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data/UPB_00000000/annotations/object.json

@@ -0,0 +1,10 @@
+{
+    "object_name": "Executive Office Chair",
+    "category": "Furniture/SeatingFurniture",
+    "volume": [
+        70.0,
+        68.0,
+        110.0
+    ],
+    "mass": 15.5
+}

data/UPB_00000000/annotations/part_10.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000000",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Caster Wheel D",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Nylon twin-wheel caster (~6*5*5 cm).",
+        "functional_description": "Provides rolling and swiveling for the chair.",
+        "movement_description": "Swivels relative to the base.",
+        "grasp_description": "Not touched."
+    },
+    "basic_info": {
+        "material": "plastic/Nylon_PA66",
+        "density": 1.14,
+        "young": 2.8,
+        "hardness": 30,
+        "poisson": 0.39,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                10
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.0002511741186026484,
+                    0.06122370436787605,
+                    0.3081342577934265
+                ],
+                "range": [
+                    0.0,
+                    6.28319
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000000/annotations/part_11.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000000",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Caster Wheel E",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Nylon twin-wheel caster (~6*5*5 cm).",
+        "functional_description": "Last of the five casters supporting mobility.",
+        "movement_description": "Swivels at the leg end of the base.",
+        "grasp_description": "Not handled."
+    },
+    "basic_info": {
+        "material": "plastic/Nylon_PA66",
+        "density": 1.14,
+        "young": 2.8,
+        "hardness": 30,
+        "poisson": 0.39,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                11
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.17952429505508252,
+                    0.06120692059619385,
+                    -0.2482694291375469
+                ],
+                "range": [
+                    0.0,
+                    6.28319
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000000/annotations/part_12.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000000",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Five-Star Base",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Aluminum five-leg base (~66 cm diameter) with caster sockets.",
+        "functional_description": "Distributes load and provides a stable platform for casters and the gas lift.",
+        "movement_description": "Stationary; acts as the parent for caster swiveling and gas-lift translation.",
+        "grasp_description": "Seldom grasped; occasionally handled when moving the chair."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy",
+        "density": 2.7,
+        "young": 69,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000000/annotations/part_13.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000000",
+        "label": "13"
+    },
+    "part_level": {
+        "part_name": "Gas-Lift Dust Cover",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Plastic cylindrical shroud (~7*7*13 cm) covering the gas-lift tube.",
+        "functional_description": "Protects the gas-lift from dust and improves appearance.",
+        "movement_description": "Slides along the gas-lift as the seat height changes.",
+        "grasp_description": "Not intended for grasping."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.5,
+        "hardness": 8,
+        "poisson": 0.4,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000000/annotations/part_15.json

@@ -0,0 +1,62 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000000",
+        "label": "15"
+    },
+    "part_level": {
+        "part_name": "Gas-Lift Cylinder",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Steel pneumatic cylinder (~5*5*28 cm) enabling seat height adjustment.",
+        "functional_description": "Provides controlled vertical translation and supports the seat mechanism.",
+        "movement_description": "Translates vertically relative to the base; rigidly fits into the mechanism housing.",
+        "grasp_description": "Not touched by users; hidden under the seat."
+    },
+    "basic_info": {
+        "material": "metal/Steel",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 220,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                3,
+                4,
+                5,
+                6,
+                13,
+                15,
+                16,
+                17,
+                20,
+                21,
+                22
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    0.0,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    0.126
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}

data/UPB_00000000/annotations/part_16.json

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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000000",
+        "label": "16"
+    },
+    "part_level": {
+        "part_name": "Left Armrest Pad",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Curved padded armrest (~30*7*3 cm) upholstered in PU leather.",
+        "functional_description": "Comfort surface for the left forearm and hand.",
+        "movement_description": "Rigidly fixed to the left arm frame.",
+        "grasp_description": "Frequently touched and rested upon by the user."
+    },
+    "basic_info": {
+        "material": "leather/Faux_Leather_PU",
+        "density": 1.1,
+        "young": 0.05,
+        "hardness": 7,
+        "poisson": 0.49,
+        "friction": 0.62
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000000/annotations/part_17.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000000",
+        "label": "17"
+    },
+    "part_level": {
+        "part_name": "Right Armrest Pad",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Curved padded armrest (~30*7*3 cm) upholstered in PU leather.",
+        "functional_description": "Comfort surface for the right forearm and hand.",
+        "movement_description": "Rigidly fixed to the right arm frame.",
+        "grasp_description": "Frequently touched and rested upon by the user."
+    },
+    "basic_info": {
+        "material": "leather/Faux_Leather_PU",
+        "density": 1.1,
+        "young": 0.05,
+        "hardness": 7,
+        "poisson": 0.49,
+        "friction": 0.62
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000000/annotations/part_2.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000000",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Seat Base Cushion & Pan",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Contoured seat base with front roll (~49*48*10 cm) upholstered in PU leather over foam.",
+        "functional_description": "Primary load-bearing seat component, interfaces with arm supports and the tilt/height mechanism.",
+        "movement_description": "Rigidly connected to backrest and mechanism housing; moves with the chair when tilting.",
+        "grasp_description": "Occasionally touched when repositioning the chair but not intended for grasping."
+    },
+    "basic_info": {
+        "material": "leather/Faux_Leather_PU",
+        "density": 1.1,
+        "young": 0.06,
+        "hardness": 8,
+        "poisson": 0.49,
+        "friction": 0.58
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000000/annotations/part_20.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000000",
+        "label": "20"
+    },
+    "part_level": {
+        "part_name": "Tilt Tension Knob",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Threaded plastic adjustment knob (~4*4*4 cm) under the seat.",
+        "functional_description": "Adjusts the tilt spring tension of the mechanism.",
+        "movement_description": "Rotates about its axis relative to the mechanism housing.",
+        "grasp_description": "Grasped and twisted by the user to increase/decrease tilt resistance."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.5,
+        "hardness": 8,
+        "poisson": 0.4,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000000/annotations/part_21.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000000",
+        "label": "21"
+    },
+    "part_level": {
+        "part_name": "Seat Mechanism Housing (Tilt)",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Steel tilt/height mechanism cup (~9*9*7 cm) mounted under the seat.",
+        "functional_description": "Interfaces between the gas-lift and seat, providing tilt and housing adjustments.",
+        "movement_description": "Rigidly connected to the seat and gas lift; provides the mounting for rotating controls.",
+        "grasp_description": "Not grasped directly; hidden under the seat."
+    },
+    "basic_info": {
+        "material": "plastic/Nylon_PA66",
+        "density": 1.14,
+        "young": 2.8,
+        "hardness": 30,
+        "poisson": 0.39,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000000/annotations/part_22.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000000",
+        "label": "22"
+    },
+    "part_level": {
+        "part_name": "Height Adjustment Lever",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Slim bent steel lever (~25*1.5*1.5 cm) located under the right side of the seat.",
+        "functional_description": "Actuates the gas-lift valve to raise/lower the seat.",
+        "movement_description": "Rotates about its pivot on the mechanism housing; lever tip has a rubber grip.",
+        "grasp_description": "Actuated by hand to change seat height."
+    },
+    "basic_info": {
+        "material": "plastic",
+        "density": 1.0620871407760706,
+        "young": 2.2253158522050236,
+        "hardness": 13.668123427360614,
+        "poisson": 0.3764176930207783,
+        "friction": 0.4458561779896716
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000000/annotations/part_3.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000000",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Front Seat Trim Bar",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Slim ABS trim piece (~20*1*0.5 cm) at the front edge of the seat.",
+        "functional_description": "Covers a seam/slot and provides a neat finish on the seat front.",
+        "movement_description": "Revolute; clipped or screwed to the seat base.",
+        "grasp_description": "Grasp handle of the bar."
+    },
+    "basic_info": {
+        "material": "metal/Steel",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 180,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                3
+            ],
+            "C": {
+                "axis": [
+                    -1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.02277967,
+                    0.38144422,
+                    -0.02326505
+                ],
+                "range": [
+                    0.0,
+                    0.785
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000000/annotations/part_4.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000000",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Backrest Cushion",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Large PU leather upholstered backrest (~50*70*10 cm) with integrated headrest.",
+        "functional_description": "Supports the user\u2019s back and shoulders; attaches to the seat assembly.",
+        "movement_description": "Rigidly fixed to the seat assembly; tilts with the seat when the mechanism is engaged.",
+        "grasp_description": "Touched when moving the chair but not a primary grasp surface."
+    },
+    "basic_info": {
+        "material": "leather/Faux_Leather_PU",
+        "density": 1.1,
+        "young": 0.06,
+        "hardness": 8,
+        "poisson": 0.49,
+        "friction": 0.62
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000000/annotations/part_5.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000000",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Left Arm Frame",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Curved steel arm support bracket (~35*6*3 cm) on the left side.",
+        "functional_description": "Provides structural support for the left armrest pad and ties into the seat/back assembly.",
+        "movement_description": "Rigidly fixed to the seat; no independent motion.",
+        "grasp_description": "Users usually touch the pad rather than the frame."
+    },
+    "basic_info": {
+        "material": "plastic/Nylon_PA66",
+        "density": 1.14,
+        "young": 2.8,
+        "hardness": 30,
+        "poisson": 0.39,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000000/annotations/part_6.json

@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000000",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Right Arm Frame",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Curved steel arm support bracket (~35*6*3 cm) on the right side.",
+        "functional_description": "Provides structural support for the right armrest pad.",
+        "movement_description": "Rigidly fixed to the seat; no independent motion.",
+        "grasp_description": "Users grasp the pad mounted on it, not the frame."
+    },
+    "basic_info": {
+        "material": "plastic/Nylon_PA66",
+        "density": 1.14,
+        "young": 2.8,
+        "hardness": 30,
+        "poisson": 0.39,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}

data/UPB_00000000/annotations/part_7.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000000",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Caster Wheel A",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Nylon twin-wheel caster (~6*5*5 cm) with a swivel stem.",
+        "functional_description": "Allows rolling and swiveling of the chair.",
+        "movement_description": "Swivels about the vertical stem relative to the base; wheel rotation is internal to the caster.",
+        "grasp_description": "Not handled during normal use."
+    },
+    "basic_info": {
+        "material": "plastic/Nylon_PA66",
+        "density": 1.14,
+        "young": 2.8,
+        "hardness": 30,
+        "poisson": 0.39,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                7
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.28915184642713637,
+                    0.060655938709913204,
+                    0.0933808969754429
+                ],
+                "range": [
+                    0.0,
+                    6.28319
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000000/annotations/part_8.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000000",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Caster Wheel B",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Nylon twin-wheel caster (~6*5*5 cm).",
+        "functional_description": "One of five casters providing mobility.",
+        "movement_description": "Swivels relative to the base leg.",
+        "grasp_description": "Not grasped."
+    },
+    "basic_info": {
+        "material": "plastic/Nylon_PA66",
+        "density": 1.14,
+        "young": 2.8,
+        "hardness": 30,
+        "poisson": 0.39,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                8
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.18100169746730724,
+                    0.061270098182159866,
+                    -0.24667943323444882
+                ],
+                "range": [
+                    0.0,
+                    6.28319
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000000/annotations/part_9.json

@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000000",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Caster Wheel C",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Nylon twin-wheel caster (~6*5*5 cm).",
+        "functional_description": "Supports and rolls under one base leg.",
+        "movement_description": "Swivels around its vertical stem.",
+        "grasp_description": "Not a user touchpoint."
+    },
+    "basic_info": {
+        "material": "plastic/Nylon_PA66",
+        "density": 1.14,
+        "young": 2.8,
+        "hardness": 30,
+        "poisson": 0.39,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                9
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.29120753837594543,
+                    0.06157753268687401,
+                    0.09524354192645783
+                ],
+                "range": [
+                    0.0,
+                    6.28319
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}

data/UPB_00000000/full_model/material.mtl

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

data/UPB_00000000/meta_data.json

@@ -0,0 +1,20 @@
+{
+    "id": "UPB_00000000",
+    "source": {
+        "dataset": "ABO",
+        "original_id": "B00XBC3BF0",
+        "license_ref": "ABO"
+    },
+    "object": {
+        "category": "Furniture/SeatingFurniture",
+        "object_name": "Executive Office Chair"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 18,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}

data/UPB_00000000/model.urdf

@@ -0,0 +1,361 @@
+<?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="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_15">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_16">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_17">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_20">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_20.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_20.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_21">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_21.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_21.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_22">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_22.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_22.obj" scale="0.952378 0.952378 0.952378"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_15"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.021695 0.363279 -0.022157" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 0.0"/>
+    <limit lower="0.0" upper="0.785"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_3"/>
+    <origin xyz="0.021695 -0.363279 0.022157" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="continuous">
+    <parent link="link_12"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.275382 0.057767 0.088934" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_7"/>
+    <origin xyz="-0.275382 -0.057767 -0.088934" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="continuous">
+    <parent link="link_12"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.172382 0.058352 -0.234932" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_8"/>
+    <origin xyz="-0.172382 -0.058352 0.234932" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="continuous">
+    <parent link="link_12"/>
+    <child link="helper_link_3"/>
+    <origin xyz="-0.277340 0.058645 0.090708" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_9"/>
+    <origin xyz="0.277340 -0.058645 -0.090708" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="continuous">
+    <parent link="link_12"/>
+    <child link="helper_link_4"/>
+    <origin xyz="-0.000239 0.058308 0.293460" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_10"/>
+    <origin xyz="0.000239 -0.058308 -0.293460" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="continuous">
+    <parent link="link_12"/>
+    <child link="helper_link_5"/>
+    <origin xyz="-0.170975 0.058292 -0.236446" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="helper_link_5"/>
+    <child link="link_11"/>
+    <origin xyz="0.170975 -0.058292 0.236446" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="prismatic">
+    <parent link="link_12"/>
+    <child link="helper_link_6"/>
+    <origin xyz="0.000000 0.000000 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="0.0" upper="0.11999961870251029"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="helper_link_6"/>
+    <child link="link_15"/>
+    <origin xyz="-0.000000 -0.000000 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="fixed">
+    <parent link="link_15"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="link_15"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_16" type="fixed">
+    <parent link="link_15"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_17" type="fixed">
+    <parent link="link_15"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_18" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_12"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_19" type="fixed">
+    <parent link="link_15"/>
+    <child link="link_13"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_20" type="fixed">
+    <parent link="link_15"/>
+    <child link="link_16"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_21" type="fixed">
+    <parent link="link_15"/>
+    <child link="link_17"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_22" type="fixed">
+    <parent link="link_15"/>
+    <child link="link_20"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_23" type="fixed">
+    <parent link="link_15"/>
+    <child link="link_21"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_24" type="fixed">
+    <parent link="link_15"/>
+    <child link="link_22"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>

data/UPB_00000000/parts/2.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 1.00000000 1.00000000 1.00000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 2.png

data/UPB_00000000/parts/3.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 1.00000000 1.00000000 1.00000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 3.png

data/UPB_00000000/parts/4.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 1.00000000 1.00000000 1.00000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 4.png

data/UPB_00000000/parts/material.mtl

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

data/UPB_00000000/parts/part_13.obj

@@ -0,0 +1,270 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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data/UPB_00000000/parts/part_20.obj

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+# https://github.com/mikedh/trimesh
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data/UPB_00000000/parts/part_22.obj

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data/UPB_00000000/parts/part_3.obj

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