Upload folder using huggingface_hub (part 46)

.gitattributes

@@ -8375,3 +8375,23 @@ data/UPB_00001342/plys/6.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001342/plys/7.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001342/plys/8.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001342/plys/9.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001342/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001343/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001343/plys/2.ply filter=lfs diff=lfs merge=lfs -text
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+data/UPB_00001343/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001344/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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+data/UPB_00001344/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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+data/UPB_00001345/plys/4.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001342/plys/model.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:ed6682656086ab1535967d0e604475668f723f7a91e222062ffef3d67c2b9900
+size 1600243

data/UPB_00001343/annotations/object.json

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+{
+    "object_name": "One-piece Toilet",
+    "category": "PlumbingSanitary/PlumbingFixture",
+    "volume": [
+        70.0,
+        38.0,
+        75.0
+    ],
+    "mass": 40.0
+}

data/UPB_00001343/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001343",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Flush Button 1",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Small chrome-plated ABS push button mounted on the tank lid; approx. 3*2*1 cm.",
+        "functional_description": "Acts as a flush actuator linked to the internal valve mechanism.",
+        "movement_description": "Translates vertically downward by about 5\u201310 mm when pressed, returning via an internal spring.",
+        "grasp_description": "Pressed with a finger; not meant to be grasped."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic_Chrome_Plated",
+        "density": 1.05,
+        "young": 2.2,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    -0.011699967086315155,
+                    0.27229034900665283,
+                    0.3449229300022125
+                ],
+                "range": [
+                    -0.007000000216066837,
+                    0.0
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001343/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001343",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Flush Button 2",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Second ABS push button on the tank lid; approx. 3*2*1 cm, paired with button 1 for dual-flush.",
+        "functional_description": "Triggers the alternate flush volume in a dual-flush system.",
+        "movement_description": "Short downward translation with spring return similar to button 1.",
+        "grasp_description": "Pressed with a fingertip; not grasped."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic_Chrome_Plated",
+        "density": 1.05,
+        "young": 2.2,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.019384415820240974,
+                    0.2720741033554077,
+                    0.3448883891105652
+                ],
+                "range": [
+                    -0.007000000216066837,
+                    0.0
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+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001343/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001343",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Toilet Seat (Ring)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Polypropylene seat ring sized to the bowl opening; approx. 36*28*1.5 cm with rear hinge mounts.",
+        "functional_description": "Provides a comfortable sitting surface and supports the user; connects the lid to the bowl via hinges.",
+        "movement_description": "Rotates about rear hinges relative to the ceramic body; also serves as the parent hinge member for the lid.",
+        "grasp_description": "Lifted or lowered by hand at the front or side edge."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.6,
+        "hardness": 10,
+        "poisson": 0.42,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                3
+            ],
+            "C": {
+                "axis": [
+                    -1.0,
+                    0.0,
+                    -1.2246468525851679e-16
+                ],
+                "pos": [
+                    0.0,
+                    0.14207503199577332,
+                    0.022790897637605667
+                ],
+                "range": [
+                    0.0,
+                    1.7453292519943295
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001343/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001343",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Ceramic Body (Tank + Bowl)",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Main vitreous china shell integrating the water tank and bowl; glazed exterior; approx. 70*38*75 cm.",
+        "functional_description": "Stores and releases flushing water, guides waste to the outlet, and provides mounting interfaces for seat, lid, buttons, and internals.",
+        "movement_description": "Rigid, stationary base; serves as the parent reference for buttons and seat hinge.",
+        "grasp_description": "Normally touched only for cleaning; not intended to be grasped to operate."
+    },
+    "basic_info": {
+        "material": "ceramics/Porcelain_Vitreous_China",
+        "density": 2.4,
+        "young": 60.0,
+        "hardness": 600,
+        "poisson": 0.23,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001343/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001343",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Toilet Lid (Cover)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Polypropylene lid that covers the seat/bowl; approx. 36*30*1.2 cm with rear hinge line.",
+        "functional_description": "Covers the seat and bowl to improve hygiene and appearance; reduces noise with soft-close damping.",
+        "movement_description": "Rotates about the same hinge axis as the seat, relative to the seat as parent; slow-close damping.",
+        "grasp_description": "Lifted or lowered by grasping an edge with one hand."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.6,
+        "hardness": 10,
+        "poisson": 0.42,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                6
+            ],
+            "C": {
+                "axis": [
+                    -1.0,
+                    0.0,
+                    -1.2246468525851679e-16
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+                "pos": [
+                    0.0,
+                    0.11384016275405884,
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+                "range": [
+                    0.0,
+                    1.7453292519943295
+                ],
+                "damping": 0.07
+            }
+        }
+    }
+}

data/UPB_00001343/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_00001343/meta_data.json

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+{
+    "id": "UPB_00001343",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "PlumbingSanitary/PlumbingFixture",
+        "object_name": "One-piece Toilet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 5,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001343/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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.032702 1.032702 1.032702"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.032702 1.032702 1.032702"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.032702 1.032702 1.032702"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.032702 1.032702 1.032702"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.032702 1.032702 1.032702"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.032702 1.032702 1.032702"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.032702 1.032702 1.032702"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.032702 1.032702 1.032702"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.032702 1.032702 1.032702"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.032702 1.032702 1.032702"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_4"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.012083 0.281195 0.356203" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="-0.0072289159255983365" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.012083 -0.281195 -0.356203" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_4"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.020018 0.280972 0.356167" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="-0.0072289159255983365" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.020018 -0.280972 -0.356167" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.000000 0.146721 0.023536" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.000000 -0.146721 -0.023536" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="revolute">
+    <parent link="link_3"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.000000 0.117563 0.007606" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_6"/>
+    <origin xyz="-0.000000 -0.117563 -0.007606" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001343/parts/4.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 4.png

data/UPB_00001343/parts/toilet_ZWGCUMJVAJ34UPTUKQ888888_ZsNPK.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_61b2b2dc585b240001bc2081
+Kd 0.661396027 0.661396027 0.661396027
+illum 1
+
+newmtl MI_61b2b2dca8403a0001f574ef
+Kd 1 1 1
+d 1
+illum 1
+map_Kd ./T_61b2b2dca8403a0001f574ef_color.jpg
+map_d ./T_61b2b2dca8403a0001f574ef_alpha.jpg
+

data/UPB_00001343/plys/1.ply

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+version https://git-lfs.github.com/spec/v1
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+size 160242

data/UPB_00001343/plys/2.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001343/plys/3.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001343/plys/4.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001343/plys/6.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001343/plys/model.ply

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+version https://git-lfs.github.com/spec/v1
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+size 1600243

data/UPB_00001344/annotations/object.json

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+{
+    "object_name": "Swing-Top Waste Bin",
+    "category": "ContainersStorage/WasteRecyclingContainer",
+    "volume": [
+        22.0,
+        18.0,
+        28.0
+    ],
+    "mass": 0.85
+}

data/UPB_00001344/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001344",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Top Frame / Lid Housing",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Injection-molded ABS top frame that sits on the bin body and supports the swing flap; approximately 18\u00d716\u00d73 cm.",
+        "functional_description": "Provides the opening rim and houses the pivot features, bushings, and magnets for the swinging flap.",
+        "movement_description": "Acts as the stationary parent for the swing flap; no motion itself relative to the body.",
+        "grasp_description": "Users grasp this rim to lift or remove the lid assembly for cleaning."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.1,
+        "hardness": 10,
+        "poisson": 0.37,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    -1.0,
+                    0.0,
+                    -1.2246468525851679e-16
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+                "pos": [
+                    0.0,
+                    0.17499187588691711,
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+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001344/annotations/part_10.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001344",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Swing Flap",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Curved polypropylene flap with a thickened hinge edge (~15\u00d712\u00d70.3 cm).",
+        "functional_description": "Primary user interface; swings inward when pushed to allow waste disposal and self-returns by gravity and magnetic assist.",
+        "movement_description": "Rotates about the lateral axle housed in the top frame; smooth motion limited to ~120\u00b0.",
+        "grasp_description": "Users push the flap with a hand or the disposed item."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.6,
+        "hardness": 8,
+        "poisson": 0.42,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                10
+            ],
+            "C": {
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+                    -1.0,
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+    }
+}

data/UPB_00001344/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001344",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Hinge Pin / Axle",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Slender stainless-steel rod (~12\u201314 cm long, 4\u20135 mm diameter) integrated as the pivot axle.",
+        "functional_description": "Provides a low-wear axis for the swing flap to rotate on.",
+        "movement_description": "Rigidly fixed in the top frame; the flap rotates about this axle via the bushings.",
+        "grasp_description": "Not intended to be touched; enclosed in the lid housing."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001344/annotations/part_3.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001344",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Decorative Inlay Panel",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Thin bamboo veneer strip fitted on the lid top (~12\u00d73\u00d70.3 cm).",
+        "functional_description": "Aesthetic accent and light finger-rest area; does not affect motion.",
+        "movement_description": "Rigidly bonded to the top frame; no relative movement.",
+        "grasp_description": "May be brushed by fingers when pressing on the lid rim."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001344/annotations/part_4.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001344",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Pivot Bushings (pair)",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Two nylon sleeve bushings seated in the frame sidewalls (~10 mm OD).",
+        "functional_description": "Reduce friction and wear between the steel axle and the swinging flap\u2019s pivot points.",
+        "movement_description": "Fixed to the frame; act as bearing surfaces for the flap rotation.",
+        "grasp_description": "Never grasped; hidden inside the frame."
+    },
+    "basic_info": {
+        "material": "plastic/Nylon_PA66",
+        "density": 1.15,
+        "young": 2.8,
+        "hardness": 20,
+        "poisson": 0.39,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001344/annotations/part_5.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001344",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Side Carry Handle Ring",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Lightweight oval aluminum loop mounted to the lid housing (~8\u00d73\u00d70.8 cm).",
+        "functional_description": "Provides a convenient point to carry or lift the lid assembly.",
+        "movement_description": "Rigidly fixed to the frame in this model.",
+        "grasp_description": "Users can hook a finger through the ring to remove the lid."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.6,
+        "hardness": 8,
+        "poisson": 0.42,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001344/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001344",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Body Shell",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Molded polypropylene tapered container (~22\u00d718\u00d728 cm).",
+        "functional_description": "Holds waste and provides structural support for the lid assembly.",
+        "movement_description": "Rigidly connected to the top frame; the body is stationary during lid motion.",
+        "grasp_description": "Users grasp the body to move or empty the bin."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.6,
+        "hardness": 8,
+        "poisson": 0.42,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001344/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_00001344/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001344",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "ContainersStorage/WasteRecyclingContainer",
+        "object_name": "Swing-Top Waste Bin"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 7,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001344/model.urdf

@@ -0,0 +1,139 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.416534 0.416534 0.416534"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.416534 0.416534 0.416534"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.416534 0.416534 0.416534"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.416534 0.416534 0.416534"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.416534 0.416534 0.416534"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.416534 0.416534 0.416534"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.416534 0.416534 0.416534"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.416534 0.416534 0.416534"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.416534 0.416534 0.416534"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.416534 0.416534 0.416534"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.416534 0.416534 0.416534"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.416534 0.416534 0.416534"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.416534 0.416534 0.416534"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.416534 0.416534 0.416534"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="base_link"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 0.072890 0.098104" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 -0.072890 -0.098104" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_1"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 0.030378 0.073249" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_10"/>
+    <origin xyz="-0.000000 -0.030378 -0.073249" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001344/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_00001344/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