Upload folder using huggingface_hub (part 91)

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+    "category": "Furniture/StorageFurniture",
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+        "entity": "UPB_00001423",
+        "label": "1"
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+    "part_level": {
+        "part_name": "Upper Drawer Box",
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+        "graspable": false,
+        "basic_description": "Laminated particle-board drawer box (approx. 60*45*18 cm) with a decorative front.",
+        "functional_description": "Provides enclosed storage; rides on side slides within the wardrobe.",
+        "movement_description": "Translates in and out along slide rails relative to the carcass.",
+        "grasp_description": "User pulls via the attached knob; the box itself is not gripped."
+    },
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+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "ABS plastic knob (approx. 3*3*2 cm).",
+        "functional_description": "Grip to operate the second door from the left.",
+        "movement_description": "Rigidly joined; no independent motion.",
+        "grasp_description": "Pulled or pushed with fingertips."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.3,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001423/annotations/part_11.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001423",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Door Knob - Center Door",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "ABS knob (approx. 3*3*2 cm), rounded-square shape.",
+        "functional_description": "Handle for the central door.",
+        "movement_description": "Rigid attachment to door panel.",
+        "grasp_description": "Common pinch grip; surface comfortable to touch."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.3,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001423/annotations/part_12.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001423",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Door Knob - Fourth Door",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "ABS plastic knob (approx. 3*3*2 cm).",
+        "functional_description": "Grip point for the fourth door.",
+        "movement_description": "No relative motion; fixed by screw to the door.",
+        "grasp_description": "Pulled by fingers to swing the door."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.3,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001423/annotations/part_13.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001423",
+        "label": "13"
+    },
+    "part_level": {
+        "part_name": "Door Knob - Rightmost Door",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Matte ABS knob (approx. 3*3*2 cm).",
+        "functional_description": "Handle for the rightmost door.",
+        "movement_description": "Rigidly attached; no movement.",
+        "grasp_description": "Pinch grip; comfortable rounded edges."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.3,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001423/annotations/part_14.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001423",
+        "label": "14"
+    },
+    "part_level": {
+        "part_name": "Drawer Knob - Upper Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "ABS knob sized about 3*3*2 cm for the top drawer.",
+        "functional_description": "Provides the pull point to translate the upper drawer.",
+        "movement_description": "Rigid connection to the drawer front; transmits pulling force.",
+        "grasp_description": "Hook or pinch grip by hand."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.3,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001423/annotations/part_15.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001423",
+        "label": "15"
+    },
+    "part_level": {
+        "part_name": "Drawer Knob - Middle Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "ABS drawer knob (approx. 3*3*2 cm).",
+        "functional_description": "Handle for extending/retracting the middle drawer.",
+        "movement_description": "Rigidly fixed; no relative motion.",
+        "grasp_description": "Pulled with fingers; provides leverage on slides."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.3,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001423/annotations/part_16.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001423",
+        "label": "16"
+    },
+    "part_level": {
+        "part_name": "Drawer Knob - Lower Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "ABS knob (approx. 3*3*2 cm) for the lowest drawer.",
+        "functional_description": "Allows the heavy lower drawer to be pulled out safely.",
+        "movement_description": "Rigidly fixed; transmits pull force to the drawer slides.",
+        "grasp_description": "Common pinch or full-hand grasp depending on load."
+    },
+    "basic_info": {
+        "material": "metal",
+        "density": 7.095321614455091,
+        "young": 162.66640479230088,
+        "hardness": 160.52450162034765,
+        "poisson": 0.3059805558283549,
+        "friction": 0.4258902091721515
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001423/annotations/part_17.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001423",
+        "label": "17"
+    },
+    "part_level": {
+        "part_name": "Wardrobe Carcass and Internal Partitions",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Main wardrobe structure with back panel, side panels, top/bottom, shelves, and vertical partitions; laminated particle board, overall envelope 200*60*220 cm.",
+        "functional_description": "Provides rigidity and support, houses hinges and drawer slides, and defines storage compartments.",
+        "movement_description": "Static reference body for all doors and drawers; does not move.",
+        "grasp_description": "Rarely grasped directly; touched when cleaning or moving the furniture."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminated",
+        "density": 0.7,
+        "young": 3.2,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001423/annotations/part_2.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001423",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Middle Drawer Box",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Laminated particle-board drawer box (approx. 60*45*18 cm).",
+        "functional_description": "Provides mid-level storage in the drawer stack.",
+        "movement_description": "Slides outward/inward on rails relative to the carcass.",
+        "grasp_description": "Pulled by its knob for access."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminated",
+        "density": 0.7,
+        "young": 3.2,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                15
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.676849901676178,
+                    -0.2800000011920929,
+                    -0.9352903962135315
+                ],
+                "range": [
+                    -0.3499999940395355,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001423/annotations/part_3.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001423",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Lower Drawer Box",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Lowest laminated particle-board drawer (approx. 60*45*20 cm).",
+        "functional_description": "Deep drawer for bulkier items.",
+        "movement_description": "Translates along slides; slightly higher damping due to weight.",
+        "grasp_description": "User pulls by its knob; the front face is rarely grabbed directly."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminated",
+        "density": 0.7,
+        "young": 3.2,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                16
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.6804673671722412,
+                    -0.2800000011920929,
+                    -1.1631419658660889
+                ],
+                "range": [
+                    -0.3499999940395355,
+                    0.0
+                ],
+                "damping": 0.07
+            }
+        }
+    }
+}

data/UPB_00001423/annotations/part_4.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001423",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Leftmost Narrow Door",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Tall laminated MDF door panel (approx. 35*2*210 cm).",
+        "functional_description": "Covers the left compartment; attaches to hinges.",
+        "movement_description": "Rotates about a vertical hinge axis relative to the carcass.",
+        "grasp_description": "Opened by pulling the knob; the panel edge may be touched but not firmly grasped."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                9
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -1.1329056024551392,
+                    -0.2800000011920929,
+                    -3.87777134847056e-08
+                ],
+                "range": [
+                    0.0,
+                    1.7453292519943295
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001423/annotations/part_5.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001423",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Second Door from Left",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Tall laminated MDF door panel (approx. 40*2*210 cm).",
+        "functional_description": "Covers an internal hanging/shelf bay.",
+        "movement_description": "Swings outward around vertical hinges fixed to the carcass.",
+        "grasp_description": "Pulled via its knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                5,
+                10
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.6700000166893005,
+                    -0.2800000011920929,
+                    2.3115751091040693e-08
+                ],
+                "range": [
+                    0.0,
+                    1.7453292519943295
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001423/annotations/part_6.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001423",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Center Door",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Central laminated MDF door (approx. 45*2*210 cm).",
+        "functional_description": "Front cover for the central compartment.",
+        "movement_description": "Rotates about a side hinge; includes magnetic catch at closure.",
+        "grasp_description": "User engages the knob to open/close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                6,
+                11
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.2239266186952591,
+                    -0.2800000011920929,
+                    -7.664682222241481e-09
+                ],
+                "range": [
+                    0.0,
+                    1.7453292519943295
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001423/annotations/part_7.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001423",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Fourth Door",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Laminated MDF door panel (approx. 45*2*210 cm).",
+        "functional_description": "Covers the compartment adjacent to the drawer stack.",
+        "movement_description": "Swings outward around a vertical hinge line.",
+        "grasp_description": "Handled via the rigidly attached knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                7,
+                12
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    0.22921334207057953,
+                    -0.2800000011920929,
+                    7.845637917114345e-09
+                ],
+                "range": [
+                    0.0,
+                    1.7453292519943295
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001423/annotations/part_8.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001423",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Rightmost Door",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Tall laminated MDF door panel (approx. 35*2*210 cm).",
+        "functional_description": "Closes the rightmost storage bay.",
+        "movement_description": "Rotates about a vertical hinge axis fixed to the carcass.",
+        "grasp_description": "Opened by pulling the knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                8,
+                13
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    1.1240427494049072,
+                    -0.2800000011920929,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.7453292519943295
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001423/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001423",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Door Knob - Leftmost",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Small ABS knob (approx. 3*3*2 cm), matte black.",
+        "functional_description": "Provides a grip point to open the leftmost door.",
+        "movement_description": "Rigidly fixed to the door; transmits human force to hinges.",
+        "grasp_description": "Pinch or three-finger pull; high-friction surface aids grip."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.3,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001423/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_00001423/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001423",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Five-door Wardrobe with Three Drawers"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 17,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001423/model.urdf

@@ -0,0 +1,357 @@
+<?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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_14">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_15">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_16">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_17">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="0.846154 0.846154 0.846154"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_17"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.571847 -0.236923 -0.619056" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.29615379782635964" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.571847 0.236923 0.619056" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_17"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.572719 -0.236923 -0.791399" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.29615379782635964" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.572719 0.236923 0.791399" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_17"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.575780 -0.236923 -0.984197" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.29615379782635964" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.575780 0.236923 0.984197" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="revolute">
+    <parent link="link_17"/>
+    <child link="helper_link_3"/>
+    <origin xyz="-0.958612 -0.236923 -0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="0.958612 0.236923 0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="revolute">
+    <parent link="link_17"/>
+    <child link="helper_link_4"/>
+    <origin xyz="-0.566923 -0.236923 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_5"/>
+    <origin xyz="0.566923 0.236923 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="revolute">
+    <parent link="link_17"/>
+    <child link="helper_link_5"/>
+    <origin xyz="0.189476 -0.236923 -0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="helper_link_5"/>
+    <child link="link_6"/>
+    <origin xyz="-0.189476 0.236923 0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="revolute">
+    <parent link="link_17"/>
+    <child link="helper_link_6"/>
+    <origin xyz="0.193950 -0.236923 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="helper_link_6"/>
+    <child link="link_7"/>
+    <origin xyz="-0.193950 0.236923 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="revolute">
+    <parent link="link_17"/>
+    <child link="helper_link_7"/>
+    <origin xyz="0.951113 -0.236923 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="helper_link_7"/>
+    <child link="link_8"/>
+    <origin xyz="-0.951113 0.236923 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_16" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_17" type="fixed">
+    <parent link="link_5"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_18" type="fixed">
+    <parent link="link_6"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_19" type="fixed">
+    <parent link="link_7"/>
+    <child link="link_12"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_20" type="fixed">
+    <parent link="link_8"/>
+    <child link="link_13"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_21" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_14"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_22" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_15"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_23" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_16"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_24" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_17"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>