Upload folder using huggingface_hub (part 45)

.gitattributes

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data/UPB_00001338/meta_data.json

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+{
+    "id": "UPB_00001338",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "PlumbingSanitary/PlumbingFixture",
+        "object_name": "Two-piece Flush Toilet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 4,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001338/model.urdf

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+<?xml version="1.0" ?>
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+  </link>
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+    </collision>
+  </link>
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+    </visual>
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+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
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+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="-0.0015915834497056492" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
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+  </joint>
+  <joint name="joint_2" type="revolute">
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+    <axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
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+  </joint>
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+    <parent link="base_link"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

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data/UPB_00001338/parts/toilet_ZSGRG2JVAUFYYPTULI888888_tRpJt.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_60b389375b896900017cbe09
+Kd 0.584299982 0.584299982 0.584299982
+illum 1
+
+newmtl MI_60b38937e113f6000161ff02
+Kd 1 1 1
+illum 1
+

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+size 160242

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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001338/plys/4.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001338/plys/model.ply

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+version https://git-lfs.github.com/spec/v1
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data/UPB_00001339/annotations/object.json

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

data/UPB_00001339/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001339",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Flush Button",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "A small circular ABS plastic push button mounted on the top of the tank area of the one-piece toilet.",
+        "functional_description": "Triggers the flush mechanism by transmitting a short push to the internal valve assembly.",
+        "movement_description": "Moves axially down and up within a guide bore in the tank lid, with a short, damped translation stroke.",
+        "grasp_description": "Operated by fingertip pressing; typically not grasped."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic_Chromed",
+        "density": 1.05,
+        "young": 2.2,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.0,
+                    0.2530543804168701,
+                    0.3873654007911682
+                ],
+                "range": [
+                    -0.003000000026077032,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001339/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001339",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Toilet Lid",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "An injection-molded polypropylene lid shaped to match the bowl rim, attached at the rear by hinges.",
+        "functional_description": "Covers the seat/bowl to keep the toilet closed, reduce odors, and provide a surface when not in use.",
+        "movement_description": "Rotates about rear hinges relative to the ceramic body; may include soft-close damping.",
+        "grasp_description": "Users grasp the front or side edge to lift or lower the lid."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.6,
+        "hardness": 9,
+        "poisson": 0.42,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "C": {
+                "axis": [
+                    -1.0,
+                    0.0,
+                    -1.2246468525851679e-16
+                ],
+                "pos": [
+                    0.0,
+                    0.040538035333156586,
+                    0.06861609220504761
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+                "range": [
+                    0.0,
+                    1.7453292519943295
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001339/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001339",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Ceramic Body (Bowl, Base and Tank Housing)",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Glazed vitreous-china one-piece structure integrating the bowl, pedestal base, and tank housing.",
+        "functional_description": "Provides the main load-bearing and water-retaining structure, guiding waste and flush water through internal passages to the drain.",
+        "movement_description": "Rigid, stationary part; acts as the parent to the push button (translation) and lid (rotation) via installed mechanisms and hinges.",
+        "grasp_description": "Not normally grasped during operation; touched only for cleaning or installation."
+    },
+    "basic_info": {
+        "material": "ceramics/Vitreous_China",
+        "density": 2.4,
+        "young": 65.0,
+        "hardness": 400,
+        "poisson": 0.22,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001339/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_00001339/meta_data.json

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+{
+    "id": "UPB_00001339",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "PlumbingSanitary/PlumbingFixture",
+        "object_name": "One-piece Toilet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 3,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001339/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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.954546 0.954546 0.954546"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.954546 0.954546 0.954546"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.954546 0.954546 0.954546"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.954546 0.954546 0.954546"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.954546 0.954546 0.954546"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.954546 0.954546 0.954546"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_3"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 0.241552 0.369758" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="-0.0028636375391897055" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 -0.241552 -0.369758" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_3"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 0.038695 0.065497" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 -0.038695 -0.065497" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001339/parts/part_3.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:5095596148b0bc99788731ef671e9d483f93ae75aaa315a608d9c559094bd0a5
+size 16936082

data/UPB_00001339/parts/toilet_ZSGRG2JVAUWXSPTULY888888_7sIdO.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_60b3893a7d6a630001ebb4d6
+Kd 0.584299982 0.584299982 0.584299982
+illum 1
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+newmtl MI_60b3893ac6ff5a0001429461
+Kd 0.400000006 0.400000006 0.400000006
+illum 1
+

data/UPB_00001339/plys/1.ply

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

data/UPB_00001339/plys/2.ply

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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+size 1192706

data/UPB_00001339/plys/model.ply

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

data/UPB_00001340/annotations/object.json

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+{
+    "object_name": "Household Toilet (Tank + Bowl)",
+    "category": "PlumbingSanitary/PlumbingFixture",
+    "volume": [
+        68.0,
+        38.0,
+        78.0
+    ],
+    "mass": 38.0
+}

data/UPB_00001340/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001340",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Flush Button",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Round ABS push-button (approx. \u00d84 cm, height 1.2 cm) located on the tank top.",
+        "functional_description": "User presses this button to actuate the flushing mechanism in the tank.",
+        "movement_description": "Small downward translation within its bezel; returns via spring/valve resistance.",
+        "grasp_description": "Interacted with by a fingertip press; not grasped."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.3,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.0,
+                    0.28564125299453735,
+                    0.4518638849258423
+                ],
+                "range": [
+                    -0.0020000000949949026,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001340/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001340",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Seat Lid",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Thin polypropylene lid (approx. 43*36*1.5 cm) that covers the seat.",
+        "functional_description": "Closes over the seat to provide a cover and aesthetic finish; can be lifted and lowered.",
+        "movement_description": "Rotates about the hinge axis mounted at the rear of the bowl.",
+        "grasp_description": "Grasped at the edge to lift or lower during use or cleaning."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.6,
+        "hardness": 8,
+        "poisson": 0.42,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "C": {
+                "axis": [
+                    -1.0,
+                    0.0,
+                    -1.2246468525851679e-16
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+                "pos": [
+                    0.0,
+                    0.12601225078105927,
+                    0.03047727607190609
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
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+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001340/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001340",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Toilet Body (Bowl and Tank)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Vitreous porcelain one-piece structure (approx. 68*38*78 cm) forming the tank and bowl.",
+        "functional_description": "Provides water storage (tank), waste collection (bowl), trapway and mounting points for seat and flush hardware.",
+        "movement_description": "Stationary; acts as the rigid base for hinges and the flush button bezel.",
+        "grasp_description": "Not typically grasped during use; handled only for installation and cleaning."
+    },
+    "basic_info": {
+        "material": "ceramics/Porcelain",
+        "density": 2.3,
+        "young": 65.0,
+        "hardness": 600,
+        "poisson": 0.23,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001340/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001340",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Seat Hinges and Mounts (Pair)",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Pair of stainless-steel hinge posts with caps (each approx. 4*3*3 cm) mounted at the rear of the bowl.",
+        "functional_description": "Rigidly secures to the bowl and provides the pivot axis for both the seat ring and the lid.",
+        "movement_description": "Acts as parent hinge; the seat and lid rotate about its axis with slight damping from hardware.",
+        "grasp_description": "Rarely touched directly; mainly a mechanical support component."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.95,
+        "young": 1.7,
+        "hardness": 8,
+        "poisson": 0.42,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001340/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001340",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Flush Button Bezel/Ring",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "ABS bezel/gasket ring (approx. \u00d85 cm, thickness 0.5 cm) seated in the tank top hole.",
+        "functional_description": "Holds and guides the flush button, seals the opening, and provides a finished surface.",
+        "movement_description": "Rigidly fixed to the porcelain tank; allows the button to translate within its bore.",
+        "grasp_description": "Not intentionally handled; only touched incidentally around the button."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.3,
+        "hardness": 10,
+        "poisson": 0.37,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001340/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001340",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Toilet Seat Ring",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Ergonomic polypropylene seat ring (approx. 42*35*3 cm) that rests on the bowl rim.",
+        "functional_description": "Provides the sitting surface; lifts for cleaning or to use the bowl directly.",
+        "movement_description": "Rotates up and down around the rear hinge posts; stays aligned by hinge geometry.",
+        "grasp_description": "Frequently grasped at the front or side to raise/lower; supports body weight when in use."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.95,
+        "young": 1.7,
+        "hardness": 8,
+        "poisson": 0.42,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                6
+            ],
+            "C": {
+                "axis": [
+                    -1.0,
+                    0.0,
+                    -1.2246468525851679e-16
+                ],
+                "pos": [
+                    0.0,
+                    0.12491007149219513,
+                    0.029675688594579697
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+                "range": [
+                    0.0,
+                    1.7453292519943295
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+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00001340/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_00001340/full_model/model.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:d02963704d517b41a18509971d170f2fde5e6e1e1e9b6e2ba3cfbc4e24321ea0
+size 41173677

data/UPB_00001340/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001340",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "PlumbingSanitary/PlumbingFixture",
+        "object_name": "Household Toilet (Tank + Bowl)"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 6,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001340/model.urdf

@@ -0,0 +1,130 @@
+<?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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.850764 0.850764 0.850764"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.850764 0.850764 0.850764"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.850764 0.850764 0.850764"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.850764 0.850764 0.850764"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.850764 0.850764 0.850764"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.850764 0.850764 0.850764"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.850764 0.850764 0.850764"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.850764 0.850764 0.850764"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.850764 0.850764 0.850764"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.850764 0.850764 0.850764"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.850764 0.850764 0.850764"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.850764 0.850764 0.850764"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_5"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 0.243013 0.384430" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="-0.0017015280190943983" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 -0.243013 -0.384430" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 0.107207 0.025929" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
+    <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="-0.000000 -0.107207 -0.025929" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.000000 0.106269 0.025247" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_6"/>
+    <origin xyz="-0.000000 -0.106269 -0.025247" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001340/parts/1.mtl

@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+
+newmtl MI_60b3894217e93b0001b54b68
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.01176471 0.01176471 0.01176471
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000

data/UPB_00001340/parts/part_2.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:cb6a62b9b8bf4a0cae66781b6986ac952bba7ad7b26c79f8f5d66ef233597da4
+size 12636973