Upload folder using huggingface_hub (part 213)

.gitattributes

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data/UPB_00001658/plys/model.ply

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+version https://git-lfs.github.com/spec/v1
+oid sha256:c82870b087e9004fc3d199b5f21f9d36b6219bd0f890323a480f721a8650a899
+size 1600243

data/UPB_00001659/annotations/object.json

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+{
+    "object_name": "Two-Drawer Nightstand",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        50.0,
+        35.0,
+        45.0
+    ],
+    "mass": 14.0
+}

data/UPB_00001659/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001659",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Upper Drawer Box",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Open-top wooden drawer box, approx. 42*28*14 cm, made of beech with a taller front board shaped to the cabinet opening.",
+        "functional_description": "Provides the top storage compartment for small items.",
+        "movement_description": "Slides in and out along metal drawer slides, enabling linear translation with moderate damping.",
+        "grasp_description": "User pulls the drawer by hooking fingers into the under-top finger slot, drawing the drawer forward."
+    },
+    "basic_info": {
+        "material": "wood/Beech_Solid",
+        "density": 0.72,
+        "young": 12.0,
+        "hardness": 28,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
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+                "pos": [
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+                    0.1274247169494629
+                ],
+                "range": [
+                    -0.2800000011920929,
+                    0.0
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}

data/UPB_00001659/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001659",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Lower Drawer Box",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Open-top wooden drawer box, approx. 42*28*16 cm, beech wood construction.",
+        "functional_description": "Provides the lower and larger storage compartment.",
+        "movement_description": "Translates along the lower pair of slides; travel limited to prevent full removal.",
+        "grasp_description": "Pulled by gripping the upper edge of the drawer through the front opening."
+    },
+    "basic_info": {
+        "material": "wood/Beech_Solid",
+        "density": 0.72,
+        "young": 12.0,
+        "hardness": 28,
+        "poisson": 0.35,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.19974501430988312,
+                    -0.04699533060193062
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+                "range": [
+                    -0.2800000011920929,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001659/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001659",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Assembly Screws",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Set of wood screws used along edges and inside the frame; approx. 3-4 cm long, dark-phosphated steel.",
+        "functional_description": "Fasten the cabinet frame and secure hardware such as slides to the carcass.",
+        "movement_description": "No motion; they rigidly clamp components together.",
+        "grasp_description": "Not intended for user handling during regular use."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Phosphated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 220,
+        "poisson": 0.29,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001659/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001659",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Cabinet Frame (Carcass)",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Structural wooden shell with top, sides, shelf divider and short legs; includes an under-top finger slot for the upper drawer.",
+        "functional_description": "Provides rigidity, supports the slides and drawers, and transfers loads to the legs.",
+        "movement_description": "Stationary reference frame for the whole nightstand.",
+        "grasp_description": "Touched when moving the entire furniture piece; not meant to be frequently grasped during normal operation."
+    },
+    "basic_info": {
+        "material": "wood/Beech_Solid",
+        "density": 0.72,
+        "young": 12.0,
+        "hardness": 28,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001659/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001659",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Drawer Slide Hardware and Finger-Pull Plate",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Two pairs of telescopic metal drawer slides and a slim metal plate reinforcing the finger-pull opening; black powder-coated steel.",
+        "functional_description": "Guides the drawers with low-friction linear motion and provides a durable edge for the hand slot.",
+        "movement_description": "Outer rails are fixed to the carcass; inner rails translate with the drawers, using ball bearings and light damping to limit slam.",
+        "grasp_description": "Not directly grasped by users; contacted indirectly by the drawers during operation."
+    },
+    "basic_info": {
+        "material": "metal/Steel_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 160,
+        "poisson": 0.29,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001659/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_00001659/meta_data.json

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+{
+    "id": "UPB_00001659",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Two-Drawer Nightstand"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 5,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001659/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="1.000000 1.000000 1.000000"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.000000 1.000000 1.000000"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.000000 1.000000 1.000000"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.000000 1.000000 1.000000"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.000000 1.000000 1.000000"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.000000 1.000000 1.000000"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.000000 1.000000 1.000000"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.000000 1.000000 1.000000"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.000000 1.000000 1.000000"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.000000 1.000000 1.000000"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_5"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.168985 0.127425" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2800000011920929" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.168985 -0.127425" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_5"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 -0.199745 -0.046995" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2800000011920929" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 0.199745 0.046995" 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>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001659/parts/1.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 1.png

data/UPB_00001659/parts/2.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 2.png

data/UPB_00001659/parts/Nightstand_6PEECSRVAUVPGPTUKQ888888_GAnug.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5ff6dae2c6ff5a00011957de
+Kd 1 1 1
+illum 1
+map_Kd ./T_5ff6dae2c6ff5a00011957de_color.jpg
+
+newmtl MI_5ff6dae2d849e10001a22fde
+Kd 0.000960999983 0.000960999983 0.000960999983
+illum 1
+
+newmtl MI_5ff6dae223bc8400016c83f1
+Kd 1 1 1
+illum 1
+map_Kd ./T_5ff6dae223bc8400016c83f1_color.jpg
+

data/UPB_00001659/parts/part_3.obj

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+mtllib Nightstand_6PEECSRVAUVPGPTUKQ888888_GAnug.mtl
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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_00001659/plys/4.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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data/UPB_00001659/plys/model.ply

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

data/UPB_00001660/annotations/object.json

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+{
+    "object_name": "Two-Drawer Nightstand",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        50.0,
+        40.0,
+        55.0
+    ],
+    "mass": 14.0
+}

data/UPB_00001660/annotations/part_1.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001660",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Upper Drawer Front Panel",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "A walnut hardwood drawer front panel roughly 46*1.6*12 cm with a slight edge radius.",
+        "functional_description": "Forms the visible face of the upper drawer and provides structure for the pull knob; transmits hand force to the drawer box.",
+        "movement_description": "Translates in and out relative to the carcass on hidden slides, about 0\u201330 cm of travel with moderate damping/friction.",
+        "grasp_description": "Usually grasped at the central knob; the panel edge may also be pulled by hand."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Walnut",
+        "density": 0.64,
+        "young": 12.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                3
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
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+                "pos": [
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+                    0.1450560986995697
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+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001660/annotations/part_2.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001660",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Lower Drawer Front Panel",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "A walnut hardwood drawer front panel roughly 46*1.6*14 cm with a rounded lower corner.",
+        "functional_description": "Visible face of the lower drawer; transfers pull force from the knob to the drawer box.",
+        "movement_description": "Slides in translation relative to the carcass, same rails as the upper drawer, with ~0\u201330 cm travel.",
+        "grasp_description": "Pulled via the lower drawer knob or by the panel\u2019s edge."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Walnut",
+        "density": 0.64,
+        "young": 12.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                4
+            ],
+            "B": {
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+                    1.0,
+                    0.0
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+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00001660/annotations/part_3.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001660",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Upper Drawer Pull Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Small brass pull knob (~3 cm diameter, 2.5 cm projection) fixed to the upper drawer front.",
+        "functional_description": "Provides a comfortable grasp point to open/close the upper drawer.",
+        "movement_description": "No motion relative to the drawer face; moves only as the drawer translates with the slides.",
+        "grasp_description": "Typically pinched or hooked with fingers to pull the drawer out or push it closed."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.4,
+        "young": 105.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001660/annotations/part_4.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001660",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Lower Drawer Pull Knob",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Brass pull knob (~3 cm diameter, 2.5 cm projection) fixed centrally on the lower drawer front.",
+        "functional_description": "Primary hand contact for operating the lower drawer.",
+        "movement_description": "Rigidly attached to the drawer face; follows the drawer\u2019s translational motion.",
+        "grasp_description": "Pulled or pushed by fingers to operate the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.4,
+        "young": 105.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001660/annotations/part_5.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001660",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Anti-slip Foot Pads (set of 4)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Four small rubber feet (~3 cm diameter, 2 cm height) attached under the corners of the cabinet.",
+        "functional_description": "Increase floor grip, protect surfaces from scratches, and add vibration damping.",
+        "movement_description": "No motion; rigidly fixed to the wooden carcass and in static frictional contact with the floor.",
+        "grasp_description": "Not grasped during normal use; may be handled only during assembly or moving."
+    },
+    "basic_info": {
+        "material": "rubber/Nitrile_Rubber",
+        "density": 1.15,
+        "young": 0.01,
+        "hardness": 5,
+        "poisson": 0.49,
+        "friction": 0.7
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001660/annotations/part_6.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001660",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Main Carcass (frame, top, sides, shelf)",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "The main wooden cabinet body (plywood with walnut veneer), forming the top, sides, bottom and interior cavity; external size about 50*40*55 cm with 16\u201318 mm wall thickness.",
+        "functional_description": "Provides structural support and houses two sliding drawers; its top serves as a surface for placing items.",
+        "movement_description": "Stationary reference frame for the furniture; serves as the parent for both drawers\u2019 translational motion; rigidly carries the foot pads.",
+        "grasp_description": "Users grasp the sides or underside when moving the nightstand; the top surface is frequently touched when placing items."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Walnut_Veneer",
+        "density": 0.6,
+        "young": 9.0,
+        "hardness": 25,
+        "poisson": 0.33,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00001660/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_00001660/meta_data.json

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+{
+    "id": "UPB_00001660",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Two-Drawer Nightstand"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 6,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00001660/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="0.912027 0.912027 0.912027"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.912027 0.912027 0.912027"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.912027 0.912027 0.912027"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.912027 0.912027 0.912027"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.912027 0.912027 0.912027"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.912027 0.912027 0.912027"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.912027 0.912027 0.912027"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.912027 0.912027 0.912027"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.912027 0.912027 0.912027"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.912027 0.912027 0.912027"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.912027 0.912027 0.912027"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.912027 0.912027 0.912027"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_6"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.180204 0.132295" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.27360824785316357" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.180204 -0.132295" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_6"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 -0.180204 -0.017583" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.27360824785316357" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 0.180204 0.017583" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00001660/parts/Nightstand_MLMK45AKTESJWAABAAAAAAI8_gjE1F.mtl

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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_62d8aeac6e815c00011da555
+Kd 1 1 1
+illum 1
+map_Kd ./T_62d8aeac6e815c00011da555_color.jpg
+bump ./T_62d8aeac6e815c00011da555_normal.jpg
+map_bump ./T_62d8aeac6e815c00011da555_normal.jpg
+
+newmtl MI_62c24afc99d0730001ac1d4e
+Kd 0.630443811 0.414591998 0.178393796
+illum 1
+