Upload folder using huggingface_hub (part 60)

.gitattributes

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data/UPB_00001375/annotations/object.json

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+{
+    "object_name": "Large Wardrobe Closet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        240.0,
+        60.0,
+        220.0
+    ],
+    "mass": 180.0
+}

data/UPB_00001375/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001375",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Drawer 1",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Medium-size drawer box made from painted MDF (approx. 55*45*18 cm).",
+        "functional_description": "Provides enclosed storage for folded clothes and accessories.",
+        "movement_description": "Slides in and out on side runners relative to the cabinet carcass.",
+        "grasp_description": "Typically pulled by the attached round knob at the front."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated_Painted",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.35
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+    "kinematic_info": {
+        "motion_types": [
+            "B"
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+        "motion_info": {
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+}

data/UPB_00001375/annotations/part_10.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001375",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Door 5 (right inner tall door)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Plain tall MDF door with rectangular perimeter molding.",
+        "functional_description": "Closes a secondary right-side bay.",
+        "movement_description": "Hinged rotation relative to carcass, up to about 110\u00b0.",
+        "grasp_description": "Pulled by its knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated_Painted",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
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+    "kinematic_info": {
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+}

data/UPB_00001375/annotations/part_11.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001375",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Door 6 (far-right tall door)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Rightmost tall MDF door with rectangular perimeter profile.",
+        "functional_description": "Covers the far-right storage bay.",
+        "movement_description": "Rotates on hinges fastened to the carcass.",
+        "grasp_description": "Opened and closed using the attached knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated_Painted",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
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+    "kinematic_info": {
+        "motion_types": [
+            "C"
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+        "motion_info": {
+            "dependency": [
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+            "C": {
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+        }
+    }
+}

data/UPB_00001375/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001375",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Drawer 2",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Painted MDF drawer box similar size to Drawer 1.",
+        "functional_description": "Holds clothing or small items in the lower section of the wardrobe.",
+        "movement_description": "Linear translation on slides relative to the carcass.",
+        "grasp_description": "Pulled by its front knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated_Painted",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
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+        }
+    }
+}

data/UPB_00001375/annotations/part_23.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001375",
+        "label": "23"
+    },
+    "part_level": {
+        "part_name": "Carcass and Internal Shelves",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Structural body of the wardrobe including back panel, vertical partitions, shelves and drawer runners, all in painted MDF.",
+        "functional_description": "Provides load-bearing structure, houses shelves, supports door hinges and drawer slides.",
+        "movement_description": "Stationary reference frame; other parts rotate or translate relative to it.",
+        "grasp_description": "Not typically grasped directly during normal use."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated_Painted",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001375/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001375",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Drawer 3",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "MDF drawer with framed front panel, painted finish.",
+        "functional_description": "Additional enclosed storage within the lower bay.",
+        "movement_description": "Extends outward on metal runners; stops near 45 cm travel.",
+        "grasp_description": "User pulls on the knob to open, pushes the front to close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated_Painted",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.35
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+    "kinematic_info": {
+        "motion_types": [
+            "B"
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+        "motion_info": {
+            "dependency": [
+                3
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+            "B": {
+                "axis": [
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+                    1.0,
+                    0.0
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+                "pos": [
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+                    0.0
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+                "damping": 0.06
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+    }
+}

data/UPB_00001375/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001375",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Drawer 4",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Painted MDF drawer front and box, with shallow decorative panel.",
+        "functional_description": "Stores garments or accessories.",
+        "movement_description": "Slides on rails relative to carcass; soft-close damping.",
+        "grasp_description": "Pulled by the knob or grasped at the lower edge."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated_Painted",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
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+        "motion_info": {
+            "dependency": [
+                4
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+            "B": {
+                "axis": [
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+                "damping": 0.06
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+}

data/UPB_00001375/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001375",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Drawer 5",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Bottom drawer module in painted MDF with framed front.",
+        "functional_description": "Provides the fifth lower storage compartment.",
+        "movement_description": "Translates outward/inward on slide rails relative to carcass.",
+        "grasp_description": "Operated by the attached knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated_Painted",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
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+        "motion_info": {
+            "dependency": [
+                5
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+            "B": {
+                "axis": [
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+                    1.0,
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+                "range": [
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+                    0.0
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+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001375/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001375",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Door 1 (far-left tall door)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Tall painted MDF door panel with arched inset profile.",
+        "functional_description": "Covers a left storage bay to protect and conceal contents.",
+        "movement_description": "Rotates about vertical hinges mounted to the carcass.",
+        "grasp_description": "Pulled by the round knob to swing open."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated_Painted",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                6
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+            "C": {
+                "axis": [
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+                "range": [
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+                "damping": 0.03
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+}

data/UPB_00001375/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001375",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Door 2 (left inner tall door)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Narrow tall MDF door with arched inset detail, painted.",
+        "functional_description": "Closes a narrow compartment adjacent to the left bay.",
+        "movement_description": "Hinged rotation relative to carcass.",
+        "grasp_description": "Operated by its knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated_Painted",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
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+        "motion_info": {
+            "dependency": [
+                7
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+            "C": {
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+                    1.0
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+                    2.3424506778724208e-08
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+                "range": [
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+                "damping": 0.03
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+        }
+    }
+}

data/UPB_00001375/annotations/part_8.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001375",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Door 3 (center-left tall door)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Tall center-left MDF door with decorative arch profile.",
+        "functional_description": "Covers a main hanging or shelving bay.",
+        "movement_description": "Swings on hinges relative to carcass.",
+        "grasp_description": "User pulls the knob to open and swings the door."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated_Painted",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
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+        "motion_info": {
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+                    -1.0
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+    }
+}

data/UPB_00001375/annotations/part_9.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001375",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Door 4 (center-right tall door)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Another tall painted MDF door with arched inset.",
+        "functional_description": "Conceals a central storage section.",
+        "movement_description": "Rotational motion on side hinges.",
+        "grasp_description": "Grasp knob to swing open/closed."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated_Painted",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                9
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+            "C": {
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+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001375/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_00001375/full_model/model.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:600f7d5436de656a3a2acb0f7c78290f28004698770d72f088584e4c61fb7490
+size 17957860

data/UPB_00001375/meta_data.json

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+{
+    "id": "UPB_00001375",
+    "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": 12,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001375/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="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="helper_link_10"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.745934 0.745934 0.745934"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.745934 0.745934 0.745934"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.745934 0.745934 0.745934"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.745934 0.745934 0.745934"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.745934 0.745934 0.745934"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.745934 0.745934 0.745934"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.745934 0.745934 0.745934"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.745934 0.745934 0.745934"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.745934 0.745934 0.745934"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.745934 0.745934 0.745934"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.745934 0.745934 0.745934"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.745934 0.745934 0.745934"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.745934 0.745934 0.745934"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.745934 0.745934 0.745934"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.745934 0.745934 0.745934"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.745934 0.745934 0.745934"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.745934 0.745934 0.745934"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.745934 0.745934 0.745934"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.745934 0.745934 0.745934"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.745934 0.745934 0.745934"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.745934 0.745934 0.745934"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.745934 0.745934 0.745934"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_23">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_23.obj" scale="0.745934 0.745934 0.745934"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_23.obj" scale="0.745934 0.745934 0.745934"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_23"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.852854 -0.171565 -0.464235" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.29837354602809857" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.852854 0.171565 0.464235" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_23"/>
+    <child link="helper_link_1"/>
+    <origin xyz="-0.847596 -0.171565 -0.625045" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.29837354602809857" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0.847596 0.171565 0.625045" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_23"/>
+    <child link="helper_link_2"/>
+    <origin xyz="-0.851320 -0.171565 -0.800224" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.29837354602809857" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0.851320 0.171565 0.800224" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="prismatic">
+    <parent link="link_23"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.150842 -0.199534 -0.573219" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.29837354602809857" upper="0.0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="-0.150842 0.199534 0.573219" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="prismatic">
+    <parent link="link_23"/>
+    <child link="helper_link_4"/>
+    <origin xyz="0.147028 -0.193943 -0.804558" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.29837354602809857" upper="0.0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_5"/>
+    <origin xyz="-0.147028 0.193943 0.804558" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="revolute">
+    <parent link="link_23"/>
+    <child link="helper_link_5"/>
+    <origin xyz="-1.183922 -0.193902 -0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="helper_link_5"/>
+    <child link="link_6"/>
+    <origin xyz="1.183922 0.193902 0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="revolute">
+    <parent link="link_23"/>
+    <child link="helper_link_6"/>
+    <origin xyz="-0.510484 -0.186483 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="helper_link_6"/>
+    <child link="link_7"/>
+    <origin xyz="0.510484 0.186483 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="revolute">
+    <parent link="link_23"/>
+    <child link="helper_link_7"/>
+    <origin xyz="-0.191870 -0.186483 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="helper_link_7"/>
+    <child link="link_8"/>
+    <origin xyz="0.191870 0.186483 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_16" type="revolute">
+    <parent link="link_23"/>
+    <child link="helper_link_8"/>
+    <origin xyz="0.479191 -0.186483 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_17" type="fixed">
+    <parent link="helper_link_8"/>
+    <child link="link_9"/>
+    <origin xyz="-0.479191 0.186483 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_18" type="revolute">
+    <parent link="link_23"/>
+    <child link="helper_link_9"/>
+    <origin xyz="0.489622 -0.186483 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_19" type="fixed">
+    <parent link="helper_link_9"/>
+    <child link="link_10"/>
+    <origin xyz="-0.489622 0.186483 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_20" type="revolute">
+    <parent link="link_23"/>
+    <child link="helper_link_10"/>
+    <origin xyz="1.185958 -0.186483 -0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_21" type="fixed">
+    <parent link="helper_link_10"/>
+    <child link="link_11"/>
+    <origin xyz="-1.185958 0.186483 0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_22" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_23"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001375/parts/1.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 1.png

data/UPB_00001375/parts/10.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 10.png

data/UPB_00001375/parts/11.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 11.png

data/UPB_00001375/parts/2.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 2.png

data/UPB_00001375/parts/3.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 3.png

data/UPB_00001375/parts/4.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 4.png

data/UPB_00001375/parts/5.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 5.png

data/UPB_00001375/parts/6.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 6.png

data/UPB_00001375/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_00001375/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

data/UPB_00001375/parts/9.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 9.png