"/>
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+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.836965 0.836965 0.836965"/>
+      </geometry>
+    </collision>
+  </link>
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+    <visual>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.836965 0.836965 0.836965"/>
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+      </geometry>
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+    <visual>
+      <geometry>
+        <mesh filename="parts/part_19.obj" scale="0.836965 0.836965 0.836965"/>
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+        <mesh filename="parts/part_20.obj" scale="0.836965 0.836965 0.836965"/>
+      </geometry>
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+        <mesh filename="parts/part_21.obj" scale="0.836965 0.836965 0.836965"/>
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+    <child link="link_1"/>
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+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
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+    <axis xyz="0.0 0.0 -1.0"/>
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+    <child link="link_7"/>
+    <origin xyz="0.379656 0.227232 -0.498047" rpy="0 0 0"/>
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+    <parent link="link_21"/>
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+    <parent link="helper_link_8"/>
+    <child link="link_9"/>
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+    <parent link="link_21"/>
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+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
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+    <parent link="helper_link_9"/>
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+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <parent link="link_6"/>
+    <child link="link_12"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
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+    <child link="link_13"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <child link="link_14"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
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+    <parent link="link_1"/>
+    <child link="link_17"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
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+  <joint name="joint_27" type="fixed">
+    <parent link="link_2"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
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+    <parent link="link_3"/>
+    <child link="link_19"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_29" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_20"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
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+  <joint name="joint_30" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_21"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

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