Upload folder using huggingface_hub (part 119)

.gitattributes

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data/UPB_00001484/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001484",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Door latch striker",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Small steel bracket (~6*4*2 cm) positioned at the right edge of the door.",
+        "functional_description": "Engages the cabinet latch to hold the door closed during operation.",
+        "movement_description": "Rigidly attached to and moves with the door.",
+        "grasp_description": "Not grasped; interaction occurs through the door handle."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Sheet",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 140,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001484/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001484",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Hinge pivot bushing",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Cylindrical nylon sleeve (~1.5 cm OD, 1.2 cm length) pressed into the hinge bracket.",
+        "functional_description": "Provides a low-friction, wear-resistant bearing surface for the door hinge pin.",
+        "movement_description": "Fixed within the hinge bracket; allows smooth rotation of the door about the pin.",
+        "grasp_description": "Never handled by users."
+    },
+    "basic_info": {
+        "material": "plastic/Nylon_PA66",
+        "density": 1.14,
+        "young": 2.7,
+        "hardness": 20,
+        "poisson": 0.39,
+        "friction": 0.25
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001484/annotations/part_8.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001484",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Front face panel",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Painted steel front panel (~40*40*1 cm) with a circular porthole and cutouts for controls/fasteners.",
+        "functional_description": "Provides structural opening for the door, mounts the gasket and trim, and ties the cabinet corners.",
+        "movement_description": "Rigidly fastened to the cabinet shell with screws.",
+        "grasp_description": "Not a grasp point; only touched incidentally when cleaning."
+    },
+    "basic_info": {
+        "material": "plastic/Nylon_PA66",
+        "density": 1.14,
+        "young": 2.7,
+        "hardness": 20,
+        "poisson": 0.39,
+        "friction": 0.25
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001484/annotations/part_9.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001484",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Inner rotating drum",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Cylindrical perforated stainless-steel drum (~35 cm diameter, ~30 cm depth) for holding laundry.",
+        "functional_description": "Rotates to agitate and tumble laundry while allowing water exchange through perforations.",
+        "movement_description": "Rotates about a horizontal axis on bearings housed in the cabinet structure.",
+        "grasp_description": "Users grasp the drum rim when loading or retrieving laundry."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193.0,
+        "hardness": 140,
+        "poisson": 0.3,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001484/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_00001484/full_model/model.obj

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+version https://git-lfs.github.com/spec/v1
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+size 152676094

data/UPB_00001484/meta_data.json

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+{
+    "id": "UPB_00001484",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenDining_Other",
+        "object_name": "Front-Loading Mini Washing Machine"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 8,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001484/model.urdf

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+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.707631 0.707631 0.707631"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.707631 0.707631 0.707631"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
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+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
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+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
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+      </geometry>
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+  </link>
+  <link name="link_6">
+    <visual>
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+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
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+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.707631 0.707631 0.707631"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.707631 0.707631 0.707631"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.707631 0.707631 0.707631"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
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+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.707631 0.707631 0.707631"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.199484 -0.223066 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <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="0.199484 0.223066 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001484/parts/1.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 1.png

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001484/parts/washing_machine_6OBOLDZVAVPY2PTULU888888_8NqWb.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5fbc7f087fdaa40001f92832
+Kd 0.337300003 0.694100022 1
+illum 1
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+illum 1
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+newmtl MI_5fbc7f0823bc84000150a605
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+newmtl MI_5fbc7f085ea89f0001cebc08
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+newmtl MI_5fbc7f0800e3a30001ed1598
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+illum 1
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+newmtl MI_5fbc7f085b8969000137086a
+Kd 1 1 1
+Ks 0.100000001 0.100000001 0.100000001
+d 1
+illum 1
+
+newmtl MI_5fbc7f08c6ff5a0001aef567
+Kd 1 1 1
+illum 1
+map_Kd ./T_5fbc7f08c6ff5a0001aef567_color.jpg
+

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data/UPB_00001485/annotations/object.json

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+{
+    "object_name": "Front-Loading Washing Machine",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        60.0,
+        60.0,
+        85.0
+    ],
+    "mass": 60.0
+}

data/UPB_00001485/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001485",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Door Assembly",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "A circular ABS plastic door bezel with integrated window frame located on the front opening.",
+        "functional_description": "Allows loading and unloading; closes the opening to contain water and noise.",
+        "movement_description": "Rotates about a side hinge bracket to open/close.",
+        "grasp_description": "Users pull the door via the handle to open and push to close."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.1,
+        "hardness": 15,
+        "poisson": 0.38,
+        "friction": 0.4
+    },
+    "kinematic_info": {
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+            "C"
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+            }
+        }
+    }
+}

data/UPB_00001485/annotations/part_10.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001485",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Control Panel",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "ABS molded front control panel with buttons and display.",
+        "functional_description": "User interface for program selection, start/stop, and status display.",
+        "movement_description": "Rigidly clipped and screwed to the cabinet; no motion.",
+        "grasp_description": "Users press buttons and touch the display area to operate the machine."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.1,
+        "hardness": 15,
+        "poisson": 0.38,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001485/annotations/part_2.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001485",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Front Panel (Outer Front Sheet)",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Painted steel front sheet with circular opening; forms the machine\u2019s visible front face.",
+        "functional_description": "Provides structure, mounts the door gasket, lens and latches, and closes the cabinet front.",
+        "movement_description": "Rigidly fixed to the cabinet with screws.",
+        "grasp_description": "Not meant to be grasped directly; users touch only around the door and controls."
+    },
+    "basic_info": {
+        "material": "plastic/Polycarbonate_PC",
+        "density": 1.2,
+        "young": 2.4,
+        "hardness": 20,
+        "poisson": 0.37,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001485/annotations/part_3.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001485",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Handle Set (Door and Carry Handles)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Three ABS molded grips: a door handle plus recessed carry/utility handles on top/side.",
+        "functional_description": "Door handle provides leverage to open/close; other grips aid moving or stabilizing the appliance.",
+        "movement_description": "No independent motion; fixed to the door and cabinet.",
+        "grasp_description": "Primary human contact surfaces for opening the door and lifting the unit during installation."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.1,
+        "hardness": 15,
+        "poisson": 0.38,
+        "friction": 0.6
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001485/annotations/part_4.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001485",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Hinge and Latch Bracket",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Stainless-steel hinge/latch bracket set mounted near the door opening.",
+        "functional_description": "Supports the door and provides a robust pivot and latch interface.",
+        "movement_description": "Acts as the rotational axis for the door; bracket itself is bolted to the cabinet.",
+        "grasp_description": "Not touched by users; concealed by trims."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_AISI304",
+        "density": 8.0,
+        "young": 193.0,
+        "hardness": 160,
+        "poisson": 0.29,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001485/annotations/part_5.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001485",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Status Indicator Lens",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Small PC light lens set into the front area.",
+        "functional_description": "Transmits light from an internal LED to show machine status.",
+        "movement_description": "Rigidly snapped into the front panel.",
+        "grasp_description": "Not intended for handling."
+    },
+    "basic_info": {
+        "material": "plastic/Polycarbonate_PC",
+        "density": 1.2,
+        "young": 2.4,
+        "hardness": 20,
+        "poisson": 0.37,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001485/annotations/part_6.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001485",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Mounting Screws Set",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Set of stainless screws positioned around the front and base.",
+        "functional_description": "Fasten the front panel and other components to the cabinet.",
+        "movement_description": "No motion; threaded joints clamp parts rigidly.",
+        "grasp_description": "Handled only during assembly with a screwdriver."
+    },
+    "basic_info": {
+        "material": "plastic/Polycarbonate_PC",
+        "density": 1.2,
+        "young": 2.4,
+        "hardness": 20,
+        "poisson": 0.37,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001485/annotations/part_7.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001485",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Door Gasket (Bellows Seal)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Flexible EPDM bellows ring around the door opening.",
+        "functional_description": "Seals between the rotating drum opening and the door/front panel to prevent leaks.",
+        "movement_description": "Fixed to the front panel; flexes elastically during door operation but has no independent motion.",
+        "grasp_description": "Occasionally touched when loading clothes; not a primary handle."
+    },
+    "basic_info": {
+        "material": "rubber/EPDM_Rubber",
+        "density": 1.1,
+        "young": 0.01,
+        "hardness": 15,
+        "poisson": 0.49,
+        "friction": 0.7
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001485/annotations/part_8.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001485",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Inner Drum Assembly",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Cylindrical stainless-steel drum with a tri-armed spider support at the rear.",
+        "functional_description": "Holds laundry and rotates to provide tumbling and agitation during washing/spinning.",
+        "movement_description": "Rotates continuously about its rear axle relative to the stationary cabinet via bearings (not shown).",
+        "grasp_description": "Users place clothes inside but do not grasp the drum to move it."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_AISI304",
+        "density": 8.0,
+        "young": 193.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001485/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001485",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Cabinet Shell",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Main galvanized steel housing forming the structure of the washer.",
+        "functional_description": "Provides rigidity, supports all subassemblies, and encloses the mechanism.",
+        "movement_description": "Stationary structural frame; other components mount to it.",
+        "grasp_description": "Only touched on edges when moving the appliance; not a regular user interface."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Sheet_Galvanized",
+        "density": 7.85,
+        "young": 210.0,
+        "hardness": 120,
+        "poisson": 0.3,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001485/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_00001485/full_model/model.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36c6f217350360352287893757a4c333485fea46299c427e7b047c383b8b69b1
+size 55420207

data/UPB_00001485/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001485",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Front-Loading Washing Machine"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 10,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001485/model.urdf

@@ -0,0 +1,182 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.347282 1.347282 1.347282"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.347282 1.347282 1.347282"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.347282 1.347282 1.347282"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.347282 1.347282 1.347282"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.347282 1.347282 1.347282"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.347282 1.347282 1.347282"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.347282 1.347282 1.347282"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.347282 1.347282 1.347282"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.347282 1.347282 1.347282"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.347282 1.347282 1.347282"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.347282 1.347282 1.347282"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.347282 1.347282 1.347282"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.347282 1.347282 1.347282"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.347282 1.347282 1.347282"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.347282 1.347282 1.347282"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.347282 1.347282 1.347282"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.347282 1.347282 1.347282"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.347282 1.347282 1.347282"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.347282 1.347282 1.347282"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.347282 1.347282 1.347282"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.264896 -0.242689 0.047863" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <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="0.264896 0.242689 -0.047863" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001485/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