Upload folder using huggingface_hub (part 94)

.gitattributes

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data/UPB_00001426/annotations/object.json

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+{
+    "object_name": "Four-Door Sideboard with Two Drawers",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        220.0,
+        45.0,
+        95.0
+    ],
+    "mass": 70.0
+}

data/UPB_00001426/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001426",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left-module Drawer 1",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Box-style drawer with a decorative front panel, made of painted MDF.",
+        "functional_description": "Provides enclosed storage in the left side module of the sideboard.",
+        "movement_description": "Slides in and out along wooden/runner guides relative to the cabinet carcass.",
+        "grasp_description": "Users pull this drawer using its handle (part 7), not by the drawer body."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 4.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                7
+            ],
+            "B": {
+                "axis": [
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+                    1.0,
+                    0.0
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+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001426/annotations/part_10.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001426",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Left-Center Door Handle",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Vertical zinc-alloy pull for the left-center door.",
+        "functional_description": "User interface for opening the adjacent door.",
+        "movement_description": "Rigid with the door panel, no relative movement.",
+        "grasp_description": "Typical finger pull to rotate the door."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Zamak",
+        "density": 6.6,
+        "young": 83.0,
+        "hardness": 100,
+        "poisson": 0.34,
+        "friction": 0.36
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001426/annotations/part_11.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001426",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Right-Center Door Handle",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Vertical pull for the right-center door, matching the set.",
+        "functional_description": "Provides leverage to open the right-center door.",
+        "movement_description": "No independent motion relative to the door.",
+        "grasp_description": "Grasped by fingers to swing the door."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Zamak",
+        "density": 6.6,
+        "young": 83.0,
+        "hardness": 100,
+        "poisson": 0.34,
+        "friction": 0.36
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001426/annotations/part_12.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001426",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Right Door Handle",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Vertical zinc-alloy pull attached to the rightmost door.",
+        "functional_description": "Enables operation of the right door.",
+        "movement_description": "Rigidly fixed; follows the door's rotation.",
+        "grasp_description": "Pulled by hand to open/close the right door."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Zamak",
+        "density": 6.6,
+        "young": 83.0,
+        "hardness": 100,
+        "poisson": 0.34,
+        "friction": 0.36
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001426/annotations/part_13.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001426",
+        "label": "13"
+    },
+    "part_level": {
+        "part_name": "Cabinet Carcass and Shelving",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Primary structural body of the sideboard with internal dividers and open shelves; constructed from birch plywood with a painted or veneered finish.",
+        "functional_description": "Provides structural integrity, supports doors, drawers, and shelves, and bears loads placed on the top surface.",
+        "movement_description": "Stationary reference frame to which drawers translate on runners and doors rotate on hinges.",
+        "grasp_description": "Normally not grasped directly; users interact with handles and door edges."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch_Veneer",
+        "density": 0.65,
+        "young": 9.0,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001426/annotations/part_2.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001426",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Left-module Drawer 2",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Second MDF drawer with a paneled front, matching the upper drawer.",
+        "functional_description": "Adds additional small-item storage on the left side module.",
+        "movement_description": "Linear translation on runners relative to the carcass.",
+        "grasp_description": "Pulled via its metal handle (part 8)."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 4.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                8
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.6234121918678284,
+                    0.0,
+                    -0.25057128071784973
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001426/annotations/part_3.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001426",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Left Door",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Paneled MDF cabinet door located at the far left of the main cabinet.",
+        "functional_description": "Covers and protects the left storage compartment.",
+        "movement_description": "Rotates on hinges fixed to the carcass; opens outward.",
+        "grasp_description": "Opened using the attached handle (part 9)."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 4.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                9
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.4037400484085083,
+                    -0.1638370305299759,
+                    0.2780764698982239
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001426/annotations/part_4.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001426",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Left-Center Door",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Second paneled MDF door from the left.",
+        "functional_description": "Covers the left-center storage bay.",
+        "movement_description": "Hinged rotation relative to the carcass.",
+        "grasp_description": "Pulled by its handle (part 10)."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 4.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                10
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.3816974461078644,
+                    -0.16002298891544342,
+                    -1.3064948234386975e-08
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001426/annotations/part_5.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001426",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Right-Center Door",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Third paneled MDF door, located right of center.",
+        "functional_description": "Closes the right-center compartment.",
+        "movement_description": "Swings on hinges attached to the carcass.",
+        "grasp_description": "Operated via its handle (part 11)."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 4.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                5,
+                11
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    0.39244022965431213,
+                    -0.15543967485427856,
+                    0.1937086135149002
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001426/annotations/part_6.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001426",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Right Door",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Rightmost paneled MDF cabinet door.",
+        "functional_description": "Protects the right storage compartment from dust and impact.",
+        "movement_description": "Rotational opening via side hinges with soft closing resistance.",
+        "grasp_description": "Grasped by its handle (part 12) during use."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 4.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                6,
+                12
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    1.179588794708252,
+                    -0.1622152477502823,
+                    -9.281114543568947e-09
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001426/annotations/part_7.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001426",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Drawer 1 Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Curved metal pull fixed to Drawer 1 with two screws.",
+        "functional_description": "Primary interface to pull the upper left-module drawer.",
+        "movement_description": "No independent motion; rigid with the drawer front.",
+        "grasp_description": "Pinch or hook fingers underneath to pull the drawer outward."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Zamak",
+        "density": 6.6,
+        "young": 83.0,
+        "hardness": 100,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001426/annotations/part_8.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001426",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Drawer 2 Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Curved zinc-alloy pull matching the other drawer handle.",
+        "functional_description": "Interface for operating Drawer 2.",
+        "movement_description": "Rigidly attached to the drawer, no separate motion.",
+        "grasp_description": "User wraps fingers and pulls to translate the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Zamak",
+        "density": 6.6,
+        "young": 83.0,
+        "hardness": 100,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001426/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001426",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Left Door Handle",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Vertical pull attached to the left door.",
+        "functional_description": "Allows easy opening and closing of the left door.",
+        "movement_description": "No independent motion; follows the door.",
+        "grasp_description": "Gripped by fingers for rotating the door open and closed."
+    },
+    "basic_info": {
+        "material": "metal/Zinc_Alloy_Zamak",
+        "density": 6.6,
+        "young": 83.0,
+        "hardness": 100,
+        "poisson": 0.34,
+        "friction": 0.36
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001426/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_00001426/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001426",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Four-Door Sideboard with Two Drawers"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 13,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001426/model.urdf

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+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="helper_link_2"/>
+  <link name="helper_link_3"/>
+  <link name="helper_link_4"/>
+  <link name="helper_link_5"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.907242 0.907242 0.907242"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.907242 0.907242 0.907242"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.907242 0.907242 0.907242"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.907242 0.907242 0.907242"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.907242 0.907242 0.907242"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.907242 0.907242 0.907242"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.907242 0.907242 0.907242"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.907242 0.907242 0.907242"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.907242 0.907242 0.907242"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.907242 0.907242 0.907242"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.907242 0.907242 0.907242"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.907242 0.907242 0.907242"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.907242 0.907242 0.907242"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.907242 0.907242 0.907242"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.907242 0.907242 0.907242"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.907242 0.907242 0.907242"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.907242 0.907242 0.907242"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.907242 0.907242 0.907242"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.907242 0.907242 0.907242"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.907242 0.907242 0.907242"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.907242 0.907242 0.907242"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.907242 0.907242 0.907242"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.907242 0.907242 0.907242"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.907242 0.907242 0.907242"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.907242 0.907242 0.907242"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.907242 0.907242 0.907242"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_13"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.936500 -0.170905 -0.194029" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2721725374498031" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.936500 0.170905 0.194029" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_13"/>
+    <child link="helper_link_1"/>
+    <origin xyz="-0.565586 0.000000 -0.227329" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2721725374498031" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0.565586 -0.000000 0.227329" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="link_13"/>
+    <child link="helper_link_2"/>
+    <origin xyz="-0.366290 -0.148640 0.252283" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0.366290 0.148640 -0.252283" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="revolute">
+    <parent link="link_13"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.346292 -0.145180 -0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="-0.346292 0.145180 0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="revolute">
+    <parent link="link_13"/>
+    <child link="helper_link_4"/>
+    <origin xyz="0.356038 -0.141021 0.175741" 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="-0.356038 0.141021 -0.175741" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="revolute">
+    <parent link="link_13"/>
+    <child link="helper_link_5"/>
+    <origin xyz="1.070172 -0.147168 -0.000000" 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="-1.070172 0.147168 0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_16" type="fixed">
+    <parent link="link_5"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_17" type="fixed">
+    <parent link="link_6"/>
+    <child link="link_12"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_18" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_13"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001426/parts/wardrobe_YVIPKVBVAIIPGPTULM888888_qHMIR.mtl

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+illum 1
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