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spatialverse
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UniPhys-Bench

Modalities:
3D
Languages:
English
Size:
1K<n<10K
ArXiv:
Tags:
3d
physical-grounding
articulation
robotics
simulation
benchmark
License:
Dataset card Files
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 Community
breezexian commited on
Commit
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1 Parent(s): 0b0801a

Upload folder using huggingface_hub (part 99)

Browse files
Files changed (20) hide show
  1. data/UPB_00001435/annotations/part_6.json +52 -0
  2. data/UPB_00001435/annotations/part_7.json +30 -0
  3. data/UPB_00001435/annotations/part_8.json +30 -0
  4. data/UPB_00001435/annotations/part_9.json +30 -0
  5. data/UPB_00001435/full_model/material.mtl +8 -0
  6. data/UPB_00001435/full_model/material_0.png +3 -0
  7. data/UPB_00001435/full_model/model.obj +0 -0
  8. data/UPB_00001435/meta_data.json +22 -0
  9. data/UPB_00001435/model.urdf +273 -0
  10. data/UPB_00001435/parts/part_1.obj +1471 -0
  11. data/UPB_00001435/parts/part_10.obj +0 -0
  12. data/UPB_00001435/parts/part_11.obj +0 -0
  13. data/UPB_00001435/parts/part_12.obj +0 -0
  14. data/UPB_00001435/parts/part_13.obj +0 -0
  15. data/UPB_00001435/parts/part_2.obj +1472 -0
  16. data/UPB_00001435/parts/part_3.obj +1212 -0
  17. data/UPB_00001435/parts/part_4.obj +1173 -0
  18. data/UPB_00001435/parts/part_5.obj +1212 -0
  19. data/UPB_00001435/parts/part_6.obj +1212 -0
  20. data/UPB_00001435/parts/part_7.obj +0 -0
data/UPB_00001435/annotations/part_6.json ADDED
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+ {
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+ "index": {
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+ "type_name": "default",
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+ "entity": "UPB_00001435",
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+ "label": "6"
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+ },
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+ "part_level": {
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+ "part_name": "Rightmost Door Panel",
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+ "affordance": 2,
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+ "graspable": true,
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+ "basic_description": "Outer-right wardrobe door panel, approx 40*210*1.8 cm MDF.",
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+ "functional_description": "Final door closing the right bay of the closet.",
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+ "movement_description": "Swings open and closed on hinges fastened to the carcass.",
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+ "grasp_description": "Pulled at the knob to open; pushed to close."
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+ },
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+ "basic_info": {
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+ "material": "wood/MDF_Painted",
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+ "density": 0.75,
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+ "young": 3.5,
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+ "hardness": 20,
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+ "poisson": 0.3,
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+ "friction": 0.5
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+ },
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+ "kinematic_info": {
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+ "motion_types": [
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+ "C"
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+ ],
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+ "motion_info": {
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+ "dependency": [
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+ 6,
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+ 10
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+ ],
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+ "C": {
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+ "axis": [
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+ 0.0,
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+ 0.0,
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+ 1.0
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+ ],
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+ "pos": [
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+ 1.0961309671401978,
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+ -0.2742096185684204,
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+ 3.488489497271985e-10
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+ ],
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+ "range": [
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+ 0.0,
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+ 1.5707963267948966
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+ ],
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+ "damping": 0.03
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+ }
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+ }
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+ }
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+ }
data/UPB_00001435/annotations/part_7.json ADDED
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+ {
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+ "index": {
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+ "type_name": "default",
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+ "entity": "UPB_00001435",
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+ "label": "7"
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+ },
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+ "part_level": {
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+ "part_name": "Door Knob (Leftmost Door)",
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+ "affordance": 1,
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+ "graspable": true,
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+ "basic_description": "Matte-black die-cast zinc knob, roughly 3*3*3 cm.",
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+ "functional_description": "Handhold for operating the leftmost door.",
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+ "movement_description": "Rigidly fixed to the door panel via a screw; no relative motion.",
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+ "grasp_description": "Pinch or hook with fingers to pull the door."
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+ },
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+ "basic_info": {
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+ "material": "metal/Zinc_Alloy_DieCast",
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+ "density": 6.6,
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+ "young": 90.0,
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+ "hardness": 120,
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+ "poisson": 0.33,
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+ "friction": 0.35
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+ },
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+ "kinematic_info": {
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+ "motion_types": [
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+ "D"
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+ ],
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+ "motion_info": {}
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+ }
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+ }
data/UPB_00001435/annotations/part_8.json ADDED
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+ {
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+ "index": {
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+ "type_name": "default",
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+ "entity": "UPB_00001435",
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+ "label": "8"
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+ },
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+ "part_level": {
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+ "part_name": "Door Knob (Left-Center Door)",
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+ "affordance": 1,
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+ "graspable": true,
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+ "basic_description": "Black die-cast zinc knob, ~3 cm size.",
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+ "functional_description": "Handhold for the second door from the left.",
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+ "movement_description": "Rigidly attached; moves as the door moves.",
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+ "grasp_description": "Used frequently to swing the door open/closed."
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+ },
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+ "basic_info": {
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+ "material": "metal/Zinc_Alloy_DieCast",
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+ "density": 6.6,
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+ "young": 90.0,
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+ "hardness": 120,
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+ "poisson": 0.33,
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+ "friction": 0.35
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+ },
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+ "kinematic_info": {
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+ "motion_types": [
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+ "D"
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+ ],
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+ "motion_info": {}
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+ }
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+ }
data/UPB_00001435/annotations/part_9.json ADDED
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+ {
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+ "index": {
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+ "type_name": "default",
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+ "entity": "UPB_00001435",
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+ "label": "9"
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+ },
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+ "part_level": {
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+ "part_name": "Door Knob (Right-Center Door)",
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+ "affordance": 1,
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+ "graspable": true,
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+ "basic_description": "Matte-black zinc-alloy knob, ~3 cm.",
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+ "functional_description": "Handhold for the third door.",
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+ "movement_description": "No relative movement to its door panel.",
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+ "grasp_description": "Pinch grip to operate the door."
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+ },
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+ "basic_info": {
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+ "material": "metal/Zinc_Alloy_DieCast",
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+ "density": 6.6,
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+ "young": 90.0,
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+ "hardness": 120,
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+ "poisson": 0.33,
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+ "friction": 0.35
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+ },
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+ "kinematic_info": {
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+ "motion_types": [
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+ "D"
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+ ],
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+ "motion_info": {}
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+ }
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+ }
data/UPB_00001435/full_model/material.mtl ADDED
@@ -0,0 +1,8 @@
 
 
 
 
 
 
 
 
 
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+ # https://github.com/mikedh/trimesh
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+
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+ newmtl material_0
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+ Ka 0.40000000 0.40000000 0.40000000
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+ Kd 0.40000000 0.40000000 0.40000000
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+ Ks 0.40000000 0.40000000 0.40000000
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+ Ns 1.00000000
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+ map_Kd material_0.png
data/UPB_00001435/full_model/material_0.png ADDED

Git LFS Details

  • SHA256: ffb922c659fd5038d20174e2c5ecb63e12d92f014acc5022bbba9a6d9ab7319e
  • Pointer size: 127 Bytes
  • Size of remote file: 96 Bytes
data/UPB_00001435/full_model/model.obj ADDED
The diff for this file is too large to render. See raw diff
 
data/UPB_00001435/meta_data.json ADDED
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+ {
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+ "id": "UPB_00001435",
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+ "source": [
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+ {
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+ "dataset": "UniPhys-Bench",
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+ "organization": "Manycore Tech Inc.",
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+ "license_ref": "UniPhys-Bench"
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+ }
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+ ],
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+ "object": {
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+ "category": "Furniture/StorageFurniture",
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+ "object_name": "Wardrobe Closet"
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+ },
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+ "geometry": {
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+ "num_parts": 13,
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+ "format": "obj"
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+ },
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+ "annotation": {
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+ "version": "v1.0"
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+ }
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+ }
data/UPB_00001435/model.urdf ADDED
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+ <?xml version="1.0" ?>
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+ <robot name="robot">
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+ <link name="base_link"/>
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+ <link name="helper_link_5"/>
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+ <mesh filename="parts/part_1.obj" scale="0.852814 0.852814 0.852814"/>
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+ </geometry>
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+ </collision>
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+ </link>
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+ <link name="link_2">
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+ <visual>
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+ <geometry>
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+ <mesh filename="parts/part_2.obj" scale="0.852814 0.852814 0.852814"/>
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+ <geometry>
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+ </geometry>
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+ </collision>
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+ </link>
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+ <link name="link_3">
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+ <visual>
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+ <geometry>
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+ <mesh filename="parts/part_3.obj" scale="0.852814 0.852814 0.852814"/>
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+ <collision>
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+ <geometry>
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+ <mesh filename="parts/part_3.obj" scale="0.852814 0.852814 0.852814"/>
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+ </geometry>
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+ </collision>
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+ </link>
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+ <link name="link_4">
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+ <visual>
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+ <geometry>
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+ <mesh filename="parts/part_4.obj" scale="0.852814 0.852814 0.852814"/>
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+ </geometry>
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+ <collision>
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+ <mesh filename="parts/part_4.obj" scale="0.852814 0.852814 0.852814"/>
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+ </geometry>
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+ </collision>
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+ </link>
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+ <link name="link_5">
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+ <visual>
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+ <geometry>
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+ <mesh filename="parts/part_5.obj" scale="0.852814 0.852814 0.852814"/>
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <geometry>
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+ </geometry>
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+ </collision>
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+ </link>
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+ <link name="link_6">
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+ <visual>
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+ <geometry>
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+ <mesh filename="parts/part_6.obj" scale="0.852814 0.852814 0.852814"/>
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <geometry>
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+ <link name="link_8">
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+ <visual>
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+ <mesh filename="parts/part_8.obj" scale="0.852814 0.852814 0.852814"/>
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+ </visual>
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+ <mesh filename="parts/part_8.obj" scale="0.852814 0.852814 0.852814"/>
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+ </geometry>
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+ </collision>
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+ </link>
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+ <link name="link_9">
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+ <visual>
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+ <link name="link_10">
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+ </geometry>
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+ </link>
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+ <link name="link_11">
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+ <link name="link_12">
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+ </link>
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+ <joint name="joint_0" type="prismatic">
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+ <joint name="joint_1" type="fixed">
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+ <parent link="helper_link_0"/>
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+ <child link="link_1"/>
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+ <origin xyz="0.738447 0.212152 0.780757" rpy="0 0 0"/>
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+ </joint>
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+ <joint name="joint_2" type="prismatic">
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+ <parent link="link_13"/>
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+ <child link="helper_link_1"/>
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+ <origin xyz="-0.782990 -0.048266 -0.987547" rpy="0 0 0"/>
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+ <axis xyz="0.0 1.0 0.0"/>
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+ <limit lower="-0.2558443278136513" upper="0.0"/>
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+ <joint name="joint_3" type="fixed">
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+ <parent link="helper_link_2"/>
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+ <origin xyz="0.551646 0.235852 -0.346552" rpy="0 0 0"/>
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+ </joint>
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+ <joint name="joint_6" type="revolute">
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+ <parent link="link_13"/>
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+ <child link="helper_link_3"/>
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+ <joint name="joint_7" type="fixed">
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+ <parent link="helper_link_3"/>
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+ <child link="link_4"/>
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+ <origin xyz="-0.177585 0.232678 -0.000000" rpy="0 0 0"/>
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+ <joint name="joint_8" type="revolute">
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+ <parent link="link_13"/>
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+ <child link="helper_link_4"/>
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+ <joint name="joint_9" type="fixed">
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+ <parent link="helper_link_4"/>
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+ <child link="link_5"/>
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+ <joint name="joint_10" type="revolute">
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+ <parent link="link_13"/>
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+ <limit lower="0.0" upper="1.5707963267948966"/>
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+ <joint name="joint_11" type="fixed">
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+ <parent link="helper_link_5"/>
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+ <child link="link_6"/>
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+ <origin xyz="-0.934796 0.233850 -0.000000" rpy="0 0 0"/>
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+ </joint>
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+ <joint name="joint_12" type="fixed">
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+ <parent link="link_3"/>
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+ <child link="link_7"/>
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+ <origin xyz="0 0 0" rpy="0 0 0"/>
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+ </joint>
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+ <joint name="joint_13" type="fixed">
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+ <parent link="link_4"/>
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+ <child link="link_8"/>
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+ <origin xyz="0 0 0" rpy="0 0 0"/>
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+ </joint>
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+ <joint name="joint_14" type="fixed">
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+ <parent link="link_5"/>
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+ <child link="link_9"/>
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+ <origin xyz="0 0 0" rpy="0 0 0"/>
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+ </joint>
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+ <joint name="joint_15" type="fixed">
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+ <parent link="link_6"/>
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+ <child link="link_10"/>
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+ <origin xyz="0 0 0" rpy="0 0 0"/>
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+ </joint>
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+ <joint name="joint_16" type="fixed">
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+ <parent link="link_1"/>
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+ <child link="link_11"/>
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+ <origin xyz="0 0 0" rpy="0 0 0"/>
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+ </joint>
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+ <joint name="joint_17" type="fixed">
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+ <parent link="link_2"/>
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+ <child link="link_12"/>
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+ <origin xyz="0 0 0" rpy="0 0 0"/>
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+ </joint>
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+ <joint name="joint_18" type="fixed">
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+ <parent link="base_link"/>
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+ <child link="link_13"/>
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+ <origin xyz="0 0 0" rpy="0 0 0"/>
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+ </joint>
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