Upload folder using huggingface_hub (part 68)

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data/UPB_00001388/annotations/object.json

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+{
+    "object_name": "Six-door Wardrobe with Three Drawers",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        240.0,
+        60.0,
+        220.0
+    ],
+    "mass": 160.0
+}

data/UPB_00001388/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Top Drawer Box",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Rectangular wood drawer box with decorative front; approx 75*45*18 cm; plywood with melamine finish.",
+        "functional_description": "Provides storage space for small clothing or accessories in the wardrobe.",
+        "movement_description": "Slides in and out of the carcass on runners, translating along the depth direction.",
+        "grasp_description": "Typically pulled via the horizontal handle attached to the front."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Melamine",
+        "density": 0.65,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                16
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+            "B": {
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+                    0.0
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+                "damping": 0.06
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+        }
+    }
+}

data/UPB_00001388/annotations/part_10.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Handle - Leftmost Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Vertical bar pull, stainless steel, about 28*2*3 cm.",
+        "functional_description": "Provides a grip to open and close the leftmost door.",
+        "movement_description": "No independent movement; rigidly fixed to its door.",
+        "grasp_description": "Grabbed by fingers with a pulling action."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001388/annotations/part_11.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Handle - Left Inner Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Vertical bar pull for the second door; stainless steel, ~28 cm long.",
+        "functional_description": "Used to open/close the left inner door.",
+        "movement_description": "Rigidly mounted to its door.",
+        "grasp_description": "Typically pinched and pulled outward."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001388/annotations/part_12.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Handle - Right Inner Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Vertical door pull, stainless steel, ~28 cm length.",
+        "functional_description": "Allows opening of the right inner door.",
+        "movement_description": "No motion relative to the door; rigid joint.",
+        "grasp_description": "User wraps fingers around and pulls."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001388/annotations/part_13.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "13"
+    },
+    "part_level": {
+        "part_name": "Handle - Rightmost Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Rightmost door pull; stainless steel bar, ~28 cm.",
+        "functional_description": "Primary hand interface to open the rightmost door.",
+        "movement_description": "Rigid to the door leaf.",
+        "grasp_description": "Grasped with whole hand and pulled."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001388/annotations/part_14.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "14"
+    },
+    "part_level": {
+        "part_name": "Handle - Left Glass Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Slim vertical pull for the left glass-panel door; stainless steel, ~28 cm.",
+        "functional_description": "Enables comfortable gripping without contacting glass.",
+        "movement_description": "Rigid attachment; no relative motion.",
+        "grasp_description": "Pulled with fingertips or full hand."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001388/annotations/part_15.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "15"
+    },
+    "part_level": {
+        "part_name": "Handle - Right Glass Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Vertical bar pull for the right glass-panel door; stainless steel, ~28 cm.",
+        "functional_description": "Operates the right glass door.",
+        "movement_description": "Rigidly secured to the door frame.",
+        "grasp_description": "Gripped and pulled to swing the door open."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001388/annotations/part_16.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "16"
+    },
+    "part_level": {
+        "part_name": "Handle - Top Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Horizontal bow handle about 35 cm long for the top drawer.",
+        "functional_description": "Primary grip to pull the top drawer.",
+        "movement_description": "No movement relative to the drawer front.",
+        "grasp_description": "Pulled with one or two hands to translate the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001388/annotations/part_17.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "17"
+    },
+    "part_level": {
+        "part_name": "Handle - Middle Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Horizontal stainless handle for middle drawer, ~35 cm.",
+        "functional_description": "Used to open the middle drawer smoothly.",
+        "movement_description": "Fixed to the drawer; no relative motion.",
+        "grasp_description": "Grasped with a pulling motion."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001388/annotations/part_18.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "18"
+    },
+    "part_level": {
+        "part_name": "Handle - Bottom Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Horizontal drawer pull for bottom drawer, stainless steel, ~35 cm.",
+        "functional_description": "Provides leverage to open the heaviest drawer.",
+        "movement_description": "Rigidly mounted to the drawer front.",
+        "grasp_description": "Pulled outward; may be used with two hands for heavy loads."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001388/annotations/part_19.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "19"
+    },
+    "part_level": {
+        "part_name": "Wardrobe Carcass",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Main structural body of the wardrobe with vertical partitions, top/bottom panels and back; particle board with melamine surface; overall size about 240*60*220 cm.",
+        "functional_description": "Provides structural support, mounts the hinges and drawer slides, and divides storage into compartments.",
+        "movement_description": "Stationary reference part; all doors rotate from it and drawers translate relative to it.",
+        "grasp_description": "Not directly grasped in normal use except during assembly or moving."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Melamine",
+        "density": 0.65,
+        "young": 2.8,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001388/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Middle Drawer Box",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Middle storage drawer, plywood/melamine; approx 75*45*18 cm.",
+        "functional_description": "General storage for folded garments or accessories.",
+        "movement_description": "Translates outward on slides relative to the wardrobe body.",
+        "grasp_description": "Pulled using its dedicated handle."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Melamine",
+        "density": 0.65,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                17
+            ],
+            "B": {
+                "axis": [
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+                    1.0,
+                    0.0
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+                "pos": [
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+        }
+    }
+}

data/UPB_00001388/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Bottom Drawer Box",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Lowest drawer box, plywood/melamine; approx 75*45*18 cm.",
+        "functional_description": "Holds heavier items such as linens or sweaters.",
+        "movement_description": "Slides out along linear rails.",
+        "grasp_description": "Operated through the front handle."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Melamine",
+        "density": 0.65,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.3
+    },
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+            "B"
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+                3,
+                18
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+}

data/UPB_00001388/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Leftmost Solid Door",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Tall MDF door panel, approx 40*2*200 cm with simple rim profile.",
+        "functional_description": "Encloses the left storage compartment of the wardrobe.",
+        "movement_description": "Rotates about vertical hinges mounted to the carcass.",
+        "grasp_description": "User grasps the metal handle; the door surface itself is rarely held."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Lacquered",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                10
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+            "C": {
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+                "damping": 0.04
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+        }
+    }
+}

data/UPB_00001388/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Left Inner Solid Door",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Second solid door from the left, MDF lacquered; approx 40*2*200 cm.",
+        "functional_description": "Closes an inner hanging or shelving bay.",
+        "movement_description": "Swings on hinges relative to the carcass.",
+        "grasp_description": "Operated via its vertical handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Lacquered",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                5,
+                11
+            ],
+            "C": {
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+                    0.0,
+                    1.0
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+                "damping": 0.04
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+        }
+    }
+}

data/UPB_00001388/annotations/part_6.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Right Inner Solid Door",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Third solid door from the left, MDF; approx 40*2*200 cm.",
+        "functional_description": "Closes another inner bay.",
+        "movement_description": "Opens by rotating about a vertical hinge axis.",
+        "grasp_description": "Handled through its attached pull."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Lacquered",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                6,
+                12
+            ],
+            "C": {
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+                    0.0,
+                    1.0
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+                "pos": [
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+                    -3.5856356106478415e-08
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+                "range": [
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+                    1.5707963267948966
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001388/annotations/part_7.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Rightmost Solid Door",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Rightmost tall MDF door; approx 40*2*200 cm.",
+        "functional_description": "Closes the right storage bay.",
+        "movement_description": "Rotates open on hinges.",
+        "grasp_description": "Pulled via its rigidly mounted handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Lacquered",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                7,
+                13
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    0.37022867798805237,
+                    -0.18547441065311432,
+                    0.3070511221885681
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001388/annotations/part_8.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Left Glass-panel Door",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Tall narrow door with multiple glass panes set in a frame; approx 35*2*200 cm.",
+        "functional_description": "Provides a view into the central compartment while keeping dust out.",
+        "movement_description": "Swings about vertical hinges attached to the carcass.",
+        "grasp_description": "Operated by its vertical pull handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Lacquered",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                8,
+                14
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.3638440668582916,
+                    -0.18475040793418884,
+                    -1.2453851283567019e-08
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001388/annotations/part_9.json

@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Right Glass-panel Door",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Companion glass door with pane grid; approx 35*2*200 cm.",
+        "functional_description": "Closes the other central compartment and aligns visually with the left glass door.",
+        "movement_description": "Rotates open about a vertical hinge axis.",
+        "grasp_description": "Pulled by the handle fixed to its edge."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Lacquered",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                9,
+                15
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.3666469156742096,
+                    -0.19210171699523926,
+                    0.43062031269073486
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001388/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_00001388/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001388",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Six-door Wardrobe with Three Drawers"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 19,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001388/model.urdf

@@ -0,0 +1,399 @@
+<?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="helper_link_5"/>
+  <link name="helper_link_6"/>
+  <link name="helper_link_7"/>
+  <link name="helper_link_8"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_14">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_15">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_16">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_17">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_18">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_18.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_18.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_19">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_19.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_19.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_19"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.225964 -0.562705" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.3347056365897014" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.225964 0.562705" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_19"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 -0.244944 -0.779894" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.3347056365897014" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 0.244944 0.779894" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_19"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.000000 0.000000 -1.013037" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.3347056365897014" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.000000 -0.000000 1.013037" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_3"/>
+    <origin xyz="-1.173055 -0.210921 0.390764" 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="1.173055 0.210921 -0.390764" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_4"/>
+    <origin xyz="-0.416104 -0.207453 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="0.416104 0.207453 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_5"/>
+    <origin xyz="1.168744 -0.215742 -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_11" type="fixed">
+    <parent link="helper_link_5"/>
+    <child link="link_6"/>
+    <origin xyz="-1.168744 0.215742 0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_6"/>
+    <origin xyz="0.413059 -0.206931 0.342572" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="helper_link_6"/>
+    <child link="link_7"/>
+    <origin xyz="-0.413059 0.206931 -0.342572" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_7"/>
+    <origin xyz="0.405936 -0.206123 -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_15" type="fixed">
+    <parent link="helper_link_7"/>
+    <child link="link_8"/>
+    <origin xyz="-0.405936 0.206123 0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_16" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_8"/>
+    <origin xyz="-0.409063 -0.214325 0.480437" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_17" type="fixed">
+    <parent link="helper_link_8"/>
+    <child link="link_9"/>
+    <origin xyz="0.409063 0.214325 -0.480437" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_18" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_19" type="fixed">
+    <parent link="link_5"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_20" type="fixed">
+    <parent link="link_6"/>
+    <child link="link_12"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_21" type="fixed">
+    <parent link="link_7"/>
+    <child link="link_13"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_22" type="fixed">
+    <parent link="link_8"/>
+    <child link="link_14"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_23" type="fixed">
+    <parent link="link_9"/>
+    <child link="link_15"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_24" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_16"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_25" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_17"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_26" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_18"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_27" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_19"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001388/parts/8.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 8.png