Upload folder using huggingface_hub (part 64)

.gitattributes

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data/UPB_00001381/annotations/object.json

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+{
+    "object_name": "Six-door Wardrobe with Four Drawers",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        240.0,
+        60.0,
+        230.0
+    ],
+    "mass": 150.0
+}

data/UPB_00001381/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001381",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Top Center Drawer",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Wooden drawer box with decorative front panel, approx 70*45*15 cm, part of the wardrobe's central stack.",
+        "functional_description": "Provides enclosed storage for small garments and accessories.",
+        "movement_description": "Slides in and out of the frame on runners/wooden guides.",
+        "grasp_description": "User pulls via the attached round knob (part 17)."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.7,
+        "young": 10.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.45
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data/UPB_00001381/annotations/part_10.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001381",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Tall Door F (far right)",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Rightmost full-height door, approx 45*185*2 cm.",
+        "functional_description": "Closes the far-right wardrobe bay.",
+        "movement_description": "Rotates on hinges (part 16) relative to the body.",
+        "grasp_description": "Opened with a small pull or the door edge."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.7,
+        "young": 10.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.5
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+}

data/UPB_00001381/annotations/part_17.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001381",
+        "label": "17"
+    },
+    "part_level": {
+        "part_name": "Knob for Top Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Round anodized aluminum knob, approx \u00d830*25 mm, mounted on the top drawer front.",
+        "functional_description": "Primary hand interface to pull/push the top drawer.",
+        "movement_description": "Rigidly attached; moves with the drawer during translation.",
+        "grasp_description": "Gripped with fingers to pull the drawer outward."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061_Anodized_Black",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001381/annotations/part_18.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001381",
+        "label": "18"
+    },
+    "part_level": {
+        "part_name": "Knob for Second Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Round aluminum knob (\u00d830*25 mm) fixed to the second drawer.",
+        "functional_description": "Hand interface for operating the second drawer.",
+        "movement_description": "Rigid with the drawer; no independent motion.",
+        "grasp_description": "Pinched/pulled by the user."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061_Anodized_Black",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001381/annotations/part_19.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001381",
+        "label": "19"
+    },
+    "part_level": {
+        "part_name": "Knob for Third Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Black anodized aluminum knob (\u00d830*25 mm) on the third drawer.",
+        "functional_description": "Provides grip to open/close the third drawer.",
+        "movement_description": "Rigid attachment; follows drawer translation.",
+        "grasp_description": "Pulled by hand to actuate the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061_Anodized_Black",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001381/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001381",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Second Center Drawer",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Wooden drawer beneath the top one, approx 70*45*15 cm.",
+        "functional_description": "Additional pull-out storage.",
+        "movement_description": "Translates on slides relative to the wardrobe frame.",
+        "grasp_description": "Pulled using its knob (part 18)."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.7,
+        "young": 10.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.45
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+    "kinematic_info": {
+        "motion_types": [
+            "B"
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+        "motion_info": {
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+                18
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+            "B": {
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+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001381/annotations/part_20.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001381",
+        "label": "20"
+    },
+    "part_level": {
+        "part_name": "Knob for Bottom Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Round metal knob (\u00d830*25 mm) attached to the bottom drawer.",
+        "functional_description": "Primary handle for the bottom drawer.",
+        "movement_description": "Rigidly fixed; moves together with the drawer.",
+        "grasp_description": "Grasped by fingers to pull/push the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061_Anodized_Black",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.4
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+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001381/annotations/part_21.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001381",
+        "label": "21"
+    },
+    "part_level": {
+        "part_name": "Wardrobe Frame/Body",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Full wardrobe carcass with vertical bays and top compartments, seen as a multi-compartment plywood structure.",
+        "functional_description": "Provides structural support and storage cavities for clothing; houses the drawers and doors.",
+        "movement_description": "Acts as the parent reference for all moving parts: drawers translate; doors rotate on hinges.",
+        "grasp_description": "Not typically grasped; users interact with knobs and doors attached to it."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.7,
+        "young": 10.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001381/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001381",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Third Center Drawer",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Third wooden drawer in the central stack, approx 70*45*15 cm.",
+        "functional_description": "Pull-out compartment for folded clothes.",
+        "movement_description": "Slides outward and inward within guides fixed to the frame.",
+        "grasp_description": "Operated via drawer knob (part 19)."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.7,
+        "young": 10.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.46
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+    "kinematic_info": {
+        "motion_types": [
+            "B"
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+        "motion_info": {
+            "dependency": [
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+                19
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+}

data/UPB_00001381/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001381",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Bottom Center Drawer",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Lowest drawer of the set, approx 70*45*15 cm, with raised front detailing.",
+        "functional_description": "Stores heavier items or bulk garments.",
+        "movement_description": "Translates on runners relative to the wardrobe frame.",
+        "grasp_description": "Pulled using the attached knob (part 20)."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.7,
+        "young": 10.0,
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+        "poisson": 0.35,
+        "friction": 0.47
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+}

data/UPB_00001381/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001381",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Tall Door A (far left)",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Full-height decorative panel door, approx 45*185*2 cm, positioned at the far left bay.",
+        "functional_description": "Closes off a hanging/storage compartment.",
+        "movement_description": "Rotates outward about vertical hinges fixed to the frame.",
+        "grasp_description": "Typically opened via an attached handle or edge; hinge set (part 11) provides the pivot."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.7,
+        "young": 10.0,
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+        "friction": 0.5
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+                    1.1836549043655396
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001381/annotations/part_6.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001381",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Tall Door B (left inner)",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Second full-height wardrobe door, approx 45*185*2 cm.",
+        "functional_description": "Covers a vertical storage bay.",
+        "movement_description": "Hinged rotation relative to the main frame via hardware (part 12).",
+        "grasp_description": "Opened using an edge or small pull (not shown)."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.7,
+        "young": 10.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                6
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    -0.4623326361179352,
+                    -0.27091747522354126,
+                    0.41506558656692505
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001381/annotations/part_7.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001381",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Tall Door C (left-center)",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Third tall door panel, approx 45*185*2 cm, left-center position.",
+        "functional_description": "Closes a central clothing bay.",
+        "movement_description": "Rotates on vertical hinges attached to the frame.",
+        "grasp_description": "Operated with a small pull/edge; hinge pair (part 13) provides pivot support."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.7,
+        "young": 10.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                7
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    0.44923898577690125,
+                    -0.2832566499710083,
+                    1.1925758123397827
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001381/annotations/part_8.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001381",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Tall Door D (right-center)",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Fourth tall door panel, approx 45*185*2 cm, right-center position.",
+        "functional_description": "Encloses a central-right storage bay.",
+        "movement_description": "Hinged rotation relative to the frame using hinge set (part 14).",
+        "grasp_description": "Opened via a pull/edge."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.7,
+        "young": 10.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                8
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    1.3399333953857422,
+                    -0.2820150852203369,
+                    0.7774440050125122
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001381/annotations/part_9.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001381",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Tall Door E (right inner)",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Fifth tall door, approx 45*185*2 cm.",
+        "functional_description": "Covers a storage bay near the right side.",
+        "movement_description": "Rotates about hinge set (part 15) relative to the frame.",
+        "grasp_description": "Used via a handle or edge."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.7,
+        "young": 10.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                9
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.44014400243759155,
+                    -0.28876978158950806,
+                    1.1138825416564941
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001381/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_00001381/full_model/model.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78947ff3c4e6929b0a4d414c322f05361fe32e5eaa870d591a8837641a4a1cba
+size 28101892

data/UPB_00001381/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001381",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Six-door Wardrobe with Four Drawers"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 15,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001381/model.urdf

@@ -0,0 +1,339 @@
+<?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"/>
+  <link name="helper_link_6"/>
+  <link name="helper_link_7"/>
+  <link name="helper_link_8"/>
+  <link name="helper_link_9"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_17">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_18">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_18.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_18.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_19">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_19.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_19.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_20">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_20.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_20.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_21">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_21.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_21.obj" scale="0.829093 0.829093 0.829093"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_21"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.273781 -0.497395" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.24872796502989605" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.273781 0.497395" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_21"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 -0.262169 -0.655730" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.24872796502989605" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 0.262169 0.655730" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_21"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.000000 -0.265099 -0.808333" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.24872796502989605" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.000000 0.265099 0.808333" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="prismatic">
+    <parent link="link_21"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.000000 -0.244177 -0.958614" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.24872796502989605" upper="0.0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="-0.000000 0.244177 0.958614" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="revolute">
+    <parent link="link_21"/>
+    <child link="helper_link_4"/>
+    <origin xyz="-1.112080 -0.246965 0.981360" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_5"/>
+    <origin xyz="1.112080 0.246965 -0.981360" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="revolute">
+    <parent link="link_21"/>
+    <child link="helper_link_5"/>
+    <origin xyz="-0.383317 -0.224616 0.344128" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="helper_link_5"/>
+    <child link="link_6"/>
+    <origin xyz="0.383317 0.224616 -0.344128" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="revolute">
+    <parent link="link_21"/>
+    <child link="helper_link_6"/>
+    <origin xyz="0.372461 -0.234846 0.988756" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="helper_link_6"/>
+    <child link="link_7"/>
+    <origin xyz="-0.372461 0.234846 -0.988756" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="revolute">
+    <parent link="link_21"/>
+    <child link="helper_link_7"/>
+    <origin xyz="1.110930 -0.233817 0.644574" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="helper_link_7"/>
+    <child link="link_8"/>
+    <origin xyz="-1.110930 0.233817 -0.644574" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_16" type="revolute">
+    <parent link="link_21"/>
+    <child link="helper_link_8"/>
+    <origin xyz="-0.364920 -0.239417 0.923512" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_17" type="fixed">
+    <parent link="helper_link_8"/>
+    <child link="link_9"/>
+    <origin xyz="0.364920 0.239417 -0.923512" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_18" type="revolute">
+    <parent link="link_21"/>
+    <child link="helper_link_9"/>
+    <origin xyz="0.362418 -0.230479 0.387009" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_19" type="fixed">
+    <parent link="helper_link_9"/>
+    <child link="link_10"/>
+    <origin xyz="-0.362418 0.230479 -0.387009" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_20" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_17"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_21" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_18"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_22" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_19"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_23" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_20"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_24" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_21"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>