Upload folder using huggingface_hub (part 80)

.gitattributes

@@ -9369,3 +9369,22 @@ data/UPB_00001408/plys/model.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001409/plys/1.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001409/plys/10.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001409/plys/11.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001409/plys/12.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001409/plys/13.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001409/plys/14.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001409/plys/15.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001409/plys/16.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001409/plys/17.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001409/plys/18.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001409/plys/19.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001409/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001409/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001409/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001409/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001409/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001409/plys/7.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001409/plys/8.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001409/plys/9.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001409/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001410/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001410/plys/10.ply filter=lfs diff=lfs merge=lfs -text

data/UPB_00001409/plys/12.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43abda479f7ac57bb41971e18a36ce558ae191312e1e2a5d07363e3a31ecce3c
+size 160242

data/UPB_00001409/plys/13.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a451b9e49c1b51697dd57836bc9e6623ea7f9739ad819821039336aab49e08a0
+size 160242

data/UPB_00001409/plys/14.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:142a38473d8c1bfdd941b371fd32b9846c0854ba698eb1926bf251ce409af689
+size 160242

data/UPB_00001409/plys/15.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cf5c10922e6e1455d8f30df9adaa0bce2047a8a604be570fc5772906ae9d1e7
+size 160242

data/UPB_00001409/plys/16.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:314b63d97bc406b302c4f5e08972d6b62b7f3c0f1ae71074c4b7304db495e484
+size 160242

data/UPB_00001409/plys/17.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61d7e3c4fad34af57d6e998a2ff49a47e7bc3cf4a97b1f2ad7ecec8694c4037f
+size 160242

data/UPB_00001409/plys/18.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89b7917fb5bca33b9ff9ab48157ba02536ff56af30e9a0e3990af7357526f0c9
+size 160242

data/UPB_00001409/plys/19.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3939e5a7ef922057cfe205865976a1379d5048cc195d68af002d5a2c7834ca3
+size 1246498

data/UPB_00001409/plys/2.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32288600d8785fb7d7176831db686d45e9615bf837cab41d22f89dd4e25ad6ef
+size 160242

data/UPB_00001409/plys/3.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dec916d6655c1b1ace254b6ad4aea5fe1cfe3eacb5ba3da90eeb6198c404676c
+size 160242

data/UPB_00001409/plys/4.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5916769cbe63b2c406a34a61bf391d78c24509b17e0b4bdc63b4372d2d4330f7
+size 160242

data/UPB_00001409/plys/5.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f04e63d0a41565d90ad5a6f2570ced855a347917cc2446198f360710885640f7
+size 160242

data/UPB_00001409/plys/6.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e1a75f1ded303f933ddc86cb99c78be23303d00eb3d85b4a140c5d05476137a
+size 160242

data/UPB_00001409/plys/7.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82c96d58700103bc5101f5ed8641706d6ad2e919425f442316e10820bdf1c972
+size 160242

data/UPB_00001409/plys/8.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a004e4c469d72434f69296fb54f8d7dee77cac22f2e9b1cfa2821738c08948d4
+size 160242

data/UPB_00001409/plys/9.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e22dff8e3826c28f419218cd8c0e0cdad231ab35cc0d3b1fbfb3b8de420eedd4
+size 160242

data/UPB_00001409/plys/model.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e35fcaf11b4dd60f74c35ccb44f4b1cf92db4b20c900655bdf3792497efc25e
+size 1600243

data/UPB_00001410/annotations/object.json

@@ -0,0 +1,10 @@
+{
+    "object_name": "Large Wardrobe Closet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        240.0,
+        60.0,
+        220.0
+    ],
+    "mass": 160.0
+}

data/UPB_00001410/annotations/part_1.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001410",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Decorative glazing bars",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Slim MDF decorative muntin-style bars attached to a glass-panel door, painted to match the wardrobe. Approx size 5*1.5*180 cm (W*D*H).",
+        "functional_description": "Provides a decorative grid over the glass door, improving aesthetics without affecting structure.",
+        "movement_description": "No independent motion; it moves rigidly with the door it is fixed to.",
+        "grasp_description": "Not intended to be grasped."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Lacquered",
+        "density": 0.74,
+        "young": 3.5,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001410/annotations/part_10.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001410",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Right middle door",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Tall MDF panel door adjacent to the open-shelf column; about 30*2.0*210 cm.",
+        "functional_description": "Protects a cupboard section for folded items.",
+        "movement_description": "Rotational opening on hinges.",
+        "grasp_description": "Used via the attached handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Lacquered",
+        "density": 0.74,
+        "young": 3.6,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                10,
+                17
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.7086135149002075,
+                    -0.19647331535816193,
+                    -1.0186108845289255e-08
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001410/annotations/part_11.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001410",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Rightmost door",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Tall, narrow MDF door covering the far-right bay; approx 25*2.0*210 cm.",
+        "functional_description": "Closes the right shelf column.",
+        "movement_description": "Opens outward on hinges attached to the carcass.",
+        "grasp_description": "Gripped by its vertical pull."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Lacquered",
+        "density": 0.74,
+        "young": 3.6,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                11,
+                18
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    1.3983774185180664,
+                    -0.19070495665073395,
+                    -4.7864421759413744e-08
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001410/annotations/part_12.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001410",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Handle for left outer door",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Curved stainless pull, matte black finish; about 16*2.5*3 cm.",
+        "functional_description": "Primary grasp point to operate the left outer door.",
+        "movement_description": "No independent motion; moves with the door.",
+        "grasp_description": "Fingers curl behind the bar; low-slip surface."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_Black_Powdercoat",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.29,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001410/annotations/part_13.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001410",
+        "label": "13"
+    },
+    "part_level": {
+        "part_name": "Handle for left inner door",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Vertical metal pull sized for a tall door.",
+        "functional_description": "Allows opening/closing of the left inner door.",
+        "movement_description": "Rigidly fixed to its door.",
+        "grasp_description": "Grasped with a hook grip."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_Black_Powdercoat",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.29,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001410/annotations/part_14.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001410",
+        "label": "14"
+    },
+    "part_level": {
+        "part_name": "Handle for glass-panel door (left center)",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Curved pull handle for the left central glass door.",
+        "functional_description": "User interface to swing the glass door.",
+        "movement_description": "Rigid to the mounting plate; no relative motion.",
+        "grasp_description": "Comfortable for repeated use; accommodates full hand."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_Black_Powdercoat",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.29,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001410/annotations/part_15.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001410",
+        "label": "15"
+    },
+    "part_level": {
+        "part_name": "Handle for glass-panel door (right center)",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Vertical metal pull for the right central glass door.",
+        "functional_description": "Primary grasp surface to open/close the door.",
+        "movement_description": "Rigidly attached to the door.",
+        "grasp_description": "Hook or power grip along the curved bar."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_Black_Powdercoat",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.29,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001410/annotations/part_16.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001410",
+        "label": "16"
+    },
+    "part_level": {
+        "part_name": "Handle for right inner door",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Door pull for the narrow right inner door.",
+        "functional_description": "Provides leverage to operate the door.",
+        "movement_description": "Moves rigidly with the door.",
+        "grasp_description": "Typically grasped with three to four fingers."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_Black_Powdercoat",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.29,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001410/annotations/part_17.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001410",
+        "label": "17"
+    },
+    "part_level": {
+        "part_name": "Handle for right middle door",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Curved vertical pull for a mid-right cabinet door.",
+        "functional_description": "Used to swing the door open and closed.",
+        "movement_description": "No relative movement to the door.",
+        "grasp_description": "Comfortable one-hand pull."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_Black_Powdercoat",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.29,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001410/annotations/part_18.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001410",
+        "label": "18"
+    },
+    "part_level": {
+        "part_name": "Handle for rightmost door",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Vertical metal pull for the far-right door.",
+        "functional_description": "User interface for the rightmost compartment.",
+        "movement_description": "Rigidly mounted; no independent motion.",
+        "grasp_description": "Hand wraps around the curved bar."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_Black_Powdercoat",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.29,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001410/annotations/part_19.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001410",
+        "label": "19"
+    },
+    "part_level": {
+        "part_name": "Top drawer handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Horizontal bow-shaped pull for the upper drawer, about 14*2.5*3 cm.",
+        "functional_description": "Primary grasp point for sliding the upper drawer.",
+        "movement_description": "Rigidly fixed to the drawer front.",
+        "grasp_description": "Pulled with a full-hand or fingertip grip."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_Black_Powdercoat",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.29,
+        "friction": 0.34
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001410/annotations/part_2.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001410",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Upper drawer box",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "MDF drawer with front panel, sides and base; about 80*45*18 cm (W*D*H).",
+        "functional_description": "Stores small garments and accessories and interfaces with slide rails inside the cabinet.",
+        "movement_description": "Slides in/out on telescopic runners relative to the cabinet carcass with limited damping.",
+        "grasp_description": "Users pull the attached handle rather than the drawer body."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.74,
+        "young": 3.4,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                19
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.4219462275505066,
+                    0.0,
+                    -0.6084321141242981
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001410/annotations/part_20.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001410",
+        "label": "20"
+    },
+    "part_level": {
+        "part_name": "Middle drawer handle",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Horizontal handle sized for the middle drawer.",
+        "functional_description": "Enables pulling and pushing of the middle drawer.",
+        "movement_description": "Rigid connection to the drawer face.",
+        "grasp_description": "Commonly grasped with one hand at center."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_Black_Powdercoat",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.29,
+        "friction": 0.34
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001410/annotations/part_21.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001410",
+        "label": "21"
+    },
+    "part_level": {
+        "part_name": "Lower drawer handle",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Horizontal metal pull for the lower drawer.",
+        "functional_description": "Used to open/close the lowest drawer which may carry heavier loads.",
+        "movement_description": "Rigidly attached with bolts; no motion.",
+        "grasp_description": "Pulled upward and outward."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_Black_Powdercoat",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.29,
+        "friction": 0.34
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001410/annotations/part_22.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001410",
+        "label": "22"
+    },
+    "part_level": {
+        "part_name": "Wardrobe carcass (body with shelves)",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Main structural body of the wardrobe made from laminated particle board with internal dividers, shelves, and drawer slides. Approx 240*60*220 cm overall.",
+        "functional_description": "Provides structural support and houses compartments, shelves, and slide/hinge mountings for doors and drawers.",
+        "movement_description": "Stationary reference frame; all doors rotate on hinges and drawers translate on slides relative to it.",
+        "grasp_description": "Normally not grasped directly, except at edges when moving the furniture."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminated",
+        "density": 0.65,
+        "young": 2.5,
+        "hardness": 15,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001410/annotations/part_3.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001410",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Middle drawer box",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Second MDF drawer, approx 80*45*18 cm.",
+        "functional_description": "General storage inside the wardrobe.",
+        "movement_description": "Translates on slides with soft-close behavior.",
+        "grasp_description": "Pulled by its handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.74,
+        "young": 3.4,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                20
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.3743443787097931,
+                    0.0,
+                    -0.7280740737915039
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001410/annotations/part_4.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001410",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Lower drawer box",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Third MDF drawer, approx 80*45*18 cm.",
+        "functional_description": "Storage for bulkier folded items.",
+        "movement_description": "Slides outward from the cabinet on runners.",
+        "grasp_description": "Users grasp the horizontal handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.74,
+        "young": 3.4,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                21
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.3614025115966797,
+                    0.0,
+                    -0.9612478613853455
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001410/annotations/part_5.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001410",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Left outer door",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Tall hinged MDF door on the far left, about 45*2.0*210 cm (W*D*H).",
+        "functional_description": "Covers a tall hanging/storage compartment.",
+        "movement_description": "Rotates about side hinges relative to the cabinet.",
+        "grasp_description": "Operated by the attached vertical handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Lacquered",
+        "density": 0.74,
+        "young": 3.6,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                5,
+                12
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -1.3903719186782837,
+                    -0.18553614616394043,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001410/annotations/part_6.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001410",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Left inner door",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Narrow tall MDF door adjacent to the left side, about 35*2.0*210 cm.",
+        "functional_description": "Covers a vertical storage bay or shelf column.",
+        "movement_description": "Hinged rotation about the side.",
+        "grasp_description": "Pulled via its handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Lacquered",
+        "density": 0.74,
+        "young": 3.6,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                6,
+                13
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    -0.7205687165260315,
+                    -0.19834035634994507,
+                    2.4664018383191433e-08
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001410/annotations/part_7.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001410",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Glass-panel door (left center)",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Framed door with multiple glazed panes and decorative bars; approx 45*2.2*210 cm.",
+        "functional_description": "Provides visibility into the central section while keeping dust out.",
+        "movement_description": "Opens on hinges, rotating outwards from the frame.",
+        "grasp_description": "Operated using the handle; the glass and bars are not for gripping."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Lacquered",
+        "density": 0.74,
+        "young": 3.6,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                7,
+                14
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.7056663036346436,
+                    -0.18964485824108124,
+                    0.47187158465385437
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001410/annotations/part_8.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001410",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Glass-panel door (right center)",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Framed door with two large glazed panels; approx 45*2.2*210 cm.",
+        "functional_description": "Covers the adjacent central bay while allowing a partial view.",
+        "movement_description": "Hinged rotation relative to the carcass.",
+        "grasp_description": "Pulled by its vertical handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Lacquered",
+        "density": 0.74,
+        "young": 3.6,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                8,
+                15
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.02649361453950405,
+                    -0.19447001814842224,
+                    0.24890471994876862
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001410/annotations/part_9.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001410",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Right inner door (left of shelving)",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Tall MDF door near the right side; about 35*2.0*210 cm.",
+        "functional_description": "Covers a narrow vertical compartment.",
+        "movement_description": "Opens via side hinges.",
+        "grasp_description": "Handled by the mounted pull."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Lacquered",
+        "density": 0.74,
+        "young": 3.6,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                9,
+                16
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    0.01967800408601761,
+                    -0.20143485069274902,
+                    6.735498270238338e-10
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001410/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_00001410/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001410",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Large Wardrobe Closet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 22,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001410/model.urdf

@@ -0,0 +1,458 @@
+<?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="helper_link_9"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_14">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_15">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_16">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_17">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_18">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_18.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_18.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_19">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_19.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_19.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_20">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_20.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_20.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_21">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_21.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_21.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_22">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_22.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_22.obj" scale="0.845674 0.845674 0.845674"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_22"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.356829 0.000000 -0.514535" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.25370215868471413" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_2"/>
+    <origin xyz="0.356829 -0.000000 0.514535" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_22"/>
+    <child link="helper_link_1"/>
+    <origin xyz="-0.316573 0.000000 -0.615713" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.25370215868471413" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_3"/>
+    <origin xyz="0.316573 -0.000000 0.615713" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_22"/>
+    <child link="helper_link_2"/>
+    <origin xyz="-0.305629 0.000000 -0.812902" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.25370215868471413" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_4"/>
+    <origin xyz="0.305629 -0.000000 0.812902" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="revolute">
+    <parent link="link_22"/>
+    <child link="helper_link_3"/>
+    <origin xyz="-1.175801 -0.156903 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_5"/>
+    <origin xyz="1.175801 0.156903 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="revolute">
+    <parent link="link_22"/>
+    <child link="helper_link_4"/>
+    <origin xyz="-0.609366 -0.167731 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_6"/>
+    <origin xyz="0.609366 0.167731 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="revolute">
+    <parent link="link_22"/>
+    <child link="helper_link_5"/>
+    <origin xyz="-0.596764 -0.160378 0.399049" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="helper_link_5"/>
+    <child link="link_7"/>
+    <origin xyz="0.596764 0.160378 -0.399049" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="revolute">
+    <parent link="link_22"/>
+    <child link="helper_link_6"/>
+    <origin xyz="0.022405 -0.164458 0.210492" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="helper_link_6"/>
+    <child link="link_8"/>
+    <origin xyz="-0.022405 0.164458 -0.210492" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="revolute">
+    <parent link="link_22"/>
+    <child link="helper_link_7"/>
+    <origin xyz="0.016641 -0.170348 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="helper_link_7"/>
+    <child link="link_9"/>
+    <origin xyz="-0.016641 0.170348 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_16" type="revolute">
+    <parent link="link_22"/>
+    <child link="helper_link_8"/>
+    <origin xyz="0.599256 -0.166152 -0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_17" type="fixed">
+    <parent link="helper_link_8"/>
+    <child link="link_10"/>
+    <origin xyz="-0.599256 0.166152 0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_18" type="revolute">
+    <parent link="link_22"/>
+    <child link="helper_link_9"/>
+    <origin xyz="1.182571 -0.161274 -0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_19" type="fixed">
+    <parent link="helper_link_9"/>
+    <child link="link_11"/>
+    <origin xyz="-1.182571 0.161274 0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_20" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_21" type="fixed">
+    <parent link="link_5"/>
+    <child link="link_12"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_22" type="fixed">
+    <parent link="link_6"/>
+    <child link="link_13"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_23" type="fixed">
+    <parent link="link_7"/>
+    <child link="link_14"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_24" type="fixed">
+    <parent link="link_8"/>
+    <child link="link_15"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_25" type="fixed">
+    <parent link="link_9"/>
+    <child link="link_16"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_26" type="fixed">
+    <parent link="link_10"/>
+    <child link="link_17"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_27" type="fixed">
+    <parent link="link_11"/>
+    <child link="link_18"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_28" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_19"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_29" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_20"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_30" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_21"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_31" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_22"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001410/parts/7.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 7.png

data/UPB_00001410/parts/8.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 8.png