Upload folder using huggingface_hub (part 7)

.gitattributes

@@ -482,3 +482,61 @@ data/UPB_00000496/plys/7.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00000496/plys/8.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00000496/plys/9.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00000496/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000497/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000497/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000497/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000497/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000498/full_model/model.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000498/parts/part_2.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000498/parts/part_4.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000498/parts/part_5.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000498/parts/part_6.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000498/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000498/plys/10.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000498/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000498/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000498/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000498/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000498/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000498/plys/7.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000498/plys/8.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000498/plys/9.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000498/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000499/full_model/model.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000499/parts/part_3.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000499/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000499/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000499/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000499/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000499/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000499/plys/7.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000499/plys/8.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000499/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000500/full_model/model.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000500/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000500/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000500/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000500/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000500/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000500/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000500/plys/8.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000500/plys/9.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000500/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000501/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000501/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000501/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000501/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000501/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000501/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000501/plys/7.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000501/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000502/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000502/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000502/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000502/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000502/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000502/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000502/plys/7.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000502/plys/8.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000502/plys/9.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000502/plys/model.ply filter=lfs diff=lfs merge=lfs -text

data/UPB_00000497/plys/1.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd1b6c7e50cd69bfd2bdb6e08a92b18f3ac04e9de9d2e0fe01b9a0e3b369a9ad
+size 1443506

data/UPB_00000497/plys/2.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f8a6c0eb62cb926e1365de070127ec3bfd8d7a30e35fa227a07c4bb062e59a6
+size 160242

data/UPB_00000497/plys/3.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c12c40e080fa712a8231e334565dada23718031fa34809d7b8a1c6ed7d86ec1
+size 160242

data/UPB_00000497/plys/model.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af5b2f9afc058bef89ffa31c096f561c412f02b9b12972a59207a5d240289497
+size 1600243

data/UPB_00000498/annotations/object.json

@@ -0,0 +1,10 @@
+{
+    "object_name": "Tall Display Cabinet with Lower Cupboard",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        80.0,
+        40.0,
+        180.0
+    ],
+    "mass": 48.0
+}

data/UPB_00000498/annotations/part_1.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000498",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left interior back panels (upper and lower)",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Two thin MDF backboards that close the rear of the left side of the cabinet interior (one for the upper display bay and one for the lower cupboard). Approximate sizes: upper panel 120*38*0.3 cm, lower panel 40*38*0.3 cm; wood-fiber board with veneer finish.",
+        "functional_description": "Provide racking stiffness and a clean interior surface behind shelves and doors.",
+        "movement_description": "Rigidly fastened to the carcass; no motion.",
+        "grasp_description": "Not intended to be touched in normal use."
+    },
+    "basic_info": {
+        "material": "wood/MDF",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 15,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000498/annotations/part_10.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000498",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Lower right door knob",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Brass knob for the lower-right cupboard door, approx. \u00d83 cm.",
+        "functional_description": "Allows pulling the lower-right door.",
+        "movement_description": "Rigidly attached to its door.",
+        "grasp_description": "Grasp and pull to open the lower-right door."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.38
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000498/annotations/part_2.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000498",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Carcass and fixed shelf frame",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Main plywood carcass (side stiles, top, bottom, and divider) with integrated shelves. Approx. internal module 75*35*160 cm, veneered finish.",
+        "functional_description": "Provides structural support, houses shelves, and supports the hinges for all doors.",
+        "movement_description": "Stationary reference structure; doors rotate about hinges fixed to its side stiles.",
+        "grasp_description": "Usually not grasped directly except when moving the cabinet."
+    },
+    "basic_info": {
+        "material": "wood/Plywood",
+        "density": 0.6,
+        "young": 9.0,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000498/annotations/part_3.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000498",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Upper left framed glass door",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Tall wood-framed door with a tempered-glass center panel; approx. 38*2*120 cm.",
+        "functional_description": "Closes the upper-left display compartment while allowing visibility through the glass.",
+        "movement_description": "Rotates about vertical hinges mounted on the cabinet's left stile; typical opening angle up to ~110 degrees.",
+        "grasp_description": "Pulled open by the attached knob rather than by the door edge."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 45,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                7
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.4177197813987732,
+                    -0.16546852886676788,
+                    0.3416590094566345
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000498/annotations/part_4.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000498",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Upper right framed glass door",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Tall wood-framed door with a tempered-glass insert; approx. 38*2*120 cm.",
+        "functional_description": "Closes the upper-right display compartment.",
+        "movement_description": "Rotates about vertical hinges on the right stile; soft friction in hinges limits swing.",
+        "grasp_description": "Grasped via the right door knob."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 45,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                8
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.41551491618156433,
+                    -0.1607506424188614,
+                    0.33602920174598694
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000498/annotations/part_5.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000498",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Lower left solid door",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Shorter solid-wood door panel for the lower-left cupboard; approx. 38*2*40 cm.",
+        "functional_description": "Closes the lower-left storage compartment.",
+        "movement_description": "Swings on side hinges attached to the carcass; opens about 110 degrees.",
+        "grasp_description": "Opened by the lower-left knob."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 45,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                5,
+                9
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.4174501299858093,
+                    -0.16516412794589996,
+                    -0.574012815952301
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00000498/annotations/part_6.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000498",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Lower right solid door",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Shorter solid-wood door panel for the lower-right cupboard; approx. 38*2*40 cm.",
+        "functional_description": "Closes the lower-right storage compartment.",
+        "movement_description": "Rotates on right-side hinges; typical range up to 110 degrees.",
+        "grasp_description": "Opened by the lower-right knob."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 45,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                6,
+                10
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.41472291946411133,
+                    -0.16108623147010803,
+                    -0.6313592195510864
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00000498/annotations/part_7.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000498",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Upper left door knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Small round brass knob, about \u00d83 cm with 2 cm projection, fixed to the upper-left door.",
+        "functional_description": "Provides a grasp point to pull the upper-left door open or closed.",
+        "movement_description": "Rigidly fixed to the door; no motion relative to it.",
+        "grasp_description": "Pinch or pull with fingers to operate the door."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000498/annotations/part_8.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000498",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Upper right door knob",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Small round brass knob, about \u00d83 cm with 2 cm projection, fixed to the upper-right door.",
+        "functional_description": "Provides a grasp point for the upper-right door.",
+        "movement_description": "Rigidly connected with the door.",
+        "grasp_description": "Pinch with fingers to pull the door."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000498/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000498",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Lower left door knob",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Brass knob for the lower-left cupboard door, approx. \u00d83 cm.",
+        "functional_description": "Allows pulling the lower-left door.",
+        "movement_description": "No motion relative to its door.",
+        "grasp_description": "Grasp and pull to open the lower-left door."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.38
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000498/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_00000498/full_model/model.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef04362d6a899ae9419d0438b0c7a6aca63853808d845b01007c2d044392f52e
+size 50400587

data/UPB_00000498/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00000498",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Tall Display Cabinet with Lower Cupboard"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 10,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000498/model.urdf

@@ -0,0 +1,206 @@
+<?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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.918383 0.918383 0.918383"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.918383 0.918383 0.918383"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.918383 0.918383 0.918383"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.918383 0.918383 0.918383"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.918383 0.918383 0.918383"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.918383 0.918383 0.918383"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.918383 0.918383 0.918383"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.918383 0.918383 0.918383"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.918383 0.918383 0.918383"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.918383 0.918383 0.918383"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.918383 0.918383 0.918383"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.918383 0.918383 0.918383"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.918383 0.918383 0.918383"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.918383 0.918383 0.918383"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.918383 0.918383 0.918383"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.918383 0.918383 0.918383"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.918383 0.918383 0.918383"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.918383 0.918383 0.918383"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.918383 0.918383 0.918383"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.918383 0.918383 0.918383"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_2"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.383627 -0.151964 0.313774" 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_3"/>
+    <origin xyz="0.383627 0.151964 -0.313774" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_2"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.381602 -0.147631 0.308604" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_4"/>
+    <origin xyz="-0.381602 0.147631 -0.308604" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="link_2"/>
+    <child link="helper_link_2"/>
+    <origin xyz="-0.383379 -0.151684 -0.527164" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_5"/>
+    <origin xyz="0.383379 0.151684 0.527164" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="revolute">
+    <parent link="link_2"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.380875 -0.147939 -0.579830" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_6"/>
+    <origin xyz="-0.380875 0.147939 0.579830" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="link_5"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="link_6"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00000498/parts/3.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 3.png

data/UPB_00000498/parts/4.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 4.png

data/UPB_00000498/parts/Bookcase_ZZE4TBBVAIMJIPTULM888888_qH2EB.mtl

@@ -0,0 +1,23 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_62775481b664e2000195b7ba
+Kd 1 1 1
+illum 1
+map_Kd ./T_62775481b664e2000195b7ba_color.jpg
+
+newmtl MI_6277548145462a000160f044
+Kd 0.705627978 0.601051986 0.415576011
+illum 1
+
+newmtl MI_6277548107824a0001dd75ce
+Kd 1 1 1
+Ks 0.100000001 0.100000001 0.100000001
+d 1
+illum 1
+
+newmtl MI_627754815573da0001bea21f
+Kd 1 1 1
+illum 1
+map_Kd ./T_627754815573da0001bea21f_color.jpg
+

data/UPB_00000498/parts/part_2.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7a63fb6f50387caebd5334551f9c6f5f64953ece7e11d6403476167ad64a25c
+size 29259729

data/UPB_00000498/parts/part_4.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd648528f485aa1a0dac5050c4a9535e1d576150b8837f0c64277e4c9b2c6387
+size 11060141

data/UPB_00000498/parts/part_5.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1ec8c114260d1315a4276b1b1ee9033d80cfea90c3cb798cc8fd6cc8b3d3d5e
+size 16329979

data/UPB_00000498/parts/part_6.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a99fae363cda4b56173e83ce0f2bf620f23a6a2ee8f735aaefaaf6d70f999fa
+size 16100590

data/UPB_00000498/plys/1.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7713500d0ac76eaf517d2d133d8dec327ca1ecfdf3af3ded8d3d4604aefcdd60
+size 365938

data/UPB_00000498/plys/10.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bcff8ea475dd4679122493bb6c863e43915209c7b5c898fd694595010c59bf9
+size 160242

data/UPB_00000498/plys/2.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88c033ab9c4e8f99f01b51f336fd87f95ca96aa0e1ff5d6f652c61f0306da31c
+size 849826

data/UPB_00000498/plys/3.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac7b62d4a927e21e92985b5857482c273d8a17f10df16038acd1be51da5c10fc
+size 160242

data/UPB_00000498/plys/4.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be8f391d9fa2aedebe76e0fa6ccfed1402ad3fada9706985f1f0acb16f37ae92
+size 160242

data/UPB_00000498/plys/5.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:400dc85e83e016b7a7dd4fedc7962d71ef5a2be255fd5aafc63c5516de22d191
+size 160242

data/UPB_00000498/plys/6.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8e54da32acd02e70f2d40ee75cbf2549b0256998a347a40520c8b6ffdfdc5e8
+size 160242

data/UPB_00000498/plys/7.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b84973d8160eb36499d066126b7cd1636456f1e2e5aca3e05609dd11ad715031
+size 160242

data/UPB_00000498/plys/8.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b207b8a8e2df27e84f015960e16b0f67098fdc07afe73d1bbb0973e07198536c
+size 160242

data/UPB_00000498/plys/9.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f22c34c316b70dcd60cf18b25d00100ca3a3a7cc2fb38795093235be179b46e2
+size 160242

data/UPB_00000498/plys/model.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af0d73fa14e16e62c16c7c2e0f26a857d20e2261a09aed7049af5ec7a3ef8af8
+size 1600243