Datasets:

spatialverse
/

UniPhys-Bench

@@ -9430,3 +9430,24 @@ data/UPB_00001411/plys/7.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001411/plys/8.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001411/plys/9.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001411/plys/model.ply filter=lfs diff=lfs merge=lfs -text

 data/UPB_00001411/plys/8.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001411/plys/9.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001411/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001412/full_model/model.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001412/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001412/plys/10.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001412/plys/11.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001412/plys/12.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001412/plys/13.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001412/plys/14.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001412/plys/15.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001412/plys/16.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001412/plys/17.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001412/plys/18.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001412/plys/19.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001412/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001412/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001412/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001412/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001412/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001412/plys/7.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001412/plys/8.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001412/plys/9.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001412/plys/model.ply filter=lfs diff=lfs merge=lfs -text

data/UPB_00001412/annotations/part_18.json ADDED Viewed

	@@ -0,0 +1,30 @@

+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001412",
+        "label": "18"
+    },
+    "part_level": {
+        "part_name": "Knob for Bottom Drawer",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "ABS round pull on the lowest drawer front.",
+        "functional_description": "Grip point for operating drawer 3.",
+        "movement_description": "Rigidly attached; translates with the drawer.",
+        "grasp_description": "Pinch and pull outward."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.1,
+        "hardness": 15,
+        "poisson": 0.39,
+        "friction": 0.52
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001412/annotations/part_19.json ADDED Viewed

	@@ -0,0 +1,30 @@

+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001412",
+        "label": "19"
+    },
+    "part_level": {
+        "part_name": "Wardrobe Carcass/Frame",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Main MDF structure including side panels, top, bottom, dividers, and shelves; approx 240*60*220 cm.",
+        "functional_description": "Provides structural support, mounting points for hinges/slides, and the interior organization of the wardrobe.",
+        "movement_description": "Stationary reference for all doors (rotational joints) and drawers (sliding joints).",
+        "grasp_description": "Not intended to be grasped during regular use."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.42
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001412/annotations/part_2.json ADDED Viewed

	@@ -0,0 +1,52 @@

+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001412",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Middle Drawer Box",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "MDF drawer box, approx 80*45*18 cm, matching the center drawer bay.",
+        "functional_description": "Holds folded clothes or accessories in the middle of the stack.",
+        "movement_description": "Translates out on slides relative to the carcass.",
+        "grasp_description": "User pulls using the attached knob (part 17)."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                17
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.44185909628868103,
+                    -0.20436903834342957,
+                    -0.8846192359924316
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001412/annotations/part_3.json ADDED Viewed

	@@ -0,0 +1,52 @@

+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001412",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Bottom Drawer Box",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Largest MDF drawer box at the base of the stack; approx 80*45*20 cm.",
+        "functional_description": "Stores heavier items; deeper capacity.",
+        "movement_description": "Slides on runners relative to the carcass with light damping.",
+        "grasp_description": "Pulled by its knob (part 18)."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                18
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.4378301203250885,
+                    -0.21327662467956543,
+                    -1.107065200805664
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001412/annotations/part_4.json ADDED Viewed

	@@ -0,0 +1,52 @@

+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001412",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Leftmost Door Panel",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Tall MDF door with decorative curved top edge; approx 40*2*210 cm.",
+        "functional_description": "Covers the left storage bay to keep contents dust-free.",
+        "movement_description": "Swings about a vertical hinge axis on the carcass.",
+        "grasp_description": "User operates it via the attached knob (part 10)."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.44
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                10
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -1.3509511947631836,
+                    -0.1912083923816681,
+                    -4.624109095630047e-08
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001412/annotations/part_5.json ADDED Viewed

	@@ -0,0 +1,52 @@

+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001412",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Left Door Panel",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Tall MDF door, approx 40*2*210 cm, adjacent to the far-left door.",
+        "functional_description": "Covers an adjacent compartment.",
+        "movement_description": "Rotates on side hinges relative to the carcass.",
+        "grasp_description": "Pulled from the front knob (part 11)."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.44
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                5,
+                11
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    -0.45042338967323303,
+                    -0.22054623067378998,
+                    2.758047272960777e-16
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001412/annotations/part_6.json ADDED Viewed

	@@ -0,0 +1,52 @@

+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001412",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Left-Center Door Panel",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Central-left MDF door; approx 42*2*210 cm.",
+        "functional_description": "Accesses a vertical bay next to the drawers.",
+        "movement_description": "Opens by rotating about a vertical hinge on the carcass.",
+        "grasp_description": "Operated using knob (part 12)."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.44
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                6,
+                12
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.4444993734359741,
+                    -0.20611491799354553,
+                    1.5214565607379882e-08
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001412/annotations/part_7.json ADDED Viewed

	@@ -0,0 +1,52 @@

+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001412",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Center Door Panel",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Tall central MDF door over the drawer region; approx 42*2*210 cm.",
+        "functional_description": "Provides access to a central hanging/shelved space.",
+        "movement_description": "Swings open on hinges attached to the carcass.",
+        "grasp_description": "Pulled via knob (part 13)."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.44
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                7,
+                13
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -5.788680645935074e-09,
+                    -0.19952736794948578,
+                    0.16911852359771729
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001412/annotations/part_8.json ADDED Viewed

	@@ -0,0 +1,52 @@

+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001412",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Right-Center Door Panel",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "MDF door to the right of center; approx 42*2*210 cm.",
+        "functional_description": "Covers a tall storage section.",
+        "movement_description": "Opens by rotating around a vertical axis on the carcass.",
+        "grasp_description": "Operated via knob (part 14)."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.44
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                8,
+                14
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.8976355195045471,
+                    -0.22156250476837158,
+                    2.7871074337326718e-08
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001412/annotations/part_9.json ADDED Viewed

	@@ -0,0 +1,52 @@

+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001412",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Rightmost Door Panel",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Tall MDF door at the far right; approx 40*2*210 cm.",
+        "functional_description": "Closes the rightmost compartment of the wardrobe.",
+        "movement_description": "Rotates about hinge pins fastened to the carcass.",
+        "grasp_description": "Pulled using knob (part 15)."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.44
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                9,
+                15
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    1.3712999820709229,
+                    -0.19925658404827118,
+                    -4.6937600473029306e-08
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001412/full_model/material.mtl ADDED Viewed

	@@ -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_00001412/full_model/material_0.png ADDED Viewed

Git LFS Details

SHA256: 709aecd4d118a133fd73f14764517b1e97b53cd542d89db107ec8e166fcc0dfc
Pointer size: 128 Bytes
Size of remote file: 148 Bytes

data/UPB_00001412/full_model/model.obj ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:78c9b9b0d2e8faf121a0dd208b54971a0ab972245f2aa78e2706dcd10c70a72c
+size 14682476

data/UPB_00001412/meta_data.json ADDED Viewed

	@@ -0,0 +1,22 @@

+{
+    "id": "UPB_00001412",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Six-door Wardrobe with Three Drawers"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 19,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001412/model.urdf ADDED Viewed

	@@ -0,0 +1,399 @@

+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="helper_link_2"/>
+  <link name="helper_link_3"/>
+  <link name="helper_link_4"/>
+  <link name="helper_link_5"/>
+  <link name="helper_link_6"/>
+  <link name="helper_link_7"/>
+  <link name="helper_link_8"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_14">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_15">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_16">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_17">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_18">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_18.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_18.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_19">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_19.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_19.obj" scale="0.877192 0.877192 0.877192"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_19"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.403232 -0.194232 -0.569536" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2631576705064011" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.403232 0.194232 0.569536" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_19"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.387595 -0.179271 -0.775981" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2631576705064011" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.387595 0.179271 0.775981" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_19"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.384061 -0.187085 -0.971109" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2631576705064011" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.384061 0.187085 0.971109" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_3"/>
+    <origin xyz="-1.185044 -0.167727 -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_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="1.185044 0.167727 0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_4"/>
+    <origin xyz="-0.395108 -0.193461 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_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_5"/>
+    <origin xyz="0.395108 0.193461 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_5"/>
+    <origin xyz="-0.389911 -0.180802 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_11" type="fixed">
+    <parent link="helper_link_5"/>
+    <child link="link_6"/>
+    <origin xyz="0.389911 0.180802 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_6"/>
+    <origin xyz="-0.000000 -0.175024 0.148349" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="helper_link_6"/>
+    <child link="link_7"/>
+    <origin xyz="0.000000 0.175024 -0.148349" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_7"/>
+    <origin xyz="0.787399 -0.194353 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_15" type="fixed">
+    <parent link="helper_link_7"/>
+    <child link="link_8"/>
+    <origin xyz="-0.787399 0.194353 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_16" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_8"/>
+    <origin xyz="1.202894 -0.174786 -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_17" type="fixed">
+    <parent link="helper_link_8"/>
+    <child link="link_9"/>
+    <origin xyz="-1.202894 0.174786 0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_18" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_19" type="fixed">
+    <parent link="link_5"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_20" type="fixed">
+    <parent link="link_6"/>
+    <child link="link_12"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_21" type="fixed">
+    <parent link="link_7"/>
+    <child link="link_13"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_22" type="fixed">
+    <parent link="link_8"/>
+    <child link="link_14"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_23" type="fixed">
+    <parent link="link_9"/>
+    <child link="link_15"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_24" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_16"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_25" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_17"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_26" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_18"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_27" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_19"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001412/parts/4.mtl ADDED Viewed

	@@ -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_00001412/parts/4.png ADDED Viewed

Git LFS Details

SHA256: bc562163ed475ad84ace37aac37244766fbe5dd1f13e64138642250559c7c86e
Pointer size: 128 Bytes
Size of remote file: 104 Bytes

data/UPB_00001412/parts/5.mtl ADDED Viewed

	@@ -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 5.png

data/UPB_00001412/parts/5.png ADDED Viewed

Git LFS Details

SHA256: bc562163ed475ad84ace37aac37244766fbe5dd1f13e64138642250559c7c86e
Pointer size: 128 Bytes
Size of remote file: 104 Bytes

data/UPB_00001412/parts/6.mtl ADDED Viewed

	@@ -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 6.png

data/UPB_00001412/parts/6.png ADDED Viewed

Git LFS Details

SHA256: 15038b48c275274f82e994554ab8d7519774baa6c3acc707d0bc2725fb42dec7
Pointer size: 127 Bytes
Size of remote file: 96 Bytes

data/UPB_00001412/parts/7.mtl ADDED Viewed

	@@ -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 7.png

data/UPB_00001412/parts/7.png ADDED Viewed

Git LFS Details

SHA256: 15038b48c275274f82e994554ab8d7519774baa6c3acc707d0bc2725fb42dec7
Pointer size: 127 Bytes
Size of remote file: 96 Bytes

data/UPB_00001412/parts/8.mtl ADDED Viewed

	@@ -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 8.png

data/UPB_00001412/parts/8.png ADDED Viewed

Git LFS Details

SHA256: 15038b48c275274f82e994554ab8d7519774baa6c3acc707d0bc2725fb42dec7
Pointer size: 127 Bytes
Size of remote file: 96 Bytes

data/UPB_00001412/parts/9.mtl ADDED Viewed

	@@ -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 9.png

data/UPB_00001412/parts/9.png ADDED Viewed