Upload folder using huggingface_hub (part 95)

.gitattributes

@@ -9767,3 +9767,34 @@ data/UPB_00001427/plys/7.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00001428/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="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_9"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.623108 -0.251323 0.290502" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.623108 0.251323 -0.290502" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_9"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.168493 -0.238195 -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_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.168493 0.238195 0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="link_9"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.175387 -0.229367 0.410461" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.175387 0.229367 -0.410461" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="revolute">
+    <parent link="link_9"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.993644 -0.237190 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_4"/>
+    <origin xyz="-0.993644 0.237190 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

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data/UPB_00001429/annotations/object.json

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+{
+    "object_name": "Wardrobe Closet with Shelves and Drawer",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        180.0,
+        60.0,
+        220.0
+    ],
+    "mass": 120.0
+}

data/UPB_00001429/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001429",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Drawer Box (left column)",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "A small rectangular drawer box with a front panel, MDF painted finish, approx 45*35*12 cm.",
+        "functional_description": "Provides a sliding storage compartment for small items in the left column of the wardrobe.",
+        "movement_description": "Slides in and out on internal runners relative to the carcass; full-extension about 35 cm with light damping.",
+        "grasp_description": "Typically pulled by its handle; the box itself is not directly grasped."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.55
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+        "motion_types": [
+            "B"
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+}

data/UPB_00001429/annotations/part_10.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001429",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Drawer Pull Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Small curved pull for the drawer, powder-coated steel, approx 12*2*3 cm.",
+        "functional_description": "Main hand interface for extracting and pushing the drawer.",
+        "movement_description": "Rigidly attached to the drawer front; moves with the drawer.",
+        "grasp_description": "Typically grasped with a pinch or three-finger hook during drawer operation."
+    },
+    "basic_info": {
+        "material": "metal/Steel_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 180,
+        "poisson": 0.29,
+        "friction": 0.42
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+            "D"
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+        "motion_info": {}
+    }
+}

data/UPB_00001429/annotations/part_11.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001429",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Cabinet Carcass with Shelves",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Main structural body of the wardrobe with vertical partitions and shelves, MDF construction, overall size 180*60*220 cm.",
+        "functional_description": "Provides structural support, houses shelves, and offers hinge and slide mounting points for doors and the drawer.",
+        "movement_description": "Remains stationary; serves as the parent reference for doors (rotational) and the drawer (translational).",
+        "grasp_description": "Not normally grasped during use; users interact via the handles attached to doors and drawer."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.55
+    },
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+            "D"
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+        "motion_info": {}
+    }
+}

data/UPB_00001429/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001429",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Rightmost Door Panel",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Tall rectangular MDF door, approx 45*2*210 cm, plain face.",
+        "functional_description": "Covers and secures the right storage bay of the wardrobe.",
+        "movement_description": "Rotates outward on side hinges relative to the cabinet carcass with soft-close damping.",
+        "grasp_description": "User grasps the attached handle to open or close the door."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.5
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+    "kinematic_info": {
+        "motion_types": [
+            "C"
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+    }
+}

data/UPB_00001429/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001429",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Center-Right Door Panel",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Tall MDF door panel, approx 45*2*210 cm, plain style.",
+        "functional_description": "Closes the adjacent central compartment.",
+        "movement_description": "Opens by rotating on hinges relative to the carcass; typical swing up to ~110\u00b0.",
+        "grasp_description": "Operated through its dedicated handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.5
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+    }
+}

data/UPB_00001429/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001429",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Center-Left Door Panel (arched inset)",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Tall MDF door with an arched recessed panel, approx 45*2*210 cm.",
+        "functional_description": "Covers one of the central bays while contributing to the cabinet\u2019s decorative style.",
+        "movement_description": "Hinged rotation relative to the carcass with modest damping.",
+        "grasp_description": "Pulled via its handle; the panel itself is not typically grasped."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.52
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+    "kinematic_info": {
+        "motion_types": [
+            "C"
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+        "motion_info": {
+            "dependency": [
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+                8
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+            "C": {
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+                "pos": [
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+                "range": [
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+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001429/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001429",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Left-Center Door Panel (arched inset)",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Another tall MDF door with arched inset, approx 45*2*210 cm.",
+        "functional_description": "Closes an adjoining bay in the wardrobe.",
+        "movement_description": "Rotates outward on side hinges relative to the carcass.",
+        "grasp_description": "Operated by its handle for opening and closing."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.52
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+                "range": [
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+        }
+    }
+}

data/UPB_00001429/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001429",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Door Handle for Part 2",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Curved pull handle, powder-coated steel, approx 18*2*4 cm.",
+        "functional_description": "Provides a handhold to pull the rightmost door open and closed.",
+        "movement_description": "Rigidly fixed to door panel 2; it moves with the door.",
+        "grasp_description": "Gripped by fingers; textured coating offers moderate friction."
+    },
+    "basic_info": {
+        "material": "metal/Steel_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 180,
+        "poisson": 0.29,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001429/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001429",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Door Handle for Part 3",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Steel pull handle, black powder coat, approx 18*2*4 cm.",
+        "functional_description": "Primary hand interface for the center-right door.",
+        "movement_description": "Rigidly attached; follows the door\u2019s rotation.",
+        "grasp_description": "Common pinch or wrap grasp for opening the door."
+    },
+    "basic_info": {
+        "material": "metal/Steel_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 180,
+        "poisson": 0.29,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001429/annotations/part_8.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001429",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Door Handle for Part 4",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Curved steel door pull, approx 18*2*4 cm.",
+        "functional_description": "Allows users to operate the center-left door panel.",
+        "movement_description": "No relative motion to its door; moves rigidly with it.",
+        "grasp_description": "Gripped by the hand to swing the door."
+    },
+    "basic_info": {
+        "material": "metal/Steel_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 180,
+        "poisson": 0.29,
+        "friction": 0.4
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+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001429/annotations/part_9.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001429",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Door Handle for Part 5",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Steel door pull handle, black finish, approx 18*2*4 cm.",
+        "functional_description": "Provides a grip to open the left-center door.",
+        "movement_description": "Rigidly fixed to door panel 5.",
+        "grasp_description": "Used by the fingers to pull the door open."
+    },
+    "basic_info": {
+        "material": "metal/Steel_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 180,
+        "poisson": 0.29,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001429/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_00001429/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001429",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Wardrobe Closet with Shelves and Drawer"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 11,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001429/model.urdf

@@ -0,0 +1,231 @@
+<?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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.878800 0.878800 0.878800"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_11"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.745038 0.000000 -0.538268" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="-0.0" upper="0.2636400174285393"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.745038 -0.000000 0.538268" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_11"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.990012 0.021622 -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_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.990012 -0.021622 0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="link_11"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.181785 0.033043 0.298417" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.181785 -0.033043 -0.298417" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="revolute">
+    <parent link="link_11"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.155665 0.030482 -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_4"/>
+    <origin xyz="-0.155665 -0.030482 0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="revolute">
+    <parent link="link_11"/>
+    <child link="helper_link_4"/>
+    <origin xyz="-0.620133 0.019374 -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_5"/>
+    <origin xyz="0.620133 -0.019374 0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="link_5"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001429/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_00001429/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_00001429/parts/part_1.obj

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