Upload folder using huggingface_hub (part 216)

.gitattributes

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data/UPB_00001676/plys/model.ply

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data/UPB_00001677/annotations/object.json

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+{
+    "object_name": "Mobile Two-Drawer Cabinet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        45.0,
+        40.0,
+        52.0
+    ],
+    "mass": 16.0
+}

data/UPB_00001677/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001677",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Upper Drawer Assembly",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "MDF box drawer with decorative front and side slides; approx. 36*32*14 cm outer size, 1.2-1.5 cm wall thickness.",
+        "functional_description": "Provides the top storage compartment of the cabinet; interfaces with slide rails fixed to the carcass.",
+        "movement_description": "Slides translationally in and out along metal runners attached to the cabinet frame; smooth, damped travel.",
+        "grasp_description": "Users grasp the drawer front to pull or push the drawer when accessing contents."
+    },
+    "basic_info": {
+        "material": "wood/MDF",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.25
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
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+                "pos": [
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+                    0.126447394490242
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+                "range": [
+                    -0.20000000298023224,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001677/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001677",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Lower Drawer Assembly",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "MDF drawer similar to the upper drawer; approx. 36*32*16 cm outer size.",
+        "functional_description": "Provides the bottom storage compartment of the cabinet; rides on the lower set of slides.",
+        "movement_description": "Translates in/out on runners fixed to the cabinet frame with limited extension equal to drawer depth.",
+        "grasp_description": "Pulled by hand at the drawer front to open and close."
+    },
+    "basic_info": {
+        "material": "wood/MDF",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.25
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
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+            "B": {
+                "axis": [
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+                    1.0,
+                    0.0
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+                "pos": [
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+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001677/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001677",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Left Side Panel",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Flat MDF board forming the cabinet's left wall; approx. 40*50*1.5 cm.",
+        "functional_description": "Provides lateral stiffness and a mounting face for one side of the drawer slides.",
+        "movement_description": "Rigidly fixed to the cabinet carcass; no relative motion.",
+        "grasp_description": "Not typically grasped during regular use; occasionally touched when repositioning the cabinet."
+    },
+    "basic_info": {
+        "material": "wood/MDF",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001677/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001677",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Caster Wheels (x4)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Set of four rubber wheels (~50 mm diameter) for mobility, mounted to the cabinet base.",
+        "functional_description": "Allow the cabinet to roll across floors while providing vibration damping and floor protection.",
+        "movement_description": "Each wheel rotates about its axle relative to the cabinet base; continuous rotation during rolling.",
+        "grasp_description": "Rarely grasped; users typically push the cabinet body to move it."
+    },
+    "basic_info": {
+        "material": "rubber/SBR_Rubber",
+        "density": 1.1,
+        "young": 0.01,
+        "hardness": 3,
+        "poisson": 0.49,
+        "friction": 0.6
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001677/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001677",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Right Side Panel",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Flat MDF board forming the cabinet's right wall; approx. 40*50*1.5 cm.",
+        "functional_description": "Provides lateral stiffness and a mounting face for the opposite side of the drawer slides.",
+        "movement_description": "Rigidly fixed to the cabinet carcass; no relative motion.",
+        "grasp_description": "Not usually grasped during typical operation."
+    },
+    "basic_info": {
+        "material": "wood/MDF",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001677/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001677",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Cabinet Carcass (Top, Bottom, Back)",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "U-shaped MDF frame comprising the top and bottom panels with a back panel; panel thickness ~1.5 cm.",
+        "functional_description": "Provides the primary load-bearing structure, supports the drawers and anchors the side panels and casters.",
+        "movement_description": "Stationary structural hub of the object; serves as the parent reference for drawer translation and wheel rotation.",
+        "grasp_description": "Top surface may be touched or used as a small tabletop, but it is not a dedicated handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001677/full_model/material.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
+map_Kd material_0.png

data/UPB_00001677/full_model/model.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:8d059b035f1dfd4055673a15edd00eefbdbbebe6f348d2129d8ff6433a05e185
+size 84318514

data/UPB_00001677/meta_data.json

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+{
+    "id": "UPB_00001677",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Mobile Two-Drawer Cabinet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 6,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001677/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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.083275 1.083275 1.083275"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.083275 1.083275 1.083275"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.083275 1.083275 1.083275"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.083275 1.083275 1.083275"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.083275 1.083275 1.083275"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.083275 1.083275 1.083275"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.083275 1.083275 1.083275"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.083275 1.083275 1.083275"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.083275 1.083275 1.083275"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.083275 1.083275 1.083275"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.083275 1.083275 1.083275"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.083275 1.083275 1.083275"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_6"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.182007 0.136977" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2166549330656172" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.182007 -0.136977" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_6"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 -0.180781 -0.083093" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2166549330656172" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 0.180781 0.083093" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001677/parts/1.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
+map_Kd 1.png

data/UPB_00001677/parts/2.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
+map_Kd 2.png

data/UPB_00001677/parts/Nightstand_Z43UA7JVAI7AWPTUL4888888_AeTOh.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_6309dbf3f8fc6f000147411e
+Kd 0.0196000002 0.0196000002 0.0196000002
+illum 1
+
+newmtl MI_6309dbf369db96000185e27e
+Kd 0.909799993 0.898000002 0.862699986
+illum 1
+
+newmtl MI_6309dbf3d8b08d00017946cc
+Kd 0.811800003 0.803900003 0.737299979
+illum 1
+
+newmtl MI_6309dbf36823560001873d42
+Kd 1 1 1
+illum 1
+
+newmtl MI_6309dbf311334200010b6044
+Kd 0.815900028 0.792800009 0.723200023
+illum 1
+

data/UPB_00001677/parts/part_1.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3ff751c6611492ba6728a8f343996bfb69d6dea9c231294b7a586cc12e0bb8f8
+size 41240917

data/UPB_00001677/parts/part_2.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:83cc0aa452ba783320f1f5fbef24e3f754222b82671bec0520ae466c132bdac0
+size 41755414

data/UPB_00001677/parts/part_3.obj

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+mtllib Nightstand_Z43UA7JVAI7AWPTUL4888888_AeTOh.mtl
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data/UPB_00001677/plys/model.ply

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data/UPB_00001678/annotations/object.json

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+{
+    "object_name": "Two-Drawer Nightstand with Shelf",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        50.0,
+        35.0,
+        40.0
+    ],
+    "mass": 10.0
+}

data/UPB_00001678/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001678",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Left-hand sliding drawer made from MDF with painted face; approx 22 cm wide, 28 cm deep, 10 cm high.",
+        "functional_description": "Provides storage space; the beveled inner corner works as an integrated finger pull.",
+        "movement_description": "Slides in and out along the cabinet\u2019s depth on guides housed in part 3.",
+        "grasp_description": "Users grasp the drawer front at the inner notch to pull the drawer open or push it closed."
+    },
+    "basic_info": {
+        "material": "wood/MDF",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
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+            "B": {
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+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001678/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001678",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Right Drawer",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Right-hand sliding drawer, MDF construction with matching front; approx 22 cm wide, 28 cm deep, 10 cm high.",
+        "functional_description": "Second storage drawer mirroring the left one; the chamfered corner provides a grip point.",
+        "movement_description": "Linear translation in/out relative to the drawer housing (part 3).",
+        "grasp_description": "Typically grasped by the front edge/notch to open and close."
+    },
+    "basic_info": {
+        "material": "wood/MDF",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
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+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
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+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001678/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001678",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Drawer Housing and Bottom Shelf Module",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Central MDF module that contains the two drawer bays and an integral lower shelf panel (shelf approx 45\u00d730 cm).",
+        "functional_description": "Provides structure and guide surfaces for the two drawers; the lower panel acts as a storage/display shelf.",
+        "movement_description": "Rigidly fixed to the outer frame; hosts the sliding motion of parts 1 and 2.",
+        "grasp_description": "Not usually grasped directly; users place items on the shelf while the module itself stays fixed."
+    },
+    "basic_info": {
+        "material": "wood/MDF",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 24,
+        "poisson": 0.28,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001678/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001678",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Outer U-Frame (Sides and Top)",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Single molded ABS shell forming the sides and top of the nightstand; U-shaped geometry about 50\u00d735\u00d740 cm overall.",
+        "functional_description": "Acts as the main structural frame and exterior surface, enclosing the drawer module and providing stability.",
+        "movement_description": "No relative motion; rigidly attached to part 3 and supports the entire unit.",
+        "grasp_description": "Occasionally held at the sides when repositioning the furniture, but not intended for frequent grasping."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.1,
+        "hardness": 12,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001678/full_model/material.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
+map_Kd material_0.png

data/UPB_00001678/meta_data.json

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+{
+    "id": "UPB_00001678",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Two-Drawer Nightstand with Shelf"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 4,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001678/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="link_1">
+    <visual>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.755168 0.755168 0.755168"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.755168 0.755168 0.755168"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.755168 0.755168 0.755168"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.755168 0.755168 0.755168"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.755168 0.755168 0.755168"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.755168 0.755168 0.755168"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.755168 0.755168 0.755168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_3"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.112346 -0.177418 0.062180" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.22655051728272194" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.112346 0.177418 -0.062180" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_3"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.113842 -0.177418 0.062180" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.22655051728272194" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.113842 0.177418 -0.062180" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001678/parts/Nightstand_Z6L5WZBVAJ5ISPTULI888888_rh35q.mtl

@@ -0,0 +1,15 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_63a940d86d078d000104a25e
+Kd 0.337300003 0.32159999 0.313699991
+illum 1
+bump ./T_63a940d86d078d000104a25e_normal.jpg
+map_bump ./T_63a940d86d078d000104a25e_normal.jpg
+
+newmtl MI_63a940d83291820001695d6b
+Kd 0.0392000005 0.0353000015 0.0353000015
+illum 1
+bump ./T_63a940d83291820001695d6b_normal.jpg
+map_bump ./T_63a940d83291820001695d6b_normal.jpg
+