Upload folder using huggingface_hub (part 81)

.gitattributes

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+{
+    "object_name": "Four-door Wardrobe with Shelves and Drawers",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        200.0,
+        60.0,
+        220.0
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+    "mass": 130.0
+}

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+        "type_name": "default",
+        "entity": "UPB_00001411",
+        "label": "1"
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+    "part_level": {
+        "part_name": "Top Drawer Box",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "MDF-laminate drawer box (~45*45*15 cm) for the upper drawer in the center stack.",
+        "functional_description": "Holds small garments or items. Works with slides inside the cabinet body.",
+        "movement_description": "Translates in and out along rails relative to the cabinet body with limited travel (~45 cm).",
+        "grasp_description": "Pulled by its front handle; fingers wrap on the knob to slide the drawer."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.7,
+        "young": 4.0,
+        "hardness": 25,
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+        "friction": 0.45
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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001411",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Handle for Left Tall Door",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Small anodized-aluminum knob (~3 cm wide) mounted to the left tall door.",
+        "functional_description": "Provides a low-profile grip to pull the door open.",
+        "movement_description": "Rigidly fixed to the door; moves with it.",
+        "grasp_description": "Pinch or hook fingers behind the knob to operate the door."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
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+        "friction": 0.35
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+}

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001411",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Handle for Left-Center Tall Door",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Aluminum knob for the second tall door.",
+        "functional_description": "Finger hold to operate the door.",
+        "movement_description": "Rigidly attached; follows the door rotation.",
+        "grasp_description": "Common pinch grip with two or three fingers."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
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+}

data/UPB_00001411/annotations/part_12.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001411",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Handle for Right-Center Tall Door",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Square-profile aluminum knob mounted to the third tall door.",
+        "functional_description": "Primary touchpoint to open/close the door.",
+        "movement_description": "Moves rigidly with the door leaf.",
+        "grasp_description": "Pinch grip; comfortable rounded edges."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.35
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+}

data/UPB_00001411/annotations/part_13.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001411",
+        "label": "13"
+    },
+    "part_level": {
+        "part_name": "Handle for Right Tall Door",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Anodized aluminum knob for the rightmost tall door.",
+        "functional_description": "Allows pulling and pushing the door conveniently.",
+        "movement_description": "No independent motion; rigid with its door.",
+        "grasp_description": "Grasped between thumb and fingers."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.35
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+    }
+}

data/UPB_00001411/annotations/part_14.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001411",
+        "label": "14"
+    },
+    "part_level": {
+        "part_name": "Handle for Top Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Small black-finished aluminum knob centered on the top drawer face.",
+        "functional_description": "Provides a pulling point to actuate the drawer slides.",
+        "movement_description": "Rigid connection to the drawer front; translates with it.",
+        "grasp_description": "Pinched with fingers to pull the drawer outward."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.35
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+    }
+}

data/UPB_00001411/annotations/part_15.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001411",
+        "label": "15"
+    },
+    "part_level": {
+        "part_name": "Handle for Second Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Anodized aluminum knob for the second drawer.",
+        "functional_description": "Primary touchpoint for opening the drawer.",
+        "movement_description": "Rigid to the drawer; shares its translation.",
+        "grasp_description": "Pulled with a small pinch or hook grip."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.35
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+    }
+}

data/UPB_00001411/annotations/part_16.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001411",
+        "label": "16"
+    },
+    "part_level": {
+        "part_name": "Handle for Third Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Square aluminum knob for the third drawer.",
+        "functional_description": "Used to pull the drawer in and out.",
+        "movement_description": "Rigid with the drawer front.",
+        "grasp_description": "Typically pulled with two fingers."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
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+}

data/UPB_00001411/annotations/part_17.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001411",
+        "label": "17"
+    },
+    "part_level": {
+        "part_name": "Handle for Bottom Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Anodized aluminum knob for the bottom drawer.",
+        "functional_description": "Gripping point to open the heaviest drawer.",
+        "movement_description": "Rigidly moves with the drawer.",
+        "grasp_description": "Pinch or hook with fingers to pull out."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.35
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+    }
+}

data/UPB_00001411/annotations/part_18.json

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+        "type_name": "default",
+        "entity": "UPB_00001411",
+        "label": "18"
+    },
+    "part_level": {
+        "part_name": "Handle for Small Door",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Compact aluminum knob for the bottom-right small door.",
+        "functional_description": "Finger hold to swing open the small door.",
+        "movement_description": "Rigid connection; rotates in space with its door.",
+        "grasp_description": "Pinched lightly to operate the door."
+    },
+    "basic_info": {
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+}

data/UPB_00001411/annotations/part_19.json

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+{
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+        "type_name": "default",
+        "entity": "UPB_00001411",
+        "label": "19"
+    },
+    "part_level": {
+        "part_name": "Exterior Side Trim Panels (Pair)",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Two veneered plywood side trims (~200*5*1.8 cm each) flanking the wardrobe front.",
+        "functional_description": "Finish the outer sides, covering gaps and improving aesthetics.",
+        "movement_description": "Rigidly fixed to the cabinet body; no relative motion.",
+        "grasp_description": "Not intended to be grasped; occasionally touched near edges during cleaning."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Veneer",
+        "density": 0.6,
+        "young": 6.0,
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+}

data/UPB_00001411/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001411",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Second Drawer Box",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Mid-upper MDF drawer box (~45*45*15 cm).",
+        "functional_description": "Storage for folded items or accessories.",
+        "movement_description": "Slides relative to the cabinet on runners; soft stop by friction/damping.",
+        "grasp_description": "User pulls the attached knob to open and pushes the front to close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.7,
+        "young": 4.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                16
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.5156442523002625,
+                    -0.26634231209754944,
+                    -0.737332820892334
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001411/annotations/part_20.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001411",
+        "label": "20"
+    },
+    "part_level": {
+        "part_name": "Cabinet Body (Carcass with Shelves)",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Structural particle-board carcass with internal dividers, shelves, and compartments; forms the frame of the wardrobe.",
+        "functional_description": "Provides strength, alignment, and mounting points for drawers, doors, and hardware while bearing the stored loads.",
+        "movement_description": "Static reference frame. All drawers translate and doors rotate relative to this body.",
+        "grasp_description": "Rarely grasped directly except during assembly or moving."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminated",
+        "density": 0.65,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001411/annotations/part_3.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001411",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Third Drawer Box",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Mid-lower MDF drawer box (~45*45*15 cm).",
+        "functional_description": "General storage; rides on side slides fixed to the cabinet.",
+        "movement_description": "Linear translation in/out along the slide axis.",
+        "grasp_description": "Grasp the knob and pull outward."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.7,
+        "young": 4.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                17
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.49597448110580444,
+                    -0.27651047706604004,
+                    -0.9464187026023865
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001411/annotations/part_4.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001411",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Bottom Drawer Box",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Lowest MDF drawer box (~45*45*17 cm).",
+        "functional_description": "Stores heavier items at the base of the drawer stack.",
+        "movement_description": "Slides on rails; slightly higher damping due to weight.",
+        "grasp_description": "Pulled via its knob; often pushed closed with the palm."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.7,
+        "young": 4.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                18
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.5169292092323303,
+                    -0.2834051847457886,
+                    -1.1250158548355103
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001411/annotations/part_5.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001411",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Left Tall Door",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Full-height MDF-laminate hinged door (~50*200*1.8 cm) at the far left.",
+        "functional_description": "Covers the left hanging compartment and blocks dust/light.",
+        "movement_description": "Rotates about a vertical hinge axis mounted to the cabinet body.",
+        "grasp_description": "User pulls on the knob to swing the door open."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.7,
+        "young": 4.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                5,
+                10
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -1.271379828453064,
+                    -0.2864329516887665,
+                    -4.351747762143532e-08
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001411/annotations/part_6.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001411",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Left-Center Tall Door",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Second tall MDF door (~50*200*1.8 cm) from the left.",
+        "functional_description": "Covers a tall storage bay.",
+        "movement_description": "Hinged rotation about vertical axis attached to the body.",
+        "grasp_description": "Pulled via its knob; often closed with a gentle push."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.7,
+        "young": 4.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                6,
+                11
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    -0.26852867007255554,
+                    -0.2780950963497162,
+                    9.191344574333016e-09
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001411/annotations/part_7.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001411",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Right-Center Tall Door",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Third tall MDF door (~50*200*1.8 cm) near the middle.",
+        "functional_description": "Covers an internal section adjoining the shelf stack.",
+        "movement_description": "Rotates about a side-mounted hinge.",
+        "grasp_description": "Grasp the knob near the opening edge to swing the door."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.7,
+        "young": 4.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                7,
+                12
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.2414414882659912,
+                    -0.277832567691803,
+                    -8.26419022104119e-09
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001411/annotations/part_8.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001411",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Right Tall Door",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Rightmost tall hinged MDF door (~50*200*1.8 cm).",
+        "functional_description": "Covers the right-side vertical storage area.",
+        "movement_description": "Vertical-axis rotation using concealed hinges on the cabinet body.",
+        "grasp_description": "Opened and closed by its knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.7,
+        "young": 4.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                8,
+                13
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    1.2710912227630615,
+                    -0.2742561101913452,
+                    0.2586438059806824
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001411/annotations/part_9.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001411",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Bottom Right Small Door",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Short MDF cabinet door (~40*55*1.8 cm) at the lower right.",
+        "functional_description": "Covers a small cubby or compartment near the floor.",
+        "movement_description": "Hinged rotation around a vertical axis.",
+        "grasp_description": "Grasp the knob to open the small door."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.7,
+        "young": 4.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                9,
+                14
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    1.2720054388046265,
+                    -0.2785743474960327,
+                    -0.8362029790878296
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001411/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_00001411/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001411",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Four-door Wardrobe with Shelves and Drawers"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 20,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001411/model.urdf

@@ -0,0 +1,416 @@
+<?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="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_14">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_15">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_16">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_17">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_18">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_18.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_18.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_19">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_19.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_19.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_20">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_20.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_20.obj" scale="0.850777 0.850777 0.850777"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_20"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.434957 -0.240955 -0.481462" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2552331617975943" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.434957 0.240955 0.481462" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
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+    <parent link="base_link"/>
+    <child link="link_20"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001411/parts/part_1.obj

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