Upload folder using huggingface_hub (part 243)

.gitattributes

@@ -14078,3 +14078,57 @@ data/UPB_00001889/plys/7.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001889/plys/8.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001889/plys/9.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001889/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001890/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001890/plys/10.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001890/plys/11.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001890/plys/12.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001890/plys/13.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001890/plys/14.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001890/plys/15.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001890/plys/16.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001890/plys/17.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001890/plys/18.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001890/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001890/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001890/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001890/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001890/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001890/plys/7.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001890/plys/8.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001890/plys/9.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001890/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001891/full_model/model.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001891/parts/part_1.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001891/parts/part_3.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001891/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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+data/UPB_00001891/plys/11.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001891/plys/12.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001891/plys/13.ply filter=lfs diff=lfs merge=lfs -text
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+data/UPB_00001891/plys/4.ply filter=lfs diff=lfs merge=lfs -text
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+data/UPB_00001891/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001891/plys/7.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001891/plys/8.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001891/plys/9.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001891/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001892/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001892/plys/10.ply filter=lfs diff=lfs merge=lfs -text
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+data/UPB_00001892/plys/8.ply filter=lfs diff=lfs merge=lfs -text
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+data/UPB_00001892/plys/model.ply filter=lfs diff=lfs merge=lfs -text

data/UPB_00001890/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001890",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Interior shelf assembly",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Three plywood shelves fixed to two side supports, forming the main storage levels inside the wardrobe (approx. 90\u00d745\u00d7110 cm total).",
+        "functional_description": "Provides horizontal surfaces for folded clothes or boxes; carries moderate distributed loads.",
+        "movement_description": "Fixed inside the carcass; no intended motion during use.",
+        "grasp_description": "Occasionally grasped to adjust or remove during reconfiguration, otherwise not handled frequently."
+    },
+    "basic_info": {
+        "material": "wood/Plywood",
+        "density": 0.55,
+        "young": 9.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001890/annotations/part_10.json

@@ -0,0 +1,53 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001890",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Bottom drawer assembly (front shown)",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Bottom drawer with walnut front (approx. 80\u00d715\u00d72 cm) and full drawer body.",
+        "functional_description": "Holds heavier items; slides out on guides.",
+        "movement_description": "Translational sliding relative to the carcass.",
+        "grasp_description": "Operated by the two knobs."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Walnut",
+        "density": 0.64,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                10,
+                15,
+                17
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.18629661202430725,
+                    -0.7203788757324219
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001890/annotations/part_11.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001890",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Left door knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Small round brass knob mounted on the left door (\u00d830 mm).",
+        "functional_description": "Provides a handle to pull the left door.",
+        "movement_description": "Rigidly fixed to the door and moves with it.",
+        "grasp_description": "Pinched between fingers to open/close the door."
+    },
+    "basic_info": {
+        "material": "metal/Copper_Alloy_Brass",
+        "density": 8.4,
+        "young": 100.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001890/annotations/part_12.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001890",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Right door knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Small round brass knob mounted on the right door (\u00d830 mm).",
+        "functional_description": "Provides a handle to pull the right door.",
+        "movement_description": "Rigidly fixed to the door and moves with it.",
+        "grasp_description": "Gripped and pulled during door operation."
+    },
+    "basic_info": {
+        "material": "metal/Copper_Alloy_Brass",
+        "density": 8.4,
+        "young": 100.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001890/annotations/part_13.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001890",
+        "label": "13"
+    },
+    "part_level": {
+        "part_name": "Top drawer knob - left",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Left-hand brass knob for the top drawer (\u00d828\u201330 mm).",
+        "functional_description": "One of the two grips for pulling the top drawer.",
+        "movement_description": "Rigidly attached to the top drawer front; translates with the drawer.",
+        "grasp_description": "Pulled by hand to slide the drawer out."
+    },
+    "basic_info": {
+        "material": "metal/Copper_Alloy_Brass",
+        "density": 8.4,
+        "young": 100.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.36
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001890/annotations/part_14.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001890",
+        "label": "14"
+    },
+    "part_level": {
+        "part_name": "Top drawer knob - right",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Right-hand brass knob for the top drawer.",
+        "functional_description": "Works with the left knob to pull the top drawer evenly.",
+        "movement_description": "Rigid to the top drawer front.",
+        "grasp_description": "Held with one or both hands when opening the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Copper_Alloy_Brass",
+        "density": 8.4,
+        "young": 100.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.36
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001890/annotations/part_15.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001890",
+        "label": "15"
+    },
+    "part_level": {
+        "part_name": "Middle drawer knob - left",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Left brass knob for the middle drawer.",
+        "functional_description": "Handle for the middle drawer.",
+        "movement_description": "Moves rigidly with the middle drawer.",
+        "grasp_description": "Used frequently to access the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Copper_Alloy_Brass",
+        "density": 8.4,
+        "young": 100.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.36
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001890/annotations/part_16.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001890",
+        "label": "16"
+    },
+    "part_level": {
+        "part_name": "Middle drawer knob - right",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Right brass knob for the middle drawer.",
+        "functional_description": "Partner handle for smooth, even pulling.",
+        "movement_description": "Rigid with the middle drawer during translation.",
+        "grasp_description": "Gripped by the user to open/close the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Copper_Alloy_Brass",
+        "density": 8.4,
+        "young": 100.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.36
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001890/annotations/part_17.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001890",
+        "label": "17"
+    },
+    "part_level": {
+        "part_name": "Bottom drawer knob - left",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Left brass knob for the bottom drawer.",
+        "functional_description": "Provides leverage to pull the heavier bottom drawer.",
+        "movement_description": "Rigidly fastened to the bottom drawer front.",
+        "grasp_description": "Held during drawer operation."
+    },
+    "basic_info": {
+        "material": "metal/Copper_Alloy_Brass",
+        "density": 8.4,
+        "young": 100.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.36
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001890/annotations/part_18.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001890",
+        "label": "18"
+    },
+    "part_level": {
+        "part_name": "Bottom drawer knob - right",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Right brass knob for the bottom drawer.",
+        "functional_description": "Second handle for balanced two\u2011handed pulling.",
+        "movement_description": "Rigid with the bottom drawer during motion.",
+        "grasp_description": "Common touchpoint for opening and closing the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Copper_Alloy_Brass",
+        "density": 8.4,
+        "young": 100.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.36
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001890/annotations/part_2.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001890",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Door hinge set",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Set of small stainless-steel butt hinges mounted along the front edges (about 3 pairs).",
+        "functional_description": "Transfers loads between each door and the carcass and provides the pivot for opening.",
+        "movement_description": "Hinges themselves are rigidly fastened to both mating parts while the door rotates about the hinge pin.",
+        "grasp_description": "Not normally touched by users."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.3,
+        "friction": 0.25
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001890/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001890",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Cabinet carcass/frame",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Primary hardwood frame with side panels, top, intermediate floor above drawers, and four legs (approx. 100\u00d750\u00d7200 cm external).",
+        "functional_description": "Provides structure, stability, and mounting surfaces for doors, shelves and drawers.",
+        "movement_description": "Stationary body; other parts move relative to it (doors rotate, drawers translate).",
+        "grasp_description": "Rarely grasped directly except when moving the whole wardrobe."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Walnut",
+        "density": 0.64,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001890/annotations/part_4.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001890",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Compartment bottom panel",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "A horizontal plywood board forming the floor of the upper compartment above the drawers (approx. 95\u00d748\u00d72 cm).",
+        "functional_description": "Separates the drawer bay from the main storage area and supports loads placed on it.",
+        "movement_description": "Rigidly fixed to the carcass; no motion.",
+        "grasp_description": "Normally not handled by users."
+    },
+    "basic_info": {
+        "material": "wood/Plywood",
+        "density": 0.55,
+        "young": 9.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001890/annotations/part_5.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001890",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Back panel",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Large thin MDF board closing the rear of the upper compartment (approx. 95\u00d7150\u00d70.4 cm).",
+        "functional_description": "Provides racking resistance and dust protection.",
+        "movement_description": "Nailed or screwed to the frame; no motion.",
+        "grasp_description": "Not touched during normal use."
+    },
+    "basic_info": {
+        "material": "wood/MDF",
+        "density": 0.75,
+        "young": 4.0,
+        "hardness": 20,
+        "poisson": 0.25,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001890/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001890",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Left door (frame with glazed panel)",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Tall door comprising a hardwood frame with a central glass panel (approx. 45\u00d7140\u00d72.2 cm).",
+        "functional_description": "Closes the left half of the wardrobe; glass allows visibility while keeping dust out.",
+        "movement_description": "Rotates about a vertical hinge axis mounted to the frame; soft closing via hinge damping.",
+        "grasp_description": "Pulled open using its knob; edges may also be touched lightly."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Walnut",
+        "density": 0.64,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                6,
+                11
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.3669385015964508,
+                    -0.1659681797027588,
+                    0.271337628364563
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001890/annotations/part_7.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001890",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Right door (frame with glazed panel)",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Matching right-hand door with hardwood frame and glazed center (approx. 45\u00d7140\u00d72.2 cm).",
+        "functional_description": "Closes the right half of the wardrobe.",
+        "movement_description": "Rotates around its vertical hinges attached to the carcass.",
+        "grasp_description": "Pulled via its knob during opening and closing."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Walnut",
+        "density": 0.64,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                7,
+                12
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.3719586133956909,
+                    -0.1543879359960556,
+                    0.27229079604148865
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001890/annotations/part_8.json

@@ -0,0 +1,53 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001890",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Top drawer assembly (front shown)",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Upper drawer (complete drawer assumed); walnut face approx. 80\u00d715\u00d72 cm with internal box and runners.",
+        "functional_description": "Stores small items; slides in and out on runners.",
+        "movement_description": "Translates along horizontal guides relative to the carcass; soft friction or runner damping.",
+        "grasp_description": "Pulled by the two knobs to open and close."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Walnut",
+        "density": 0.64,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                8,
+                13,
+                16
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.18394000828266144,
+                    -0.4110388159751892
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001890/annotations/part_9.json

@@ -0,0 +1,53 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001890",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Middle drawer assembly (front shown)",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Middle drawer with walnut front panel (approx. 80\u00d715\u00d72 cm) and full box behind.",
+        "functional_description": "Provides additional storage; operates on slides/runners.",
+        "movement_description": "Linear motion along rails relative to the carcass.",
+        "grasp_description": "Opened and closed via its two knobs."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Walnut",
+        "density": 0.64,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                9,
+                14,
+                18
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.18545617163181305,
+                    -0.5643579959869385
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}

data/UPB_00001890/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_00001890/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001890",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Two-door wardrobe with three drawers"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 18,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001890/model.urdf

@@ -0,0 +1,350 @@
+<?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="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_14">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_15">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_16">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_17">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_18">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_18.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_18.obj" scale="1.030349 1.030349 1.030349"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_3"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.378075 -0.171005 0.279572" 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_6"/>
+    <origin xyz="0.378075 0.171005 -0.279572" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_3"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.383247 -0.159073 0.280555" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_7"/>
+    <origin xyz="-0.383247 0.159073 -0.280555" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_3"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.000000 -0.189522 -0.423513" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.30910469249293654" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_8"/>
+    <origin xyz="-0.000000 0.189522 0.423513" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="prismatic">
+    <parent link="link_3"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.000000 -0.191085 -0.581486" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.30910469249293654" upper="0.0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_9"/>
+    <origin xyz="-0.000000 0.191085 0.581486" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="prismatic">
+    <parent link="link_3"/>
+    <child link="helper_link_4"/>
+    <origin xyz="0.000000 -0.191951 -0.742242" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.30910469249293654" upper="0.0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_10"/>
+    <origin xyz="-0.000000 0.191951 0.742242" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="link_6"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_16" type="fixed">
+    <parent link="link_7"/>
+    <child link="link_12"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_17" type="fixed">
+    <parent link="link_8"/>
+    <child link="link_13"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_18" type="fixed">
+    <parent link="link_9"/>
+    <child link="link_14"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_19" type="fixed">
+    <parent link="link_10"/>
+    <child link="link_15"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_20" type="fixed">
+    <parent link="link_8"/>
+    <child link="link_16"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_21" type="fixed">
+    <parent link="link_10"/>
+    <child link="link_17"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_22" type="fixed">
+    <parent link="link_9"/>
+    <child link="link_18"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001890/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_00001890/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_00001890/parts/WineCabinet_6JBV6ORVAV3EOPTUKI888888_3fa1E.mtl

@@ -0,0 +1,31 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5e7dc4e723bc8400018dc838
+Kd 0.561195016 0.388814986 0.226852998
+illum 1
+
+newmtl MI_5e7dc4e77fdaa40001accf7b
+Kd 1 1 1
+illum 1
+map_Kd ./T_5e7dc4e77fdaa40001accf7b_color.jpg
+
+newmtl MI_5e7dc4e7d849e1000196a853
+Kd 1 1 1
+illum 1
+
+newmtl MI_5e7dc4e75ea89f00013a2c38
+Kd 0.913891613 0.913891613 0.913891613
+Ks 0.100000001 0.100000001 0.100000001
+d 1
+illum 1
+
+newmtl MI_5e7dc4e7c6ff5a0001aa7a24
+Kd 0.766368985 0.627527177 0.384482592
+illum 1
+
+newmtl MI_5e7dc4e77d6a630001423566
+Kd 1 1 1
+illum 1
+map_Kd ./T_5e7dc4e77d6a630001423566_color.jpg
+

data/UPB_00001890/parts/part_1.obj

@@ -0,0 +1,395 @@
+mtllib WineCabinet_6JBV6ORVAV3EOPTUKI888888_3fa1E.mtl
+v 0.412634999 -0.110940002 0.909179986
+v 0.412634999 0.148237005 0.909179986
+v 0.412634999 0.148237005 -0.308025986
+v 0.412634999 0.148237005 0.909179986
+v 0.412634999 -0.110940002 0.909179986
+v 0.417544007 -0.110940002 0.909179986
+v 0.417544007 0.148237005 0.909179986
+v 0.419043988 0.134737 0.89568001
+v 0.419043988 0.134737 -0.294526011
+v 0.419043988 0.134737 0.89568001
+v 0.417544007 0.148237005 0.909179986
+v 0.417544007 -0.110940002 0.909179986
+v 0.417544007 -0.110940002 -0.308025986
+v 0.417544007 -0.110940002 0.909179986
+v 0.412634999 -0.110940002 0.909179986
+v 0.417544007 -0.110940002 -0.308025986
+v 0.419043988 -0.0974401012 -0.294526011
+v 0.419043988 -0.0974403992 0.89568001
+v 0.419043988 -0.0974403992 0.89568001
+v 0.417544007 -0.110940002 0.909179986
+v 0.417544007 -0.110940002 -0.308025986
+v 0.417544007 -0.110940002 0.909179986
+v 0.419043988 -0.0974403992 0.89568001
+v 0.419043988 0.134737 0.89568001
+v 0.419043988 0.134737 0.89568001
+v 0.419043988 -0.0974403992 0.89568001
+v 0.419043988 -0.0974401012 -0.294526011
+v 0.419043988 -0.0974401012 -0.294526011
+v 0.419043988 0.134737 -0.294526011
+v 0.419043988 0.134737 0.89568001
+v 0.412634999 0.148237005 -0.308025986
+v 0.412634999 -0.110940002 -0.308025986
+v 0.412634999 -0.110940002 0.909179986
+v 0.417544007 -0.110940002 0.909179986
+v 0.417544007 0.148237005 0.909179986
+v 0.412634999 0.148237005 0.909179986
+v 0.412634999 -0.110940002 0.909179986
+v 0.412634999 -0.110940002 -0.308025986
+v 0.417544007 -0.110940002 -0.308025986
+v 0.419043988 -0.0974401012 -0.294526011
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+v 0.417544007 0.148237005 -0.308025986
+v 0.419043988 0.134737 -0.294526011
+v 0.419043988 -0.0974401012 -0.294526011
+v 0.419043988 0.134737 -0.294526011
+v 0.417544007 0.148237005 -0.308025986
+v 0.417544007 0.148237005 0.909179986
+v 0.412634999 -0.110940002 -0.308025986
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data/UPB_00001890/plys/1.ply

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