Upload folder using huggingface_hub (part 47)

.gitattributes

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data/UPB_00000742/meta_data.json

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+{
+    "id": "UPB_00000742",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Antique Sideboard with Marble Top"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 8,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000742/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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.931921 0.931921 0.931921"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.931921 0.931921 0.931921"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.931921 0.931921 0.931921"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.931921 0.931921 0.931921"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.931921 0.931921 0.931921"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.931921 0.931921 0.931921"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
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+    </visual>
+    <collision>
+      <geometry>
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+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
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+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.931921 0.931921 0.931921"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.931921 0.931921 0.931921"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
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+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
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+  </link>
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+    <visual>
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+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.931921 0.931921 0.931921"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_7"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.641972 -0.187894 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.641972 0.187894 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_7"/>
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+    <axis xyz="0.0 0.0 -1.0"/>
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+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
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+  </joint>
+  <joint name="joint_4" type="revolute">
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+    <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"/>
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+    <origin xyz="-0.641925 0.187894 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00000742/parts/9.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5c39863c0b160a7702e74116
+Kd 1 1 1
+illum 1
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+bump ./T_5c39863c0b160a7702e74116_normal.jpg
+map_bump ./T_5c39863c0b160a7702e74116_normal.jpg
+
+newmtl MI_5c39863c0b160a7702e74119
+Kd 1 1 1
+illum 1
+map_Kd ./T_5c39863c0b160a7702e74119_color.jpg
+
+newmtl MI_5c39863c0b160a7702e74118
+Kd 1 1 1
+illum 1
+map_Kd ./T_5c39863c0b160a7702e74118_color_front.jpg
+bump ./T_5c39863c0b160a7702e74118_normal.jpg
+map_bump ./T_5c39863c0b160a7702e74118_normal.jpg
+
+newmtl MI_5c39863c0b160a7702e74117
+Kd 1 1 1
+illum 1
+map_Kd ./T_5c39863c0b160a7702e74117_color.jpg
+

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data/UPB_00000743/annotations/object.json

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+{
+    "object_name": "Kitchen Hutch Cabinet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        90.0,
+        40.0,
+        180.0
+    ],
+    "mass": 45.0
+}

data/UPB_00000743/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000743",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Upper Left Cabinet Door",
+        "affordance": 7,
+        "graspable": true,
+        "basic_description": "A veneered MDF framed door panel sized about 35*2*30 cm for the upper-left compartment.",
+        "functional_description": "Closes and conceals the upper-left storage bay, providing dust protection.",
+        "movement_description": "Rotates outward about a vertical hinge axis fixed to the cabinet body.",
+        "grasp_description": "Typically pulled from the edge or recess; fingers grip the door frame to open/close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneered",
+        "density": 0.72,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
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+                1
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+            "B": {
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+    }
+}

data/UPB_00000743/annotations/part_10.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000743",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Cabinet Body (Carcass)",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Primary plywood carcass with legs, shelves, and partitions; overall 90*40*180 cm.",
+        "functional_description": "Provides structural support, houses shelves, doors, drawers, and defines storage spaces.",
+        "movement_description": "Stationary frame; serves as the parent reference for all doors and drawers.",
+        "grasp_description": "Not normally grasped except when moving the entire cabinet."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Poplar_Veneered",
+        "density": 0.6,
+        "young": 7.0,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.5
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+    "kinematic_info": {
+        "motion_types": [
+            "D"
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+        "motion_info": {}
+    }
+}

data/UPB_00000743/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000743",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Upper Right Cabinet Door",
+        "affordance": 8,
+        "graspable": true,
+        "basic_description": "Veneered MDF framed upper-right door, approx 35*2*30 cm.",
+        "functional_description": "Closes the upper-right compartment of the hutch.",
+        "movement_description": "Rotates on a vertical hinge relative to the body.",
+        "grasp_description": "Gripped along the edge to swing open or shut."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneered",
+        "density": 0.72,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
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+}

data/UPB_00000743/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000743",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Lower Left Door",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Lower left veneered MDF door about 40*2*45 cm.",
+        "functional_description": "Covers the lower-left cabinet bay for bulk storage.",
+        "movement_description": "Swings outward about side hinges mounted to the carcass.",
+        "grasp_description": "User pulls the metal handle to open and pushes the outer surface to close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneered",
+        "density": 0.72,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
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+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                3
+            ],
+            "B": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.19644437730312347,
+                    -0.15744875371456146,
+                    -0.43743568658828735
+                ],
+                "range": [
+                    -0.0,
+                    0.4000000059604645
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000743/annotations/part_4.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000743",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Lower Right Door",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Lower right veneered MDF door roughly 40*2*45 cm.",
+        "functional_description": "Covers the lower-right storage compartment.",
+        "movement_description": "Rotates on hinges fastened to the cabinet body.",
+        "grasp_description": "Pulled via its handle and pushed closed."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneered",
+        "density": 0.72,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                4
+            ],
+            "B": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    0.2054879516363144,
+                    -0.17729689180850983,
+                    -0.4361736476421356
+                ],
+                "range": [
+                    -0.4000000059604645,
+                    0.0
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000743/annotations/part_5.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000743",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Left Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Birch plywood drawer box with veneered face, approx 40*30*12 cm.",
+        "functional_description": "Stores utensils or small items in the top-left position of the base.",
+        "movement_description": "Slides in and out along side-mounted runners relative to the carcass.",
+        "grasp_description": "Pulled from its front edge to open; pushed to close."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.55,
+        "young": 7.5,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.25
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                5,
+                7
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.221034973859787,
+                    -0.1806952953338623,
+                    -0.12001659721136093
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00000743/annotations/part_6.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000743",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Right Drawer",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Right-side birch plywood drawer, approx 40*30*12 cm.",
+        "functional_description": "Provides additional small-item storage with smooth sliding action.",
+        "movement_description": "Translates on runners relative to the cabinet body.",
+        "grasp_description": "Grasp front panel to open or close."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.55,
+        "young": 7.5,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.25
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                6,
+                8
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.21257182955741882,
+                    -0.18278130888938904,
+                    -0.12459063529968262
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00000743/annotations/part_7.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000743",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Left Door Handle",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Curved stainless-steel pull handle about 12*1.5*2 cm mounted on the lower-left door.",
+        "functional_description": "Provides a comfortable grip to actuate the lower-left door.",
+        "movement_description": "Rigidly fixed to the door; moves together as the door swings.",
+        "grasp_description": "Fingers wrap around the handle to pull the door open."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193.0,
+        "hardness": 160,
+        "poisson": 0.29,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000743/annotations/part_8.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000743",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Right Door Handle",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Stainless-steel pull handle, approx 12*1.5*2 cm, attached to the lower-right door.",
+        "functional_description": "Used to open/close the lower-right door.",
+        "movement_description": "Rigid connection; translates/rotates only as the door does.",
+        "grasp_description": "User grips and pulls to actuate the door."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193.0,
+        "hardness": 160,
+        "poisson": 0.29,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000743/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000743",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Front Face Rails",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Two horizontal hardwood trim/face rails along the front edges (each ~80*1.5*2 cm).",
+        "functional_description": "Stiffen the front openings and provide a finished edge between sections.",
+        "movement_description": "Fixed structural members; no relative movement.",
+        "grasp_description": "Not intended for regular grasping."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Generic",
+        "density": 0.72,
+        "young": 11.0,
+        "hardness": 40,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000743/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_00000743/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00000743",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Kitchen Hutch Cabinet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 10,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000743/model.urdf

@@ -0,0 +1,222 @@
+<?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="1.028634 1.028634 1.028634"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.028634 1.028634 1.028634"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.028634 1.028634 1.028634"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.028634 1.028634 1.028634"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.028634 1.028634 1.028634"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.028634 1.028634 1.028634"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.028634 1.028634 1.028634"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.028634 1.028634 1.028634"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.028634 1.028634 1.028634"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.028634 1.028634 1.028634"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.028634 1.028634 1.028634"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.028634 1.028634 1.028634"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.028634 1.028634 1.028634"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.028634 1.028634 1.028634"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.028634 1.028634 1.028634"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.028634 1.028634 1.028634"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.028634 1.028634 1.028634"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.028634 1.028634 1.028634"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.028634 1.028634 1.028634"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.028634 1.028634 1.028634"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_10"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.203610 -0.085160 0.622474" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="-0.0" upper="0.4114534947127421"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.203610 0.085160 -0.622474" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_10"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.216633 -0.106898 0.613056" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="-0.4114534947127421" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.216633 0.106898 -0.613056" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_10"/>
+    <child link="helper_link_2"/>
+    <origin xyz="-0.202069 -0.161957 -0.449961" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="-0.0" upper="0.4114534947127421"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0.202069 0.161957 0.449961" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="prismatic">
+    <parent link="link_10"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.211372 -0.182374 -0.448663" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="-0.4114534947127421" upper="0.0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="-0.211372 0.182374 0.448663" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="prismatic">
+    <parent link="link_10"/>
+    <child link="helper_link_4"/>
+    <origin xyz="-0.227364 -0.185869 -0.123453" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.308590128698475" upper="0.0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_5"/>
+    <origin xyz="0.227364 0.185869 0.123453" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="prismatic">
+    <parent link="link_10"/>
+    <child link="helper_link_5"/>
+    <origin xyz="0.218659 -0.188015 -0.128158" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.308590128698475" upper="0.0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="helper_link_5"/>
+    <child link="link_6"/>
+    <origin xyz="-0.218659 0.188015 0.128158" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="link_5"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="link_6"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00000743/parts/1.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 1.png

data/UPB_00000743/parts/2.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 2.png