Upload folder using huggingface_hub (part 50)

.gitattributes

@@ -2936,3 +2936,42 @@ data/UPB_00000757/plys/6.ply filter=lfs diff=lfs merge=lfs -text
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data/UPB_00000758/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00000758",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Four-door Sideboard Cabinet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 9,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000758/model.urdf

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+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="helper_link_2"/>
+  <link name="helper_link_3"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.961552 0.961552 0.961552"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.961552 0.961552 0.961552"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.961552 0.961552 0.961552"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.961552 0.961552 0.961552"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.961552 0.961552 0.961552"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.961552 0.961552 0.961552"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.961552 0.961552 0.961552"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.961552 0.961552 0.961552"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
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+      </geometry>
+    </collision>
+  </link>
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+    <visual>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.961552 0.961552 0.961552"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.961552 0.961552 0.961552"/>
+      </geometry>
+    </visual>
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+      </geometry>
+    </collision>
+  </link>
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+    <visual>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.961552 0.961552 0.961552"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.961552 0.961552 0.961552"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.961552 0.961552 0.961552"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_9"/>
+    <child link="helper_link_0"/>
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+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
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+  </joint>
+  <joint name="joint_2" type="revolute">
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+    <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_2"/>
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+  </joint>
+  <joint name="joint_4" type="revolute">
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+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
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+  </joint>
+  <joint name="joint_6" type="revolute">
+    <parent link="link_9"/>
+    <child link="helper_link_3"/>
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+    <axis xyz="0.0 0.0 1.0"/>
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+  </joint>
+  <joint name="joint_7" type="fixed">
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+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00000758/parts/Sideboard_ZCYHQFRVAI7H6PTULU888888_yfmIy.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_648ee4561ded44000164565a
+Kd 0.0471000001 0.0430999994 0.0392000005
+illum 1
+
+newmtl MI_648ee456bc4f570001140afb
+Kd 0.219137594 0.219137594 0.219137594
+illum 1
+

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data/UPB_00000759/annotations/object.json

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+{
+    "object_name": "Rattan-door Sideboard",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
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+}

data/UPB_00000759/annotations/part_1.json

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+{
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+        "type_name": "default",
+        "entity": "UPB_00000759",
+        "label": "1"
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+    "part_level": {
+        "part_name": "Left door (rattan panel)",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Rectangular left cabinet door with a hardwood frame and woven panel, about 55*2*55 cm.",
+        "functional_description": "Closes the left storage bay and provides ventilation through the woven center.",
+        "movement_description": "Hinged to the cabinet carcass; rotates about a vertical axis along its outer edge, typical swing up to ~110 degrees.",
+        "grasp_description": "Users pull the door using its knob; the panel itself is rarely grasped."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Generic",
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+}

data/UPB_00000759/annotations/part_2.json

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+{
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+        "entity": "UPB_00000759",
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+        "part_name": "Center door (rattan panel)",
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+        "basic_description": "Middle cabinet door with hardwood frame and woven panel, about 55*2*55 cm.",
+        "functional_description": "Closes the central storage compartment.",
+        "movement_description": "Mounted on side hinges to the carcass; rotates about a vertical axis to open/close.",
+        "grasp_description": "Pulled by its knob to operate."
+    },
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+}

data/UPB_00000759/annotations/part_3.json

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+{
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+        "entity": "UPB_00000759",
+        "label": "3"
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+    "part_level": {
+        "part_name": "Right door (rattan panel)",
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+        "graspable": false,
+        "basic_description": "Right-hand cabinet door with hardwood frame and woven panel, about 55*2*55 cm.",
+        "functional_description": "Closes the right storage bay.",
+        "movement_description": "Hinged to the carcass; rotates about a vertical axis.",
+        "grasp_description": "Operated via its knob."
+    },
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+}

data/UPB_00000759/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000759",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Left door knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Small round brass knob, roughly \u00d82.5*2.5 cm, mounted on the left door.",
+        "functional_description": "Provides a comfortable grip to pull the left door open or push it closed.",
+        "movement_description": "Rigidly attached to the left door and follows its rotation.",
+        "grasp_description": "Pinch or hook with fingers to operate the left door."
+    },
+    "basic_info": {
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+}

data/UPB_00000759/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000759",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Center door knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Round brass knob, roughly \u00d82.5*2.5 cm, centered on the middle door.",
+        "functional_description": "Used to pull the center door.",
+        "movement_description": "Rigid with the center door; moves as the door swings.",
+        "grasp_description": "Grasp with fingertips to open/close."
+    },
+    "basic_info": {
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+}

data/UPB_00000759/annotations/part_6.json

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+{
+    "index": {
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+        "entity": "UPB_00000759",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Right door knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Round brass knob, roughly \u00d82.5*2.5 cm, mounted on the right door.",
+        "functional_description": "Grip point for the right door.",
+        "movement_description": "Rigidly fixed to the right door and rotates with it.",
+        "grasp_description": "Pinched with fingers to actuate the right door."
+    },
+    "basic_info": {
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+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000759/annotations/part_7.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000759",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Top panel",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Long plywood top board with oak veneer, about 180*45*3 cm.",
+        "functional_description": "Serves as the horizontal surface for placing objects and stiffens the carcass.",
+        "movement_description": "Rigidly fixed to the cabinet body; no relative motion.",
+        "grasp_description": "Users may grasp the edges when moving the cabinet or while cleaning."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Veneer_Oak",
+        "density": 0.7,
+        "young": 10.0,
+        "hardness": 40,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000759/annotations/part_8.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000759",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Leg set (5 slender metal legs)",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Set of slim powder-coated steel legs, ~15 cm high; includes corner legs and central supports.",
+        "functional_description": "Elevates and supports the sideboard, transferring load to the floor.",
+        "movement_description": "Rigidly attached to the cabinet body; no intended motion.",
+        "grasp_description": "Rarely grasped; may be touched when moving or cleaning near the floor."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Powder_Coated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.29,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000759/annotations/part_9.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000759",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Cabinet carcass/body",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Main MDF veneered cabinet box (sides, partitions, back), about 180*45*60 cm excluding legs.",
+        "functional_description": "Provides structural support, houses the storage compartments, and carries the doors, top, and legs.",
+        "movement_description": "Static reference for the assembly; doors rotate relative to this body while top and legs are rigidly fixed.",
+        "grasp_description": "Typically not grasped directly except when lifting the entire unit."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneered",
+        "density": 0.75,
+        "young": 3.3,
+        "hardness": 25,
+        "poisson": 0.25,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000759/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_00000759/meta_data.json

@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00000759",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Rattan-door Sideboard"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 9,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000759/model.urdf

@@ -0,0 +1,181 @@
+<?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="0.763190 0.763190 0.763190"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.763190 0.763190 0.763190"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.763190 0.763190 0.763190"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.763190 0.763190 0.763190"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.763190 0.763190 0.763190"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.763190 0.763190 0.763190"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.763190 0.763190 0.763190"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.763190 0.763190 0.763190"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.763190 0.763190 0.763190"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.763190 0.763190 0.763190"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.763190 0.763190 0.763190"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.763190 0.763190 0.763190"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.763190 0.763190 0.763190"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.763190 0.763190 0.763190"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.763190 0.763190 0.763190"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.763190 0.763190 0.763190"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.763190 0.763190 0.763190"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.763190 0.763190 0.763190"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_9"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.882665 -0.151045 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.882665 0.151045 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_9"/>
+    <child link="helper_link_1"/>
+    <origin xyz="-0.292823 -0.151045 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0.292823 0.151045 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="link_9"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.883331 -0.151045 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.883331 0.151045 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00000759/parts/1.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 1.png

data/UPB_00000759/parts/2.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 2.png

data/UPB_00000759/parts/3.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 3.png

data/UPB_00000759/parts/Sideboard_ZCYHSYZVAJQTAPTUKY888888_cptxv.mtl

@@ -0,0 +1,22 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_648ee478a6f361000189ee69
+Kd 1 1 1
+illum 1
+map_Kd ./T_648ee478a6f361000189ee69_color.jpg
+
+newmtl MI_648ee477d8a43a0001a8b34c
+Kd 1 1 1
+illum 1
+map_Kd ./T_648ee477d8a43a0001a8b34c_color.jpg
+
+newmtl MI_648ee477ada21d000172bf44
+Kd 0.0850310028 0.0594642013 0.034798
+illum 1
+
+newmtl MI_648ee47736f53b0001b5d8bb
+Kd 1 1 1
+illum 1
+map_Kd ./T_648ee47736f53b0001b5d8bb_color.jpg
+