Upload folder using huggingface_hub (part 16)

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data/UPB_00001113/plys/model.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001114/annotations/object.json

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+{
+    "object_name": "Built-in Microwave/Oven Combo",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        60.0,
+        55.0,
+        110.0
+    ],
+    "mass": 70.0
+}

data/UPB_00001114/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001114",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Microwave Outer Door (frame with glass)",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Black outer microwave door with tempered glass viewing area; approx 50*30*2 cm.",
+        "functional_description": "Provides a shielded, transparent barrier to the microwave cavity and houses the viewing window.",
+        "movement_description": "Opens on a side hinge relative to the body; soft-closing latch provides damping.",
+        "grasp_description": "Typically pressed to open via release button rather than grasped directly."
+    },
+    "basic_info": {
+        "material": "glass/Tempered_Glass",
+        "density": 2.5,
+        "young": 70.0,
+        "hardness": 600,
+        "poisson": 0.22,
+        "friction": 0.6
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
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+        "motion_info": {
+            "dependency": [
+                1
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+            "C": {
+                "axis": [
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+                    1.0
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+            }
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+    }
+}

data/UPB_00001114/annotations/part_11.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001114",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Microwave Lower Trim Bar",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Narrow decorative bar (~20*1*0.5 cm) below the microwave's control cluster.",
+        "functional_description": "Cosmetic separator trim; covers fasteners and seams.",
+        "movement_description": "Fixed to the body; no motion.",
+        "grasp_description": "Not intended for interaction."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.2,
+        "hardness": 12,
+        "poisson": 0.38,
+        "friction": 0.55
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+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001114/annotations/part_12.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001114",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Microwave Keypad Buttons",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Cluster of small round ABS buttons (~3*6 cm area) on the microwave front.",
+        "functional_description": "User input for power levels, programs, and start/stop.",
+        "movement_description": "Short travel push action with tactile dome switches beneath.",
+        "grasp_description": "Pressed with fingertip; not grasped."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.2,
+        "hardness": 12,
+        "poisson": 0.38,
+        "friction": 0.55
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+    "kinematic_info": {
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+            "D"
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+        "motion_info": {}
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+}

data/UPB_00001114/annotations/part_16.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001114",
+        "label": "16"
+    },
+    "part_level": {
+        "part_name": "Oven Control Panel Glass (black band)",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Long tinted glass fascia spanning the oven controls; ~55*5*0.4 cm.",
+        "functional_description": "Protects the control electronics and provides a clean, wipeable interface area.",
+        "movement_description": "Rigidly fixed to the body; no movement.",
+        "grasp_description": "Touched only for cleaning; not grasped."
+    },
+    "basic_info": {
+        "material": "glass/Tempered_Glass",
+        "density": 2.5,
+        "young": 70.0,
+        "hardness": 600,
+        "poisson": 0.23,
+        "friction": 0.6
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+        "motion_info": {}
+    }
+}

data/UPB_00001114/annotations/part_17.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001114",
+        "label": "17"
+    },
+    "part_level": {
+        "part_name": "Microwave Viewing Window Glass (inner)",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Dark viewing pane within the microwave door; ~24*14*0.4 cm.",
+        "functional_description": "Allows viewing of food while providing a protective barrier.",
+        "movement_description": "Moves with the microwave door as a rigid subassembly.",
+        "grasp_description": "Not gripped; only cleaned."
+    },
+    "basic_info": {
+        "material": "glass/Tempered_Glass",
+        "density": 2.5,
+        "young": 70.0,
+        "hardness": 600,
+        "poisson": 0.22,
+        "friction": 0.6
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001114/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001114",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Oven Door Front (glass assembly)",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Front glass panel of the lower oven door with a stainless lower strip; approx 50*40*3 cm.",
+        "functional_description": "Seals the oven cavity and provides thermal insulation and visibility.",
+        "movement_description": "Rotates downward on bottom hinges with spring assist and damping.",
+        "grasp_description": "Normally opened by pulling the attached handle."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193.0,
+        "hardness": 160,
+        "poisson": 0.29,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                3
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+            "C": {
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+}

data/UPB_00001114/annotations/part_20.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001114",
+        "label": "20"
+    },
+    "part_level": {
+        "part_name": "Oven LED Segment Display",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Multidigit 7-segment LED module (~8*1.8 cm) behind the oven control glass.",
+        "functional_description": "Shows temperature, timer, and status messages.",
+        "movement_description": "Fixed electronics module; no mechanical motion.",
+        "grasp_description": "Viewed only; not handled."
+    },
+    "basic_info": {
+        "material": "other/LED_Segment_Display",
+        "density": 1.3,
+        "young": 2.5,
+        "hardness": 6,
+        "poisson": 0.35,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001114/annotations/part_21.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001114",
+        "label": "21"
+    },
+    "part_level": {
+        "part_name": "Front Stainless Fascia/Trim",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Brushed stainless surround with a lower trim strip; covers ~56*40 cm plus a 56*8 cm strip.",
+        "functional_description": "Decorative and protective fascia aligning the appliance with cabinetry.",
+        "movement_description": "Rigidly fastened to the body frame.",
+        "grasp_description": "Not a handle; only contacted when cleaning."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_430",
+        "density": 7.7,
+        "young": 200.0,
+        "hardness": 170,
+        "poisson": 0.29,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+        "motion_info": {}
+    }
+}

data/UPB_00001114/annotations/part_22.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001114",
+        "label": "22"
+    },
+    "part_level": {
+        "part_name": "Heating Elements and Rack Rails",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Upper/lower heating element loops and side rack guides for both cavities; stainless/heat-resistant alloy.",
+        "functional_description": "Convert electrical energy to heat and provide slide rails for racks.",
+        "movement_description": "Fixed to cavity walls; guide racks that translate in and out.",
+        "grasp_description": "Not touched during operation; cleaned carefully when cool."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_430",
+        "density": 7.7,
+        "young": 200.0,
+        "hardness": 170,
+        "poisson": 0.29,
+        "friction": 0.45
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+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+        "motion_info": {}
+    }
+}

data/UPB_00001114/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001114",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Oven Door Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Brushed stainless tubular bar handle; span ~45 cm, diameter ~2.5 cm.",
+        "functional_description": "Primary grasping point to open/close the oven door.",
+        "movement_description": "Rigid with the oven door; moves as the door rotates.",
+        "grasp_description": "Pulled by hand; surface offers moderate grip."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193.0,
+        "hardness": 180,
+        "poisson": 0.29,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001114/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001114",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Microwave Door Release Button",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Small round ABS push-button (~2 cm diameter) on microwave control side.",
+        "functional_description": "Actuates the latch to pop open the microwave door.",
+        "movement_description": "Short linear push-in motion against an internal spring.",
+        "grasp_description": "Pressed with finger; not intended to be pulled."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.2,
+        "hardness": 12,
+        "poisson": 0.38,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
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+        "motion_info": {
+            "dependency": [
+                4
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+    }
+}

data/UPB_00001114/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001114",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Left Control Knob (oven function selector)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Circular ABS knob (~3 cm diameter) on the oven control band.",
+        "functional_description": "Selects oven modes (e.g., Bake, Grill, Fan).",
+        "movement_description": "Rotates with detents; limited arc with stops.",
+        "grasp_description": "Turned by fingertips; textured edge improves grip."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.2,
+        "hardness": 12,
+        "poisson": 0.38,
+        "friction": 0.55
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+    "kinematic_info": {
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+        "motion_info": {
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+}

data/UPB_00001114/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001114",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Right Control Knob (temperature/time)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Circular ABS knob (~3 cm diameter) on the oven control band.",
+        "functional_description": "Sets oven temperature or time depending on mode.",
+        "movement_description": "Indexed rotation with spring-return or hard stops.",
+        "grasp_description": "Turned by hand; comfortable knurling for control."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.2,
+        "hardness": 12,
+        "poisson": 0.38,
+        "friction": 0.55
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+    "kinematic_info": {
+        "motion_types": [
+            "C"
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+        "motion_info": {
+            "dependency": [
+                6
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+            "C": {
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+}

data/UPB_00001114/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001114",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Oven Rack and Baking Tray",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Removable enameled steel tray with a wire rack; approx 42*37*3 cm.",
+        "functional_description": "Supports cookware and food; can be repositioned or removed for cleaning.",
+        "movement_description": "Slides along side rails; may tilt slightly when extended.",
+        "grasp_description": "Pulled by both hands from the front edge or rack wires."
+    },
+    "basic_info": {
+        "material": "metal/Carbon_Steel_Enamel",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 120,
+        "poisson": 0.29,
+        "friction": 0.5
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+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+        "motion_info": {}
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+}

data/UPB_00001114/annotations/part_8.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001114",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Appliance Body and Inner Cavities",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Structural shell with two inner cavities (microwave above, oven below); welded stainless steel panels and liners.",
+        "functional_description": "Provides rigidity, thermal shielding, and mounting points for doors, controls, and heating components.",
+        "movement_description": "Static frame; hosts hinges, slides, and fasteners for moving parts.",
+        "grasp_description": "Not intended to be grasped directly during normal use."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193.0,
+        "hardness": 160,
+        "poisson": 0.29,
+        "friction": 0.4
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+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+        "motion_info": {}
+    }
+}

data/UPB_00001114/annotations/part_9.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001114",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Microwave Display Lens",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Small dark-tinted window (~4*2 cm) covering the microwave's LED display.",
+        "functional_description": "Protects and visually filters the display while allowing light to pass.",
+        "movement_description": "Fixed to the front panel; no motion.",
+        "grasp_description": "Not touched directly except when cleaning."
+    },
+    "basic_info": {
+        "material": "plastic/Polycarbonate_PC",
+        "density": 1.2,
+        "young": 2.4,
+        "hardness": 15,
+        "poisson": 0.37,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001114/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_00001114/full_model/model.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:df19275d79d20de4e3ac5c77b2b638dc5e083828bdc3a94f5bbf646ee76e079b
+size 15579751

data/UPB_00001114/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001114",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Built-in Microwave/Oven Combo"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 16,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001114/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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_16">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_17">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_20">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_20.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_20.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_21">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_21.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_21.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_22">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_22.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_22.obj" scale="0.977675 0.977675 0.977675"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_8"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.260525 -0.273027 0.346316" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <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="-0.260525 0.273027 -0.346316" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_8"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 -0.263940 -0.543982" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <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 0.263940 0.543982" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="continuous">
+    <parent link="link_8"/>
+    <child link="helper_link_2"/>
+    <origin xyz="-0.225124 -0.289093 0.247110" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_4"/>
+    <origin xyz="0.225124 0.289093 -0.247110" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="continuous">
+    <parent link="link_8"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.086326 -0.291204 0.049611" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_5"/>
+    <origin xyz="-0.086326 0.291204 -0.049611" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="continuous">
+    <parent link="link_8"/>
+    <child link="helper_link_4"/>
+    <origin xyz="-0.087215 -0.290609 0.050982" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_6"/>
+    <origin xyz="0.087215 0.290609 -0.050982" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_12"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_16" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_16"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_17" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_17"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_18" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_20"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_19" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_21"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_20" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_22"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001114/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_00001114/parts/2.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 2.png

data/UPB_00001114/parts/21.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 21.png

data/UPB_00001114/parts/5.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 5.png

data/UPB_00001114/parts/6.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 6.png

data/UPB_00001114/parts/8.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 8.png

data/UPB_00001114/parts/9.mtl

@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+
+newmtl MI_662e0d5221e86b00014a9acc
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.00000000 0.00000000 0.00000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000