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diff --git a/data/UPB_00001850/parts/part_3.obj b/data/UPB_00001850/parts/part_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66af47af11004dd049880cbaf6b6585584b50799
--- /dev/null
+++ b/data/UPB_00001850/parts/part_3.obj
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diff --git a/data/UPB_00001850/parts/part_4.obj b/data/UPB_00001850/parts/part_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35a33a1ae3e4c5c9041c1ccf27064e590dcea2d7
--- /dev/null
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diff --git a/data/UPB_00001850/parts/part_5.obj b/data/UPB_00001850/parts/part_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43bf1c8e0670faa01d92e85a5a8a0328e5f9ef94
--- /dev/null
+++ b/data/UPB_00001850/parts/part_5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 22560915
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new file mode 100644
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--- /dev/null
+++ b/data/UPB_00001850/plys/1.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00001850/plys/2.ply b/data/UPB_00001850/plys/2.ply
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--- /dev/null
+++ b/data/UPB_00001850/plys/2.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 160242
diff --git a/data/UPB_00001850/plys/3.ply b/data/UPB_00001850/plys/3.ply
new file mode 100644
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--- /dev/null
+++ b/data/UPB_00001850/plys/3.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 160242
diff --git a/data/UPB_00001850/plys/4.ply b/data/UPB_00001850/plys/4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..35e02fd7d34e9c58583ccf1a376243610b8ae4e0
--- /dev/null
+++ b/data/UPB_00001850/plys/4.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00001850/plys/5.ply b/data/UPB_00001850/plys/5.ply
new file mode 100644
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--- /dev/null
+++ b/data/UPB_00001850/plys/5.ply
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+version https://git-lfs.github.com/spec/v1
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+size 1518146
diff --git a/data/UPB_00001850/plys/model.ply b/data/UPB_00001850/plys/model.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1924161c2cb8baba57484f4e5c02e0359b4516fb
--- /dev/null
+++ b/data/UPB_00001850/plys/model.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e68886bec8741cb455a801f8f54ac4b085a6118ba72a876cc5ab032a3d83e517
+size 1600243
diff --git a/data/UPB_00001851/annotations/object.json b/data/UPB_00001851/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..288af7b06df5bb9b7140d9ed308c5bed1aab7e11
--- /dev/null
+++ b/data/UPB_00001851/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Sliding-Door Media Console",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        180.0,
+        40.0,
+        55.0
+    ],
+    "mass": 32.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001851/annotations/part_1.json b/data/UPB_00001851/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2bca6b5a67c835e0048502fdb688ca8812bf19c
--- /dev/null
+++ b/data/UPB_00001851/annotations/part_1.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001851",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left sliding door panel",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Rectangular dark-wood door panel (~60*1.8*20 cm) made of MDF with veneer finish.",
+        "functional_description": "Covers the left storage bay and provides an aesthetic facade.",
+        "movement_description": "Slides horizontally along tracks fixed to the main body to open or close the bay.",
+        "grasp_description": "Users grasp the attached brass ring pull (part 3) to slide the door."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneer",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                3
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.6286144256591797,
+                    -0.14392541348934174,
+                    -0.04318246245384216
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001851/annotations/part_2.json b/data/UPB_00001851/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..0098c4b35b4c5127adce067d19a339e2b42aa43e
--- /dev/null
+++ b/data/UPB_00001851/annotations/part_2.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001851",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Right sliding door panel",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Rectangular dark-wood door panel (~60*1.8*20 cm) made of MDF with veneer.",
+        "functional_description": "Covers the right storage bay and matches the left door.",
+        "movement_description": "Slides laterally on the same track system as the left door.",
+        "grasp_description": "Grasp the ring pull (part 4) to move it left or right."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneer",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                4
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.6417635679244995,
+                    -0.13576722145080566,
+                    -0.03747447580099106
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001851/annotations/part_3.json b/data/UPB_00001851/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..5622f86ed2ee48a22eb00948abecb3baf60a52ed
--- /dev/null
+++ b/data/UPB_00001851/annotations/part_3.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001851",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Left ring pull handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Small brass ring pull with backplate (~6 cm ring OD) mounted on the left door.",
+        "functional_description": "Provides a comfortable grip for operating the left sliding door.",
+        "movement_description": "No independent motion; rigidly fixed to the door and moves with it.",
+        "grasp_description": "Pinched between fingers or hooked with a fingertip to slide the door."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 100,
+        "poisson": 0.34,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001851/annotations/part_4.json b/data/UPB_00001851/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f46111b8123273ca1a23120a62eb40f3c159802
--- /dev/null
+++ b/data/UPB_00001851/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001851",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Right ring pull handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Matching brass ring pull with backplate (~6 cm ring OD) mounted on the right door.",
+        "functional_description": "Primary touch point for moving the right sliding door.",
+        "movement_description": "Rigidly attached; it travels with the door during sliding.",
+        "grasp_description": "Finger-ring grip used to pull or push the door smoothly."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 100,
+        "poisson": 0.34,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001851/annotations/part_5.json b/data/UPB_00001851/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..acc0f836693884abb3667424e34a8b2cf35e6f30
--- /dev/null
+++ b/data/UPB_00001851/annotations/part_5.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001851",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Decorative/terminal caps and feet ferrules",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Multiple small brass end-caps (~2*2*2 cm each) fitted to leg bottoms and post tops.",
+        "functional_description": "Protects wood ends from wear and adds a decorative accent.",
+        "movement_description": "Fixed to the wooden frame; no independent motion.",
+        "grasp_description": "Not intended for user contact; occasionally touched when moving the console."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001851/annotations/part_6.json b/data/UPB_00001851/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1a0aa8227d4fca7df274c67e537efac11736d6b
--- /dev/null
+++ b/data/UPB_00001851/annotations/part_6.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001851",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Main body frame, shelves, legs and top rail",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Long rectangular console frame (~180*40*55 cm) made from MDF with dark wood veneer; includes legs, lower shelves, and an upper rail/shelf.",
+        "functional_description": "Supports a TV on top, provides lower cubbies for devices or storage, and houses the sliding doors and hardware.",
+        "movement_description": "Stationary base; acts as the parent reference for the sliding doors. Brass caps (part 5) are rigid fixtures.",
+        "grasp_description": "Users place objects on the top and may grasp the front edge or side panels when repositioning the console."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneer",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001851/full_model/material.mtl b/data/UPB_00001851/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001851/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
\ No newline at end of file
diff --git a/data/UPB_00001851/full_model/material_0.png b/data/UPB_00001851/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..656f321b7242b8efc8af5567fad12fd5f23fba0c
--- /dev/null
+++ b/data/UPB_00001851/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:493b5873eec2d5713a3cac3d40ecbe041e635d59faca06b7ec1fb1125a3e3483
+size 856337
diff --git a/data/UPB_00001851/full_model/model.obj b/data/UPB_00001851/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58788eee32d1bfed457d782c9a35c6d60c024d57
--- /dev/null
+++ b/data/UPB_00001851/full_model/model.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:672208477ad7f2aae38564138002c5f67aab5c53441751cfdc40e6d421b912e8
+size 13312975
diff --git a/data/UPB_00001851/meta_data.json b/data/UPB_00001851/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc637a1cb37967bd72f2c6608aff5846678ced42
--- /dev/null
+++ b/data/UPB_00001851/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001851",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Sliding-Door Media Console"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 6,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001851/model.urdf b/data/UPB_00001851/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..444dadd5ae3e10898207d77b8f1b11b63087dc4c
--- /dev/null
+++ b/data/UPB_00001851/model.urdf
@@ -0,0 +1,122 @@
+<?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="0.799461 0.799461 0.799461"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.799461 0.799461 0.799461"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.799461 0.799461 0.799461"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.799461 0.799461 0.799461"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.799461 0.799461 0.799461"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.799461 0.799461 0.799461"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.799461 0.799461 0.799461"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.799461 0.799461 0.799461"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.799461 0.799461 0.799461"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.799461 0.799461 0.799461"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.799461 0.799461 0.799461"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.799461 0.799461 0.799461"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_6"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.502553 -0.115063 -0.034523" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.23983842665788377" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.502553 0.115063 0.034523" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_6"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.513065 -0.108541 -0.029959" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.23983842665788377" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.513065 0.108541 0.029959" 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>
\ No newline at end of file
diff --git a/data/UPB_00001851/parts/T_66a632d760cf470001a761f2_color.jpg b/data/UPB_00001851/parts/T_66a632d760cf470001a761f2_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1d377ef2853efe0d320d45ce3ea95bc94a691506
--- /dev/null
+++ b/data/UPB_00001851/parts/T_66a632d760cf470001a761f2_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4e804fdf2915dbaf6615456859d6cb27ddc6cebeca3053af6c312d2f256c645
+size 143540
diff --git a/data/UPB_00001851/parts/T_66a632d760cf470001a761f2_roughness.jpg b/data/UPB_00001851/parts/T_66a632d760cf470001a761f2_roughness.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f37207ebe35dfdb29101342d8e429ade8d9be30d
--- /dev/null
+++ b/data/UPB_00001851/parts/T_66a632d760cf470001a761f2_roughness.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:484a6fffa8f36645dc823a20529a0031ad97e699593a4b26ace80f3106ebae6e
+size 165367
diff --git a/data/UPB_00001851/parts/T_66a632d7ddbd0d000163995d_color.jpg b/data/UPB_00001851/parts/T_66a632d7ddbd0d000163995d_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..2514e637247efa9190e33b16ad421004a76dbb7a
--- /dev/null
+++ b/data/UPB_00001851/parts/T_66a632d7ddbd0d000163995d_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64338c4cc88de92c189e7fcd03bcfddbd482dc8e16e6b175a87697dc379bbbf2
+size 66103
diff --git a/data/UPB_00001851/parts/T_66a632d7ddbd0d000163995d_normal.jpg b/data/UPB_00001851/parts/T_66a632d7ddbd0d000163995d_normal.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d0c8d1aac44d4a71ebcb55da98979cc1760b653d
--- /dev/null
+++ b/data/UPB_00001851/parts/T_66a632d7ddbd0d000163995d_normal.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23ffacec3d73bf388164c9110ce34fbec99e345b1e005aa93c7c1bb908dae139
+size 17417
diff --git a/data/UPB_00001851/parts/T_66a632d7ddbd0d000163995d_roughness.jpg b/data/UPB_00001851/parts/T_66a632d7ddbd0d000163995d_roughness.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ee854c8951467cfba221166c2a88c11aedfb9a69
--- /dev/null
+++ b/data/UPB_00001851/parts/T_66a632d7ddbd0d000163995d_roughness.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87e709bdd4912e4e48c1511334fdebe46e425e94927f91d9c32662d38756bacf
+size 9020
diff --git a/data/UPB_00001851/parts/TvCabinet_ZKMLMOJVAIMPSPTUKM888888_87b0D.mtl b/data/UPB_00001851/parts/TvCabinet_ZKMLMOJVAIMPSPTUKM888888_87b0D.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3a3fb083436dc99eccfa0b82568c181682ab8aaa
--- /dev/null
+++ b/data/UPB_00001851/parts/TvCabinet_ZKMLMOJVAIMPSPTUKM888888_87b0D.mtl
@@ -0,0 +1,15 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_66a632d760cf470001a761f2
+Kd 1 1 1
+illum 1
+map_Kd ./T_66a632d760cf470001a761f2_color.jpg
+
+newmtl MI_66a632d7ddbd0d000163995d
+Kd 1 1 1
+illum 1
+map_Kd ./T_66a632d7ddbd0d000163995d_color.jpg
+bump ./T_66a632d7ddbd0d000163995d_normal.jpg
+map_bump ./T_66a632d7ddbd0d000163995d_normal.jpg
+
diff --git a/data/UPB_00001851/parts/part_1.obj b/data/UPB_00001851/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5cb709054e033dd111b1a77d89f5780a4e0621e
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diff --git a/data/UPB_00001851/parts/part_2.obj b/data/UPB_00001851/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a06956f53551246af9335ff091e8737e4b8b72ee
--- /dev/null
+++ b/data/UPB_00001851/parts/part_2.obj
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diff --git a/data/UPB_00001851/parts/part_3.obj b/data/UPB_00001851/parts/part_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d538411a633380d4999b456402bc352b3b8ace39
--- /dev/null
+++ b/data/UPB_00001851/parts/part_3.obj
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diff --git a/data/UPB_00001851/parts/part_4.obj b/data/UPB_00001851/parts/part_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24a77fe17bb765ae5e5b3a9b835f592ec4c243a2
--- /dev/null
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diff --git a/data/UPB_00001851/parts/part_5.obj b/data/UPB_00001851/parts/part_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..656b80748d9b08e547541d69a35641692137221a
--- /dev/null
+++ b/data/UPB_00001851/parts/part_5.obj
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+f 36040/4806/67 36041/5001/2980 36042/5007/2985
+f 36043/5005/2984 36044/5006/2985 36045/5000/2980
+f 36046/5000/2980 36047/4999/2979 36048/5005/2984
diff --git a/data/UPB_00001851/parts/part_6.obj b/data/UPB_00001851/parts/part_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cbe8fb4b7d05017a2a4b1ad759a93376b6f2683
--- /dev/null
+++ b/data/UPB_00001851/parts/part_6.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4803332c7cc062c4634c174844355e33500d4496fbfb900c465031ba9ce14ee2
+size 25310512
diff --git a/data/UPB_00001851/plys/1.ply b/data/UPB_00001851/plys/1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..37af1980f065b4332d0df478315a31a202afcd9e
--- /dev/null
+++ b/data/UPB_00001851/plys/1.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f354de92b09f478fae5d26070f82ee5aa1e0bc9ff14dd0c4990c5644b9a1737
+size 160242
diff --git a/data/UPB_00001851/plys/2.ply b/data/UPB_00001851/plys/2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..69c07f8c0eb81e53f49eedb5be05f501ce56cced
--- /dev/null
+++ b/data/UPB_00001851/plys/2.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67b57c9007fa69a02d71de24efd018aba0c38526332911b135650db92bfb59f7
+size 160242
diff --git a/data/UPB_00001851/plys/3.ply b/data/UPB_00001851/plys/3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..134da5194cf61961d2b44af41567001dc956ca76
--- /dev/null
+++ b/data/UPB_00001851/plys/3.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f25d5ae4f49bed99de37e5681d08f6a2a7558fbd8fd38c59e837625c02de019
+size 160242
diff --git a/data/UPB_00001851/plys/4.ply b/data/UPB_00001851/plys/4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..07d95a4f2fcdae1e7d390d0bf0b302df3fccb972
--- /dev/null
+++ b/data/UPB_00001851/plys/4.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c8abbd888c2bd5a96933cb04e09cf6bd4b6bdb29d26682264e6fc2adae11e2f
+size 160242
diff --git a/data/UPB_00001851/plys/5.ply b/data/UPB_00001851/plys/5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7956b0e3fa6d5a8682ea3ebc291028d396f30184
--- /dev/null
+++ b/data/UPB_00001851/plys/5.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68b5678f14ed7e4366f5e220d9845f263b000aee67353d88301bfb795baf6cb6
+size 160242
diff --git a/data/UPB_00001851/plys/6.ply b/data/UPB_00001851/plys/6.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0e12444fe953481c86322be5125405a489715751
--- /dev/null
+++ b/data/UPB_00001851/plys/6.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:046e366d96964253adb24b62ed37d367e449d4bd5c16ffdc84fd78d3f0bccde5
+size 1476562
diff --git a/data/UPB_00001851/plys/model.ply b/data/UPB_00001851/plys/model.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a98dba68166d006cf5bec486afe6aaca56ef8f1b
--- /dev/null
+++ b/data/UPB_00001851/plys/model.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7bde57c5146db1f65273e0e13b4d1082157c20dfce26578fb248475480cf65b
+size 1600243
diff --git a/data/UPB_00001852/annotations/object.json b/data/UPB_00001852/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..914118ff9bb034ee58c13914aaa7414104cc7876
--- /dev/null
+++ b/data/UPB_00001852/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Wooden TV Console Cabinet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        160.0,
+        45.0,
+        50.0
+    ],
+    "mass": 30.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001852/annotations/part_1.json b/data/UPB_00001852/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..6621c803e024dc7c60bcf639288c84d43ec700d9
--- /dev/null
+++ b/data/UPB_00001852/annotations/part_1.json
@@ -0,0 +1,53 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001852",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Cabinet Door",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Frame-and-panel walnut door, about 35*30*2 cm, matching the cabinet finish.",
+        "functional_description": "Covers the left storage compartment and keeps contents protected from dust and view.",
+        "movement_description": "Rotates about a vertical hinge axis relative to the main body; typically opens outward by ~100\u00b0.",
+        "grasp_description": "Usually not grabbed directly; users pull the attached handle (part 6)."
+    },
+    "basic_info": {
+        "material": "wood/Walnut",
+        "density": 0.64,
+        "young": 12.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                6,
+                7
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.7903147339820862,
+                    -0.16340409219264984,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001852/annotations/part_10.json b/data/UPB_00001852/annotations/part_10.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd89def14e7ad129384ef8f2acc8fd9dcb4ac4ce
--- /dev/null
+++ b/data/UPB_00001852/annotations/part_10.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001852",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Right Keyhole Escutcheon",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Brass escutcheon for the right door, \u22486*2*0.3 cm.",
+        "functional_description": "Reinforces and decorates the keyhole area on the right door.",
+        "movement_description": "Fixed to the right door with no independent motion.",
+        "grasp_description": "Not grasped during typical use."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001852/annotations/part_11.json b/data/UPB_00001852/annotations/part_11.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fdee337a904de60bf49db1f646a974ae81bd0a3
--- /dev/null
+++ b/data/UPB_00001852/annotations/part_11.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001852",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Main Wooden Carcass",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Primary structure of the TV console with top, sides, shelves and back; overall about 160*45*50 cm.",
+        "functional_description": "Supports loads, houses compartments and the center drawer, and provides stability and aesthetics.",
+        "movement_description": "Acts as the fixed parent/ground for the assembly; doors rotate on hinges and the drawer slides on runners relative to this part.",
+        "grasp_description": "When moving the furniture, users may grasp underside edges or side posts."
+    },
+    "basic_info": {
+        "material": "wood/Walnut",
+        "density": 0.64,
+        "young": 12.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001852/annotations/part_2.json b/data/UPB_00001852/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..02dc94b3f39f4cd30f6392909fe1a43576f1e1da
--- /dev/null
+++ b/data/UPB_00001852/annotations/part_2.json
@@ -0,0 +1,53 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001852",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Right Cabinet Door",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Walnut door panel for the right compartment, approx 35*30*2 cm.",
+        "functional_description": "Encloses the right storage bay and provides a mounting surface for handle and escutcheon.",
+        "movement_description": "Hinged rotation about a vertical axis on the cabinet frame; opens ~100\u00b0.",
+        "grasp_description": "Operated by the right handle (part 9), not by the panel edge."
+    },
+    "basic_info": {
+        "material": "wood/Walnut",
+        "density": 0.64,
+        "young": 12.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                9,
+                10
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.788816511631012,
+                    -0.16423377394676208,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001852/annotations/part_3.json b/data/UPB_00001852/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbbd9ff4dbd60bb9893156f8aad96abfea2c74e6
--- /dev/null
+++ b/data/UPB_00001852/annotations/part_3.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001852",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Center Drawer Front Panel",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Rectangular walnut drawer face, about 70*15*2 cm, stylized to match doors.",
+        "functional_description": "Forms the front of a sliding drawer in the center bay; provides a surface for the knob.",
+        "movement_description": "Translates along the cabinet depth on runners; typical travel up to ~25 cm.",
+        "grasp_description": "Users grasp the attached knob (part 4) to pull or push the drawer."
+    },
+    "basic_info": {
+        "material": "wood/Walnut",
+        "density": 0.64,
+        "young": 12.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                4
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.17222300171852112,
+                    -0.07097794115543365
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001852/annotations/part_4.json b/data/UPB_00001852/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..d56266e5354b27dcb1a1db4289a4da2bbce4204b
--- /dev/null
+++ b/data/UPB_00001852/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001852",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Drawer Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Small rounded brass knob, \u22483 cm diameter and 2 cm projection, mounted to the drawer front.",
+        "functional_description": "Primary grasp point for operating the center drawer.",
+        "movement_description": "No independent motion; rigidly fixed to the drawer front.",
+        "grasp_description": "Pinched or hooked by fingers to pull the drawer open and push it closed."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001852/annotations/part_6.json b/data/UPB_00001852/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c4de5c3a54845906032e4dd3bacd3eb41569c56
--- /dev/null
+++ b/data/UPB_00001852/annotations/part_6.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001852",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Left Door Pull Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Ornate brass pull, about 12*3*2 cm, mounted to the left door.",
+        "functional_description": "Provides a comfortable grasp to swing the left door.",
+        "movement_description": "No independent motion; rigidly attached to the door.",
+        "grasp_description": "Fingers wrap around the handle to pull the door open."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001852/annotations/part_7.json b/data/UPB_00001852/annotations/part_7.json
new file mode 100644
index 0000000000000000000000000000000000000000..70c1d95e74e82013f34593cb4ce9a3da2019cc76
--- /dev/null
+++ b/data/UPB_00001852/annotations/part_7.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001852",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Left Keyhole Escutcheon",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Decorative brass keyhole plate, \u22486*2*0.3 cm, centered on the left door.",
+        "functional_description": "Protects the wood around a lock opening and decorates the door.",
+        "movement_description": "Rigidly fixed to the left door.",
+        "grasp_description": "Not grasped; may be touched when inserting a key."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001852/annotations/part_9.json b/data/UPB_00001852/annotations/part_9.json
new file mode 100644
index 0000000000000000000000000000000000000000..89d22d22c33c9332f5f62f5df29e49a6e50e18a4
--- /dev/null
+++ b/data/UPB_00001852/annotations/part_9.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001852",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Right Door Pull Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Ornate brass pull, about 12*3*2 cm, mounted to the right door.",
+        "functional_description": "Main grasp point for operating the right cabinet door.",
+        "movement_description": "Rigidly attached; moves only as the door moves.",
+        "grasp_description": "Pulled by hand to swing the door open or closed."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001852/full_model/material.mtl b/data/UPB_00001852/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001852/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
\ No newline at end of file
diff --git a/data/UPB_00001852/full_model/material_0.png b/data/UPB_00001852/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..343c78d5b7b5b7fa7921bf324d625a5f39f4813e
--- /dev/null
+++ b/data/UPB_00001852/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:732adcf017a0c87108382c197f5d130529e1d35a5d5b7c3af9a0d5bf987cde8f
+size 1211063
diff --git a/data/UPB_00001852/full_model/model.obj b/data/UPB_00001852/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64e4da468c2d4cc271d106b63ec784ece6f26e48
--- /dev/null
+++ b/data/UPB_00001852/full_model/model.obj
@@ -0,0 +1,212332 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.73673862 -0.16590343 0.16354443
+v -0.39831313 -0.16590340 0.16354443
+v -0.39827883 -0.15890340 0.16354443
+v -0.73677295 -0.15890340 0.16354443
+v -0.69641000 -0.17182912 0.11743164
+v -0.43864560 -0.17182910 0.11743164
+v -0.42288199 -0.16590340 0.13322344
+v -0.71217370 -0.16590340 0.13322344
+v -0.73697299 -0.15890340 0.16334441
+v -0.73697299 -0.15890340 -0.11330560
+v -0.73697299 -0.16590340 -0.11327130
+v -0.73697299 -0.16590343 0.16331013
+v -0.71245199 -0.16590340 0.13294513
+v -0.73697299 -0.16590343 0.16331013
+v -0.73697299 -0.16590340 -0.11327130
+v -0.71245199 -0.16590340 -0.08290625
+v -0.39831313 -0.16590340 0.16354443
+v -0.73673862 -0.16590343 0.16354443
+v -0.43879670 -0.17209941 0.11724439
+v -0.69625902 -0.17209943 0.11724445
+v -0.69625282 -0.17470340 0.11724445
+v -0.43880290 -0.17470340 0.11724439
+v -0.39807877 -0.16590340 0.16331007
+v -0.39807877 -0.16590340 -0.11327142
+v -0.39807877 -0.15890340 -0.11330572
+v -0.39807877 -0.15890340 0.16334441
+v -0.43839544 -0.17182910 0.11718152
+v -0.43839544 -0.17182910 -0.06714270
+v -0.42260367 -0.16590340 -0.08290631
+v -0.42260367 -0.16590340 0.13294508
+v -0.73673862 -0.16590340 -0.11350562
+v -0.73677295 -0.15890340 -0.11350562
+v -0.39827883 -0.15890340 -0.11350574
+v -0.39831313 -0.16590340 -0.11350574
+v -0.69641012 -0.17182912 -0.06739282
+v -0.71217370 -0.16590340 -0.08318463
+v -0.42288199 -0.16590340 -0.08318463
+v -0.43864560 -0.17182910 -0.06739282
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diff --git a/data/UPB_00001852/meta_data.json b/data/UPB_00001852/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..25c1878311bb54dac02fa07fb1452e75f10f0a63
--- /dev/null
+++ b/data/UPB_00001852/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001852",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Wooden TV Console Cabinet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 9,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001852/model.urdf b/data/UPB_00001852/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dd027a7954356f8ee229e73d199acfc44a01eeec
--- /dev/null
+++ b/data/UPB_00001852/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="0.831902 0.831902 0.831902"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.831902 0.831902 0.831902"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.831902 0.831902 0.831902"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.831902 0.831902 0.831902"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.831902 0.831902 0.831902"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.831902 0.831902 0.831902"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.831902 0.831902 0.831902"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.831902 0.831902 0.831902"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.831902 0.831902 0.831902"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.831902 0.831902 0.831902"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.831902 0.831902 0.831902"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.831902 0.831902 0.831902"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.831902 0.831902 0.831902"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.831902 0.831902 0.831902"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.831902 0.831902 0.831902"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.831902 0.831902 0.831902"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.831902 0.831902 0.831902"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.831902 0.831902 0.831902"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_11"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.657464 -0.135936 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="0.657464 0.135936 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_11"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.656218 -0.136626 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="-0.656218 0.136626 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_11"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.000000 -0.143273 -0.059047" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.24957049910514753" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.000000 0.143273 0.059047" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001852/parts/1.jpeg b/data/UPB_00001852/parts/1.jpeg
new file mode 100644
index 0000000000000000000000000000000000000000..66e35ca5b510ed8be86e358d858c907c05faf807
--- /dev/null
+++ b/data/UPB_00001852/parts/1.jpeg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3b904b0f372ea5c748587a2c4973a6935f592cbc991a8c816534d06fa726af9
+size 27542
diff --git a/data/UPB_00001852/parts/1.mtl b/data/UPB_00001852/parts/1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ce0850817425159c3f9494f78d425ea3aa60a5bf
--- /dev/null
+++ b/data/UPB_00001852/parts/1.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl MI_669e40d84750b4000140d040
+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 1.jpeg
diff --git a/data/UPB_00001852/parts/2.jpeg b/data/UPB_00001852/parts/2.jpeg
new file mode 100644
index 0000000000000000000000000000000000000000..66e35ca5b510ed8be86e358d858c907c05faf807
--- /dev/null
+++ b/data/UPB_00001852/parts/2.jpeg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3b904b0f372ea5c748587a2c4973a6935f592cbc991a8c816534d06fa726af9
+size 27542
diff --git a/data/UPB_00001852/parts/2.mtl b/data/UPB_00001852/parts/2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d59e823a51971af4e56e65339e3e78c23fa6ab2
--- /dev/null
+++ b/data/UPB_00001852/parts/2.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl MI_669e40d84750b4000140d040
+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.jpeg
diff --git a/data/UPB_00001852/parts/T_669e40d84750b4000140d040_color.jpg b/data/UPB_00001852/parts/T_669e40d84750b4000140d040_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..cc22aba9405bed8c25f7b7895fdaa07c80e76867
--- /dev/null
+++ b/data/UPB_00001852/parts/T_669e40d84750b4000140d040_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0b3a7ce21e8fcb1db4a4b4efd7702bccf60ebe6ad4abda11707c228575cedd0
+size 104592
diff --git a/data/UPB_00001852/parts/T_669e40d87910d9000130a2a4_color.jpg b/data/UPB_00001852/parts/T_669e40d87910d9000130a2a4_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..937ceaf7a4bbee41da94da55046048f8e57cf0b7
--- /dev/null
+++ b/data/UPB_00001852/parts/T_669e40d87910d9000130a2a4_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c22505f15d4fb69e54d69b90b56ff6100261e2a91b519bea0436b3339d3588a8
+size 11765
diff --git a/data/UPB_00001852/parts/T_669e40d87910d9000130a2a4_metallic.jpg b/data/UPB_00001852/parts/T_669e40d87910d9000130a2a4_metallic.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a72f80fc5c19dd2840331b57cfd7c11887677598
--- /dev/null
+++ b/data/UPB_00001852/parts/T_669e40d87910d9000130a2a4_metallic.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ef45f13d9cba7cc58529e89c4b19c2520cb4c7da21849f9fe05e25e6fc202ac
+size 748
diff --git a/data/UPB_00001852/parts/T_669e40d88693bc00011dbb60_color.jpg b/data/UPB_00001852/parts/T_669e40d88693bc00011dbb60_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..eb53dbb11fb1fdf649c7dc7a783aa082a13e944e
--- /dev/null
+++ b/data/UPB_00001852/parts/T_669e40d88693bc00011dbb60_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:feec7db23ef23e25250b9db5f26ab0aeef93b4c6305953292b8d511c14aec055
+size 95665
diff --git a/data/UPB_00001852/parts/T_669e40d88693bc00011dbb60_metallic.jpg b/data/UPB_00001852/parts/T_669e40d88693bc00011dbb60_metallic.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..480c336c2ef3ffb75ebedcc47fc7db4caa291e9f
--- /dev/null
+++ b/data/UPB_00001852/parts/T_669e40d88693bc00011dbb60_metallic.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bd6f09919b1ce9573f2285c23768243ecd404b629e3d5ea6979734cc31e042b
+size 4285
diff --git a/data/UPB_00001852/parts/T_669e40d897087a00018f5b55_color.jpg b/data/UPB_00001852/parts/T_669e40d897087a00018f5b55_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ec1fb341c0b31c8870daeb87ad975144ba0b64c9
--- /dev/null
+++ b/data/UPB_00001852/parts/T_669e40d897087a00018f5b55_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a6618de0649a2fb9648029299893bdd62b8b01aa0dfe1db59fcfea8434f2231
+size 9943
diff --git a/data/UPB_00001852/parts/T_669e40d897087a00018f5b55_metallic.jpg b/data/UPB_00001852/parts/T_669e40d897087a00018f5b55_metallic.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c0d531dc8e1797907a4823342b530d035cf6a6cb
--- /dev/null
+++ b/data/UPB_00001852/parts/T_669e40d897087a00018f5b55_metallic.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5230f8f7bd2f0c9f4f7ca25805aab74bf3e8bb7e713839e124cc818f9fd72f12
+size 942
diff --git a/data/UPB_00001852/parts/TvCabinet_ZKQKLIBVAJ336PTUKY888888_bTGZ1.mtl b/data/UPB_00001852/parts/TvCabinet_ZKQKLIBVAJ336PTUKY888888_bTGZ1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f8e601bb985d7bcb877bedc4f8e598cb1f1767f0
--- /dev/null
+++ b/data/UPB_00001852/parts/TvCabinet_ZKQKLIBVAJ336PTUKY888888_bTGZ1.mtl
@@ -0,0 +1,23 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_669e40d84750b4000140d040
+Kd 1 1 1
+illum 1
+map_Kd ./T_669e40d84750b4000140d040_color.jpg
+
+newmtl MI_669e40d88693bc00011dbb60
+Kd 1 1 1
+illum 1
+map_Kd ./T_669e40d88693bc00011dbb60_color.jpg
+
+newmtl MI_669e40d897087a00018f5b55
+Kd 1 1 1
+illum 1
+map_Kd ./T_669e40d897087a00018f5b55_color.jpg
+
+newmtl MI_669e40d87910d9000130a2a4
+Kd 1 1 1
+illum 1
+map_Kd ./T_669e40d87910d9000130a2a4_color.jpg
+
diff --git a/data/UPB_00001852/parts/part_1.obj b/data/UPB_00001852/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eae1a12c732aeee8cee14c74e58270f6121f2226
--- /dev/null
+++ b/data/UPB_00001852/parts/part_1.obj
@@ -0,0 +1,7156 @@
+# https://github.com/mikedh/trimesh
+mtllib 1.mtl
+usemtl MI_669e40d84750b4000140d040
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diff --git a/data/UPB_00001852/parts/part_10.obj b/data/UPB_00001852/parts/part_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfc79fb114da01b87c3e679aa26c24e2defa0043
--- /dev/null
+++ b/data/UPB_00001852/parts/part_10.obj
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diff --git a/data/UPB_00001852/parts/part_11.obj b/data/UPB_00001852/parts/part_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c3154b3cc395668cc1fc2dbdcfd0fa3bba9621f
--- /dev/null
+++ b/data/UPB_00001852/parts/part_11.obj
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+version https://git-lfs.github.com/spec/v1
+oid sha256:5bc25127a5ae0c857047131c8dd5d54470039a6cbdf872505d3abe63cb5adafa
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diff --git a/data/UPB_00001852/parts/part_2.obj b/data/UPB_00001852/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a56400d15fcc6721370a49f8e8ae14aac38fcfe
--- /dev/null
+++ b/data/UPB_00001852/parts/part_2.obj
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diff --git a/data/UPB_00001852/parts/part_3.obj b/data/UPB_00001852/parts/part_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26e35ca0c4a6df8f89b2f435624c38e94ec0be0e
--- /dev/null
+++ b/data/UPB_00001852/parts/part_3.obj
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diff --git a/data/UPB_00001852/parts/part_4.obj b/data/UPB_00001852/parts/part_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70000ef4c194ee6dce6a771da078ce8225a62aa4
--- /dev/null
+++ b/data/UPB_00001852/parts/part_4.obj
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diff --git a/data/UPB_00001852/parts/part_6.obj b/data/UPB_00001852/parts/part_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3793864fe0009e330081b23091a8cad23d35f0b1
--- /dev/null
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diff --git a/data/UPB_00001852/parts/part_7.obj b/data/UPB_00001852/parts/part_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af45c381850c7c203f1d67153cfcfc1e327764a1
--- /dev/null
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diff --git a/data/UPB_00001852/parts/part_9.obj b/data/UPB_00001852/parts/part_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adfaeaeb6bce2c490972951efb830b4ea87542ae
--- /dev/null
+++ b/data/UPB_00001852/parts/part_9.obj
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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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+version https://git-lfs.github.com/spec/v1
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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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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00001852/plys/model.ply b/data/UPB_00001852/plys/model.ply
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00001853/annotations/object.json b/data/UPB_00001853/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..cacdf758c4310448e99ea4933b8694fce4ad9dab
--- /dev/null
+++ b/data/UPB_00001853/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Long TV Console with Sliding Fronts",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        180.0,
+        40.0,
+        45.0
+    ],
+    "mass": 35.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001853/annotations/part_1.json b/data/UPB_00001853/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..e758e631eee97ac3353273afa46de0da02a68aff
--- /dev/null
+++ b/data/UPB_00001853/annotations/part_1.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001853",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Sliding Door Panel 1",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Rectangular painted MDF front panel (~40 x 28 x 1.6 cm) used as one leaf of the sliding fa\u00e7ade.",
+        "functional_description": "Covers an opening and allows access to the storage when slid aside.",
+        "movement_description": "Slides horizontally along concealed tracks mounted to the carcass; damped near the ends for soft closing.",
+        "grasp_description": "Grasped by the recessed edge pull to open or close the console."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.7397792339324951,
+                    -0.2171817272901535,
+                    -0.2685496211051941
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001853/annotations/part_10.json b/data/UPB_00001853/annotations/part_10.json
new file mode 100644
index 0000000000000000000000000000000000000000..84b4d108b94f094013bce89e7fcc75b9c8675de4
--- /dev/null
+++ b/data/UPB_00001853/annotations/part_10.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001853",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Rear Stabilizer Rail",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "A slim anodized aluminum rail mounted low along the underside toward the rear.",
+        "functional_description": "Adds torsional stiffness and helps tie the leg brackets to the carcass.",
+        "movement_description": "Rigidly fastened; no relative motion to the cabinet.",
+        "grasp_description": "Not intended for hand contact."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 100,
+        "poisson": 0.33,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001853/annotations/part_2.json b/data/UPB_00001853/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f09cb04081f4df609109c1d9d1d09117b4071f5
--- /dev/null
+++ b/data/UPB_00001853/annotations/part_2.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001853",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Sliding Door Panel 2",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Second sliding MDF front panel with a slim recessed pull.",
+        "functional_description": "Works with the other panels to cover different bays of the console.",
+        "movement_description": "Translates laterally along the same track set fixed to the carcass.",
+        "grasp_description": "Users pull by the edge recess to move it left or right."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.7466808557510376,
+                    -0.2194763571023941,
+                    -0.28079867362976074
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001853/annotations/part_3.json b/data/UPB_00001853/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cecdabb44c23b394d27658b41403a86ba579ef8
--- /dev/null
+++ b/data/UPB_00001853/annotations/part_3.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001853",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Sliding Door Panel 3",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Third painted MDF sliding fa\u00e7ade panel (~40 x 28 x 1.6 cm).",
+        "functional_description": "Provides configurable coverage of the storage compartments.",
+        "movement_description": "Glides along the carcass-mounted tracks parallel to the other doors.",
+        "grasp_description": "Typically grasped at the edge or recessed pull during operation."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                3
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    -1.0700126886367798,
+                    -0.21282750368118286,
+                    -0.15604734420776367
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001853/annotations/part_4.json b/data/UPB_00001853/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5d780f2c469c5e3eef5af034add8fa83c2fc6ec
--- /dev/null
+++ b/data/UPB_00001853/annotations/part_4.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001853",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Sliding Door Panel 4",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Fourth MDF sliding front panel; finishes the set of movable covers.",
+        "functional_description": "Covers the leftmost bay and overlaps with the adjacent panels as needed.",
+        "movement_description": "Slides laterally on the same top/bottom track pair fixed to the carcass.",
+        "grasp_description": "Hand contact on the recessed pull for everyday opening and closing."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                4
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    -1.1271889209747314,
+                    -0.21046265959739685,
+                    -0.35351285338401794
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001853/annotations/part_5.json b/data/UPB_00001853/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e6cf6bf4af446b2abbd971d6e4ccb94271181f8
--- /dev/null
+++ b/data/UPB_00001853/annotations/part_5.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001853",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Kick Plate / Inner Toe Panel",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Long, narrow veneered plywood panel (~150 x 10 x 1.2 cm) seated at the lower front inside the opening.",
+        "functional_description": "Acts as a toe/kick cover and dust barrier, visually finishing the lower edge of the opening.",
+        "movement_description": "Fixed in place with screws or brackets to the carcass.",
+        "grasp_description": "Not intended for handling; touched only during assembly or cleaning."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Veneer",
+        "density": 0.6,
+        "young": 9.0,
+        "hardness": 30,
+        "poisson": 0.32,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                5
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    1.1299564838409424,
+                    -0.21619564294815063,
+                    -0.3410436511039734
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001853/annotations/part_6.json b/data/UPB_00001853/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf73e424f38e855513814827e21def965fd453cd
--- /dev/null
+++ b/data/UPB_00001853/annotations/part_6.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001853",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Cabinet Carcass (Body)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Main rectangular box (~180 x 40 x 45 cm overall) forming the structure: top, bottom, sides, and inner dividers; laminated MDF.",
+        "functional_description": "Provides structural support for the sliding doors, shelf, and base frame while bearing TV and stored items.",
+        "movement_description": "Stationary structural component; all movable parts reference this as their parent.",
+        "grasp_description": "Occasionally handled at edges during relocation but not meant for routine grasping."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.7,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001853/annotations/part_7.json b/data/UPB_00001853/annotations/part_7.json
new file mode 100644
index 0000000000000000000000000000000000000000..e95f8f1c00b937addc42852f151a7b679d5c144e
--- /dev/null
+++ b/data/UPB_00001853/annotations/part_7.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001853",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Upper Front Sled Rail with End Legs",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "A slim powder-coated steel tube running along the front lower edge with short vertical leg posts at the ends.",
+        "functional_description": "Part of the sled-type base, tying the front legs and stiffening the base.",
+        "movement_description": "Rigidly fastened to the underside of the carcass and to the lower rail assembly.",
+        "grasp_description": "Not normally held; may be contacted when moving the cabinet."
+    },
+    "basic_info": {
+        "material": "metal/Steel_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001853/annotations/part_8.json b/data/UPB_00001853/annotations/part_8.json
new file mode 100644
index 0000000000000000000000000000000000000000..b83cc62b8b332615e9aa185389c8ed75fd245445
--- /dev/null
+++ b/data/UPB_00001853/annotations/part_8.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001853",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Lower Front Sled Rail Assembly (Double-Rail)",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Paired horizontal steel rails with end brackets forming the visible sled base along the front.",
+        "functional_description": "Supports the cabinet and spreads loads to the legs; provides a rigid front frame.",
+        "movement_description": "Bolted to the carcass and the upper rail; no relative motion.",
+        "grasp_description": "Not designed to be grasped except incidentally during installation."
+    },
+    "basic_info": {
+        "material": "metal/Steel_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001853/annotations/part_9.json b/data/UPB_00001853/annotations/part_9.json
new file mode 100644
index 0000000000000000000000000000000000000000..2223bc791ecfd34c913c2b91760f8bbf92bfbfac
--- /dev/null
+++ b/data/UPB_00001853/annotations/part_9.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001853",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Adjustable Shelf Board",
+        "affordance": 7,
+        "graspable": true,
+        "basic_description": "Flat laminated plywood shelf (~60 x 32 x 1.8 cm) that sits in the right compartment on support pins.",
+        "functional_description": "Provides an intermediate level for media devices or accessories.",
+        "movement_description": "Normally fixed on pins; removable or repositionable during setup (no guided motion).",
+        "grasp_description": "Handled by the edges when adjusting height or removing for cleaning."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Laminated",
+        "density": 0.62,
+        "young": 9.5,
+        "hardness": 32,
+        "poisson": 0.32,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001853/full_model/material.mtl b/data/UPB_00001853/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001853/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
\ No newline at end of file
diff --git a/data/UPB_00001853/full_model/material_0.png b/data/UPB_00001853/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c341872377ebc96fa12adec5331b566578a742ff
--- /dev/null
+++ b/data/UPB_00001853/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dd3b34e25ace73865625351889f2d4fa218861fbaa17107ea775a2c0d5cd275
+size 1049954
diff --git a/data/UPB_00001853/full_model/model.obj b/data/UPB_00001853/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e30c56388aab931525909c68e82e4bcdd07ed33
--- /dev/null
+++ b/data/UPB_00001853/full_model/model.obj
@@ -0,0 +1,6452 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/data/UPB_00001853/meta_data.json b/data/UPB_00001853/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fccdc382c9aa00be6cb61c999e3f7141f636001
--- /dev/null
+++ b/data/UPB_00001853/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001853",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Long TV Console with Sliding Fronts"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 10,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001853/model.urdf b/data/UPB_00001853/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3844c6c113f2e370c6f17a9f68211de4ab8eb8b0
--- /dev/null
+++ b/data/UPB_00001853/model.urdf
@@ -0,0 +1,214 @@
+<?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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.592433 0.592433 0.592433"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.592433 0.592433 0.592433"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.592433 0.592433 0.592433"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.592433 0.592433 0.592433"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.592433 0.592433 0.592433"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.592433 0.592433 0.592433"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.592433 0.592433 0.592433"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.592433 0.592433 0.592433"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.592433 0.592433 0.592433"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
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+      </geometry>
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+      </geometry>
+    </visual>
+    <collision>
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+      </geometry>
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+      </geometry>
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+  </joint>
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+  </joint>
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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"/>
+    <origin xyz="-0.442358 0.130025 0.166354" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_6"/>
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+    <axis xyz="0.0 1.0 0.0"/>
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+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
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+    <origin xyz="0.633910 0.126086 0.092448" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="prismatic">
+    <parent link="link_6"/>
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+    <origin xyz="-0.667784 -0.124685 -0.209433" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.17772980159887175" upper="0.0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
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+    <origin xyz="0.667784 0.124685 0.209433" rpy="0 0 0"/>
+  </joint>
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+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.17772980159887175" upper="0.0"/>
+  </joint>
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+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001853/parts/T_66cb4cdc9ca5eb000109c5c1_color.jpg b/data/UPB_00001853/parts/T_66cb4cdc9ca5eb000109c5c1_color.jpg
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diff --git a/data/UPB_00001853/parts/TvCabinet_ZL25E5JVAJOZEPTULM888888_EXgI2.mtl b/data/UPB_00001853/parts/TvCabinet_ZL25E5JVAJOZEPTULM888888_EXgI2.mtl
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diff --git a/data/UPB_00001853/parts/part_2.obj b/data/UPB_00001853/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f250d1d9b929a47a3ac321125b96566d663b3854
--- /dev/null
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diff --git a/data/UPB_00001853/parts/part_7.obj b/data/UPB_00001853/parts/part_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..117f97da8d8c45d3a394467cb3cb8a7ff35f3d2b
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diff --git a/data/UPB_00001853/parts/part_8.obj b/data/UPB_00001853/parts/part_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec9b736ec744ed6b3caa1f806c64f49ea9ca7cb8
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index 0000000000000000000000000000000000000000..f7afa2f3132ed544fff7ce6492e8aca2cc1826df
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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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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+size 1143442
diff --git a/data/UPB_00001853/plys/7.ply b/data/UPB_00001853/plys/7.ply
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00001853/plys/model.ply b/data/UPB_00001853/plys/model.ply
new file mode 100644
index 0000000000000000000000000000000000000000..82cd664427d0ad396e47481eeda1a8743c4e83b6
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 1600243
diff --git a/data/UPB_00001854/annotations/object.json b/data/UPB_00001854/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..244beab7b8f2c07f05bb5bfc644903cfdfa3f1e5
--- /dev/null
+++ b/data/UPB_00001854/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Low Credenza / TV Stand",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        180.0,
+        40.0,
+        50.0
+    ],
+    "mass": 45.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001854/annotations/part_1.json b/data/UPB_00001854/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..61f2cbd40230a9caeaa0b5282aeda0cd75867cb2
--- /dev/null
+++ b/data/UPB_00001854/annotations/part_1.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001854",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Hinged Door Panel",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "A rectangular wood door panel (~40 cm wide, ~30 cm tall, ~1.5 cm thick) finished with oak veneer.",
+        "functional_description": "Covers the left storage bay and provides access to the compartment.",
+        "movement_description": "Rotates about a vertical hinge axis mounted to the carcass, opening outward up to about 110 degrees.",
+        "grasp_description": "Typically grasped by the door edge; no separate handle is modeled."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak_Veneer",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                6
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -1.2863256931304932,
+                    -0.15987025201320648,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001854/annotations/part_10.json b/data/UPB_00001854/annotations/part_10.json
new file mode 100644
index 0000000000000000000000000000000000000000..472fc0891a6bff8348e0b1d13c3d9530535991e8
--- /dev/null
+++ b/data/UPB_00001854/annotations/part_10.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001854",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Lower Drawer Left Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Round beech knob for the lower drawer (same dimensions as upper).",
+        "functional_description": "Used to open and close the lower drawer.",
+        "movement_description": "Fixed; moves with the lower drawer front.",
+        "grasp_description": "Gripped by fingers to actuate the drawer."
+    },
+    "basic_info": {
+        "material": "metal",
+        "density": 7.095321614455091,
+        "young": 162.66640479230088,
+        "hardness": 160.52450162034765,
+        "poisson": 0.3059805558283549,
+        "friction": 0.4258902091721515
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001854/annotations/part_11.json b/data/UPB_00001854/annotations/part_11.json
new file mode 100644
index 0000000000000000000000000000000000000000..396ce3af2c90e90743b277f050ba419b039958d8
--- /dev/null
+++ b/data/UPB_00001854/annotations/part_11.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001854",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Lower Drawer Right Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Matching beech knob for the lower drawer.",
+        "functional_description": "Secondary handhold for the lower drawer.",
+        "movement_description": "Rigidly attached to the front panel; no independent motion.",
+        "grasp_description": "Used frequently for opening/closing."
+    },
+    "basic_info": {
+        "material": "metal",
+        "density": 7.095321614455091,
+        "young": 162.66640479230088,
+        "hardness": 160.52450162034765,
+        "poisson": 0.3059805558283549,
+        "friction": 0.4258902091721515
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001854/annotations/part_12.json b/data/UPB_00001854/annotations/part_12.json
new file mode 100644
index 0000000000000000000000000000000000000000..234820769d25eced95d012023f33f1735926f06b
--- /dev/null
+++ b/data/UPB_00001854/annotations/part_12.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001854",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Carcass/Frame with Legs",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Main body of the credenza: long plywood box with internal partitions and short legs, finished in brown veneer.",
+        "functional_description": "Provides structural support for all doors and drawers and bears loads placed on top.",
+        "movement_description": "Stationary reference frame; all articulated parts move relative to this carcass.",
+        "grasp_description": "Generally not grasped directly except when moving the entire furniture piece."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Laminate",
+        "density": 0.6,
+        "young": 8.5,
+        "hardness": 25,
+        "poisson": 0.33,
+        "friction": 0.44
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001854/annotations/part_2.json b/data/UPB_00001854/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dab98ca9fc821cf03251bacac293bebeb67cc55
--- /dev/null
+++ b/data/UPB_00001854/annotations/part_2.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001854",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Left Sliding Door (decorative panel)",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Rectangular sliding door (~45 cm wide, ~30 cm tall, ~1.2 cm thick) with decorative center; oak veneer frame.",
+        "functional_description": "Closes part of the center bay; overlaps the other sliding door to open either side.",
+        "movement_description": "Translates laterally along upper and lower tracks within the carcass; soft hand damping from wood-on-wood guides.",
+        "grasp_description": "Pulled via the small wooden pull mounted near its edge."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak_Veneer",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                7
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.6402214169502258,
+                    -0.16153714060783386,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001854/annotations/part_3.json b/data/UPB_00001854/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb8af2e47d1fd0e1dac87abf5b18df03bb2d4180
--- /dev/null
+++ b/data/UPB_00001854/annotations/part_3.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001854",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Right Sliding Door (decorative panel)",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Companion sliding door (~45 cm wide, ~30 cm tall, ~1.2 cm thick) with similar decorative center.",
+        "functional_description": "Pairs with the left sliding door to open either side of the center section.",
+        "movement_description": "Slides horizontally along the same tracks, overlapping the other door.",
+        "grasp_description": "Moved using its attached wood pull."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak_Veneer",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                3
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.641434907913208,
+                    -0.16240718960762024,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001854/annotations/part_4.json b/data/UPB_00001854/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bf5f6a73c26a20c54862e61cdfd07012691dff4
--- /dev/null
+++ b/data/UPB_00001854/annotations/part_4.json
@@ -0,0 +1,53 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001854",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Upper Drawer (front panel represents full drawer)",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Wide drawer (~70 cm wide, ~18 cm tall; full depth ~35 cm) with oak veneer front.",
+        "functional_description": "Provides top-level storage on the right side.",
+        "movement_description": "Translates in and out on wooden or light-duty runners with moderate damping.",
+        "grasp_description": "Typically grasped by the two front knobs."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak_Veneer",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                8,
+                10
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.9714159965515137,
+                    -0.19591495394706726,
+                    0.14692439138889313
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001854/annotations/part_5.json b/data/UPB_00001854/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..6178118f94c10096410e505ff078c6091c241b55
--- /dev/null
+++ b/data/UPB_00001854/annotations/part_5.json
@@ -0,0 +1,53 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001854",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Lower Drawer (front panel represents full drawer)",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Second wide drawer beneath the upper one; matching oak-veneer front.",
+        "functional_description": "Houses additional items; mirrors the upper drawer function.",
+        "movement_description": "Slides on runners with similar travel and damping as the upper drawer.",
+        "grasp_description": "Pulled via the two attached knobs."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak_Veneer",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                5,
+                9,
+                11
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.9624712467193604,
+                    -0.1857016533613205,
+                    -0.02940872311592102
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001854/annotations/part_6.json b/data/UPB_00001854/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..41b6361aa6100391e9aaa6e44b9665ffe5bb0908
--- /dev/null
+++ b/data/UPB_00001854/annotations/part_6.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001854",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Pull Handle for Left Sliding Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Slim, contoured wooden pull (~6 cm tall, ~2 cm wide) fixed to the edge of the left sliding door.",
+        "functional_description": "Provides a comfortable grip to move the sliding door.",
+        "movement_description": "No independent motion; moves rigidly with the door panel.",
+        "grasp_description": "Pinched or hooked with fingers for sliding."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Beech",
+        "density": 0.72,
+        "young": 12.0,
+        "hardness": 40,
+        "poisson": 0.33,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001854/annotations/part_7.json b/data/UPB_00001854/annotations/part_7.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3e7b0ca5f82535d689cb93ca94fd602ed68b9c4
--- /dev/null
+++ b/data/UPB_00001854/annotations/part_7.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001854",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Pull Handle for Right Sliding Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Matching slender wood pull (~6 cm tall) for the right sliding door.",
+        "functional_description": "Finger grip to actuate the right sliding door.",
+        "movement_description": "Rigidly attached; follows the door\u2019s lateral motion.",
+        "grasp_description": "Pinch or hook with fingers to slide open/closed."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Beech",
+        "density": 0.72,
+        "young": 12.0,
+        "hardness": 40,
+        "poisson": 0.33,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001854/annotations/part_8.json b/data/UPB_00001854/annotations/part_8.json
new file mode 100644
index 0000000000000000000000000000000000000000..290519c36c22f9cde64793d794da255b5e832163
--- /dev/null
+++ b/data/UPB_00001854/annotations/part_8.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001854",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Upper Drawer Left Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Round wooden knob (~\u00d830 mm, projection ~25 mm) for the upper drawer.",
+        "functional_description": "Primary interface for pulling the upper drawer.",
+        "movement_description": "No independent motion; fixed to the drawer front.",
+        "grasp_description": "Grasped between fingers to pull the drawer outward."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Beech",
+        "density": 0.72,
+        "young": 12.0,
+        "hardness": 40,
+        "poisson": 0.33,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001854/annotations/part_9.json b/data/UPB_00001854/annotations/part_9.json
new file mode 100644
index 0000000000000000000000000000000000000000..e07ec651de360437a45b54a73c1c15801542c452
--- /dev/null
+++ b/data/UPB_00001854/annotations/part_9.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001854",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Upper Drawer Right Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Second knob for the upper drawer, identical to the left knob.",
+        "functional_description": "Provides balanced pulling force and symmetry.",
+        "movement_description": "Rigidly fastened to the upper drawer front.",
+        "grasp_description": "Pulled by hand together with or instead of the left knob."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Beech",
+        "density": 0.72,
+        "young": 12.0,
+        "hardness": 40,
+        "poisson": 0.33,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001854/full_model/material.mtl b/data/UPB_00001854/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001854/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
\ No newline at end of file
diff --git a/data/UPB_00001854/full_model/material_0.png b/data/UPB_00001854/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f69b49b1a42755671b59dca549f233e31aa81046
--- /dev/null
+++ b/data/UPB_00001854/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60ef46fdb71bf70df7ef9824ffa0598063a7b819c1715359e04cf254beedf9d0
+size 3667234
diff --git a/data/UPB_00001854/full_model/model.obj b/data/UPB_00001854/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5d9bb339286ca96c7155b9deec2c47168a0c31a
--- /dev/null
+++ b/data/UPB_00001854/full_model/model.obj
@@ -0,0 +1,18006 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/data/UPB_00001854/meta_data.json b/data/UPB_00001854/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2139e0d9735cd1ca799ee005d08b99943a28c68
--- /dev/null
+++ b/data/UPB_00001854/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001854",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Low Credenza / TV Stand"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 12,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001854/model.urdf b/data/UPB_00001854/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..064046050e78913dec0d1990449aedb0578ce14d
--- /dev/null
+++ b/data/UPB_00001854/model.urdf
@@ -0,0 +1,248 @@
+<?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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.690961 0.690961 0.690961"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.690961 0.690961 0.690961"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.690961 0.690961 0.690961"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.690961 0.690961 0.690961"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.690961 0.690961 0.690961"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.690961 0.690961 0.690961"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.690961 0.690961 0.690961"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.690961 0.690961 0.690961"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.690961 0.690961 0.690961"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.690961 0.690961 0.690961"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.690961 0.690961 0.690961"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.690961 0.690961 0.690961"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.690961 0.690961 0.690961"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.690961 0.690961 0.690961"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.690961 0.690961 0.690961"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.690961 0.690961 0.690961"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.690961 0.690961 0.690961"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.690961 0.690961 0.690961"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.690961 0.690961 0.690961"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.690961 0.690961 0.690961"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.690961 0.690961 0.690961"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.690961 0.690961 0.690961"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.690961 0.690961 0.690961"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.690961 0.690961 0.690961"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_12"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.888801 -0.110464 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="0.888801 0.110464 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_12"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.442368 -0.111616 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="-0.442368 0.111616 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="link_12"/>
+    <child link="helper_link_2"/>
+    <origin xyz="-0.443206 -0.112217 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="0.443206 0.112217 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="prismatic">
+    <parent link="link_12"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.671210 -0.135370 0.101519" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.207288228273063" upper="0.0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="-0.671210 0.135370 -0.101519" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="prismatic">
+    <parent link="link_12"/>
+    <child link="helper_link_4"/>
+    <origin xyz="0.665030 -0.128313 -0.020320" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.207288228273063" upper="0.0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_5"/>
+    <origin xyz="-0.665030 0.128313 0.020320" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="link_5"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="link_5"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_16" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_12"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001854/parts/2.mtl b/data/UPB_00001854/parts/2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..57a1c04a7f3f0f8866abca464506627fead239e6
--- /dev/null
+++ b/data/UPB_00001854/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
diff --git a/data/UPB_00001854/parts/2.png b/data/UPB_00001854/parts/2.png
new file mode 100644
index 0000000000000000000000000000000000000000..939d0b9e295f50a92effe522aaad96382c41619e
--- /dev/null
+++ b/data/UPB_00001854/parts/2.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:adc9b11f458877ca698d6cda2df1461ca3f83bab810dc1d00a5563a719e3fd7c
+size 2594176
diff --git a/data/UPB_00001854/parts/3.mtl b/data/UPB_00001854/parts/3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f1811c7dbfb695f993b629aa8fa52a2d2fc419b1
--- /dev/null
+++ b/data/UPB_00001854/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
diff --git a/data/UPB_00001854/parts/3.png b/data/UPB_00001854/parts/3.png
new file mode 100644
index 0000000000000000000000000000000000000000..939d0b9e295f50a92effe522aaad96382c41619e
--- /dev/null
+++ b/data/UPB_00001854/parts/3.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adc9b11f458877ca698d6cda2df1461ca3f83bab810dc1d00a5563a719e3fd7c
+size 2594176
diff --git a/data/UPB_00001854/parts/T_66c37c445ac2620001eb3d40_alpha.jpg b/data/UPB_00001854/parts/T_66c37c445ac2620001eb3d40_alpha.jpg
new file mode 100644
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--- /dev/null
+++ b/data/UPB_00001854/parts/T_66c37c445ac2620001eb3d40_alpha.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbd2a951fa1c6871117e11e3f0b656dce6b147c7e62842bbb95f0741806a7e7f
+size 198154
diff --git a/data/UPB_00001854/parts/T_66c37c445ac2620001eb3d40_color.jpg b/data/UPB_00001854/parts/T_66c37c445ac2620001eb3d40_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1c1c24ca107e610df09a3c3dfa20e4d6671f680c
--- /dev/null
+++ b/data/UPB_00001854/parts/T_66c37c445ac2620001eb3d40_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 371003
diff --git a/data/UPB_00001854/parts/T_66c37c445ac2620001eb3d40_normal.jpg b/data/UPB_00001854/parts/T_66c37c445ac2620001eb3d40_normal.jpg
new file mode 100644
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--- /dev/null
+++ b/data/UPB_00001854/parts/T_66c37c445ac2620001eb3d40_normal.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:132fb7538c835a618473841d72b57e3858023a80670cfb3a9d983739a17217b2
+size 447257
diff --git a/data/UPB_00001854/parts/T_66c37c445ac2620001eb3d40_roughness.jpg b/data/UPB_00001854/parts/T_66c37c445ac2620001eb3d40_roughness.jpg
new file mode 100644
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--- /dev/null
+++ b/data/UPB_00001854/parts/T_66c37c445ac2620001eb3d40_roughness.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bf8df592204f13e92db898afffc6e17c7229f5192abe7f5262e83f04d0eba1f
+size 207747
diff --git a/data/UPB_00001854/parts/T_66c37c447910d9000135f958_color.jpg b/data/UPB_00001854/parts/T_66c37c447910d9000135f958_color.jpg
new file mode 100644
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--- /dev/null
+++ b/data/UPB_00001854/parts/T_66c37c447910d9000135f958_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89f2c9e29b5c31b572e289b9b075efa06936840500a6090f185412ee8d49df4f
+size 266542
diff --git a/data/UPB_00001854/parts/T_66c37c447910d9000135f958_normal.jpg b/data/UPB_00001854/parts/T_66c37c447910d9000135f958_normal.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b1c4c88c4d37f71012e2ebccf4c7f9e19c784b69
--- /dev/null
+++ b/data/UPB_00001854/parts/T_66c37c447910d9000135f958_normal.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4da1303ede1a918d3f781a606b76ce09bd8a898cd53d4ce9324f1a04f5049edd
+size 393710
diff --git a/data/UPB_00001854/parts/T_66c37c447910d9000135f958_roughness.jpg b/data/UPB_00001854/parts/T_66c37c447910d9000135f958_roughness.jpg
new file mode 100644
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--- /dev/null
+++ b/data/UPB_00001854/parts/T_66c37c447910d9000135f958_roughness.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac441811459491945de911999408af74d3a0866205d751f2a9e992e10a55f3da
+size 295150
diff --git a/data/UPB_00001854/parts/TvCabinet_ZL66FPRVAJTR4PTULI888888_5Ww1v.mtl b/data/UPB_00001854/parts/TvCabinet_ZL66FPRVAJTR4PTULI888888_5Ww1v.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c1640979b0b455090d561aa77b732b7ecbc0fd7d
--- /dev/null
+++ b/data/UPB_00001854/parts/TvCabinet_ZL66FPRVAJTR4PTULI888888_5Ww1v.mtl
@@ -0,0 +1,23 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_66c37c44ada6f900012c9501
+Kd 0.179699004 0.113171101 0.0619057007
+illum 1
+
+newmtl MI_66c37c447910d9000135f958
+Kd 1 1 1
+illum 1
+map_Kd ./T_66c37c447910d9000135f958_color.jpg
+bump ./T_66c37c447910d9000135f958_normal.jpg
+map_bump ./T_66c37c447910d9000135f958_normal.jpg
+
+newmtl MI_66c37c445ac2620001eb3d40
+Kd 1 1 1
+d 1
+illum 1
+map_Kd ./T_66c37c445ac2620001eb3d40_color.jpg
+map_d ./T_66c37c445ac2620001eb3d40_alpha.jpg
+bump ./T_66c37c445ac2620001eb3d40_normal.jpg
+map_bump ./T_66c37c445ac2620001eb3d40_normal.jpg
+
diff --git a/data/UPB_00001854/parts/part_1.obj b/data/UPB_00001854/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7e231f62ea6deba97b437ecf898d71fec547637
--- /dev/null
+++ b/data/UPB_00001854/parts/part_1.obj
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diff --git a/data/UPB_00001854/parts/part_10.obj b/data/UPB_00001854/parts/part_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dab484344b50452f05165725b6da163064ec2861
--- /dev/null
+++ b/data/UPB_00001854/parts/part_10.obj
@@ -0,0 +1,2607 @@
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diff --git a/data/UPB_00001854/parts/part_11.obj b/data/UPB_00001854/parts/part_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b92739cef4f829915e98ef39f64c4fc2bb87086
--- /dev/null
+++ b/data/UPB_00001854/parts/part_11.obj
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diff --git a/data/UPB_00001854/parts/part_12.obj b/data/UPB_00001854/parts/part_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efda1eb4fd38b0541323e5a729135a12d3121312
--- /dev/null
+++ b/data/UPB_00001854/parts/part_12.obj
@@ -0,0 +1,4993 @@
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diff --git a/data/UPB_00001854/parts/part_2.obj b/data/UPB_00001854/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d7b54e550170437f62ffc882e941ac8901f647a
--- /dev/null
+++ b/data/UPB_00001854/parts/part_2.obj
@@ -0,0 +1,2328 @@
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diff --git a/data/UPB_00001854/parts/part_3.obj b/data/UPB_00001854/parts/part_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8851658e7db505d10ff371d7411f2fff11305f11
--- /dev/null
+++ b/data/UPB_00001854/parts/part_3.obj
@@ -0,0 +1,2324 @@
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diff --git a/data/UPB_00001854/parts/part_4.obj b/data/UPB_00001854/parts/part_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a15733e0736f7052979e86df6cd1df4f2d37d6bc
--- /dev/null
+++ b/data/UPB_00001854/parts/part_4.obj
@@ -0,0 +1,124 @@
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diff --git a/data/UPB_00001854/parts/part_7.obj b/data/UPB_00001854/parts/part_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..688f5d40468e0f66238198bd36ceba53475414a2
--- /dev/null
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diff --git a/data/UPB_00001854/parts/part_8.obj b/data/UPB_00001854/parts/part_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c367cefed7cb9914320fc5f41f06ff00cc79458f
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..7e6a3c7ed8721aaa6d255a0e9bb39841d0c983e4
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new file mode 100644
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--- /dev/null
+++ b/data/UPB_00001854/plys/1.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45fda41db1a7b0dedd3cbfa98202a2ffdb920c187f98449e6aa678086c519743
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new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 160242
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new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 1267874
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new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+size 160242
diff --git a/data/UPB_00001854/plys/model.ply b/data/UPB_00001854/plys/model.ply
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c337420f93727c1573aed1887ab225412ab6aae4fdf10a46851e29fe050cf64e
+size 1600243
diff --git a/data/UPB_00001855/annotations/object.json b/data/UPB_00001855/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..8062375f194ffcdadad4c15fa1c938dc9648da68
--- /dev/null
+++ b/data/UPB_00001855/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "TV Stand / Media Console",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        160.0,
+        40.0,
+        45.0
+    ],
+    "mass": 28.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001855/annotations/part_1.json b/data/UPB_00001855/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..5eced89f2db26f3b672fa0c9a4210ad8324f463d
--- /dev/null
+++ b/data/UPB_00001855/annotations/part_1.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001855",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Center Front Trim Panel",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "A long, thin wooden strip with a shallow center-notch profile, finished in a walnut veneer. Approximate size: 80*1.5*10 cm.",
+        "functional_description": "Acts as a decorative/apron panel across the lower edge of the central open bay, visually tying the facade together and shielding the shelf edge from bumps.",
+        "movement_description": "Rigidly fixed to the main cabinet carcass; no independent motion.",
+        "grasp_description": "Not intended to be grasped. Users rarely touch it except when dusting."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Walnut_Veneer",
+        "density": 0.64,
+        "young": 11.0,
+        "hardness": 30,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.19907627999782562,
+                    -0.05774924159049988
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001855/annotations/part_2.json b/data/UPB_00001855/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..99d59902a2cd3cccd3d434bd0b83d03232ff44cb
--- /dev/null
+++ b/data/UPB_00001855/annotations/part_2.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001855",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Cabinet Carcass (Top, Sides, Shelves, Doors, Legs)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "The main body of the media console made from MDF with a walnut veneer, incorporating the top surface, side panels, internal shelf of the center bay, side doors with slatted fronts, and four short legs.",
+        "functional_description": "Provides structural support and storage. The top supports a TV and decor; the central shelf holds media devices; side compartments store accessories. Veneer finish offers furniture-grade appearance.",
+        "movement_description": "Functions as the fixed reference structure for the object. Any decorative panels or internal elements attached to it are rigidly connected.",
+        "grasp_description": "Users grasp door edges/handles and the shelf area during placement of devices; they also push or lift the carcass when repositioning the cabinet."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Walnut_Veneer",
+        "density": 0.7,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001855/full_model/MI_66fa4badce829a000138a25a.jpeg b/data/UPB_00001855/full_model/MI_66fa4badce829a000138a25a.jpeg
new file mode 100644
index 0000000000000000000000000000000000000000..45c4b04dff0a840e642360765d28420329e23ac7
--- /dev/null
+++ b/data/UPB_00001855/full_model/MI_66fa4badce829a000138a25a.jpeg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a74901362664d5dbdbe8316d4c2ed95886950154ad164bc062fa01657dffd3b1
+size 19790
diff --git a/data/UPB_00001855/full_model/material.mtl b/data/UPB_00001855/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f7c08fe3ef61ad9bcb4cfc2684b6b6159145eda8
--- /dev/null
+++ b/data/UPB_00001855/full_model/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl MI_66fa4badce829a000138a25a
+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 MI_66fa4badce829a000138a25a.jpeg
\ No newline at end of file
diff --git a/data/UPB_00001855/full_model/model.obj b/data/UPB_00001855/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ecb263884c5857042e049dcd6961d7a5d1cd6a1
--- /dev/null
+++ b/data/UPB_00001855/full_model/model.obj
@@ -0,0 +1,302314 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl MI_66fa4badce829a000138a25a
+v -0.43039849 -0.19140895 -0.14446095
+v 0.43060127 -0.19140878 -0.14446020
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diff --git a/data/UPB_00001855/meta_data.json b/data/UPB_00001855/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..27c3f51f98a5e1a15a77f6a62fec4c7c2a41d5e1
--- /dev/null
+++ b/data/UPB_00001855/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001855",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "TV Stand / Media Console"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 2,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001855/model.urdf b/data/UPB_00001855/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9952885d56e847d56a0939255b43c12d74506153
--- /dev/null
+++ b/data/UPB_00001855/model.urdf
@@ -0,0 +1,46 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.655713 0.655713 0.655713"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.655713 0.655713 0.655713"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.655713 0.655713 0.655713"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.655713 0.655713 0.655713"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="base_link"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.130537 -0.037867" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.1967137603243108" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.130537 0.037867" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001855/parts/T_66fa4badce829a000138a25a_color.jpg b/data/UPB_00001855/parts/T_66fa4badce829a000138a25a_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9217514e067029d6164b91fc8ee3c96cf5abf5b3
--- /dev/null
+++ b/data/UPB_00001855/parts/T_66fa4badce829a000138a25a_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cf649e433a6cb0d157bccc582c1f981821315e32304628c3999a5964ecf6d7c
+size 61151
diff --git a/data/UPB_00001855/parts/T_66fa4badce829a000138a25a_normal.jpg b/data/UPB_00001855/parts/T_66fa4badce829a000138a25a_normal.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0d504b5dc35134d55124fc09abcaf932f8cdb311
--- /dev/null
+++ b/data/UPB_00001855/parts/T_66fa4badce829a000138a25a_normal.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b3529ec62a9943674e58317a0a608281a4469af228af8e696d5e9fd8d419725
+size 51388
diff --git a/data/UPB_00001855/parts/TvCabinet_ZLCNBDZVAIM6MPTULQ888888_vWYAP.mtl b/data/UPB_00001855/parts/TvCabinet_ZLCNBDZVAIM6MPTULQ888888_vWYAP.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd3566a509bbdd4b454a352282f251fbf1f43cc3
--- /dev/null
+++ b/data/UPB_00001855/parts/TvCabinet_ZLCNBDZVAIM6MPTULQ888888_vWYAP.mtl
@@ -0,0 +1,10 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_66fa4badce829a000138a25a
+Kd 1 1 1
+illum 1
+map_Kd ./T_66fa4badce829a000138a25a_color.jpg
+bump ./T_66fa4badce829a000138a25a_normal.jpg
+map_bump ./T_66fa4badce829a000138a25a_normal.jpg
+
diff --git a/data/UPB_00001855/parts/part_1.obj b/data/UPB_00001855/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a96a236a24db44a21b8074a70ee3e6c7ee87e803
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diff --git a/data/UPB_00001855/parts/part_2.obj b/data/UPB_00001855/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0d090b3f0823e0d7b49bf999cedf38d5668e02a
--- /dev/null
+++ b/data/UPB_00001855/parts/part_2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15a29df2cdcc06ab02404124509bdd935cb4031fdf4f6b85cb03d3cc53a6aa80
+size 25729706
diff --git a/data/UPB_00001855/plys/1.ply b/data/UPB_00001855/plys/1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..90841b557b44907f7b6140df481653ab52c6b540
--- /dev/null
+++ b/data/UPB_00001855/plys/1.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29870621ade6814f40d224dc440ad1ee9d543801a562704c3d63ddae5e4079a9
+size 160242
diff --git a/data/UPB_00001855/plys/2.ply b/data/UPB_00001855/plys/2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3fa1a441fb0b9524a7c39b5a4c7b616bcdbddffb
--- /dev/null
+++ b/data/UPB_00001855/plys/2.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1545394
diff --git a/data/UPB_00001855/plys/model.ply b/data/UPB_00001855/plys/model.ply
new file mode 100644
index 0000000000000000000000000000000000000000..eef01c941a07cb9ce02e49f035347bf06599e3c4
--- /dev/null
+++ b/data/UPB_00001855/plys/model.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e923dcdd04b8417041acfb09de2e4f36a7ee7d334b667324c9941e2879d35675
+size 1600243
diff --git a/data/UPB_00001856/annotations/object.json b/data/UPB_00001856/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..f29de90d5d37c8509469147442375d56246e0eec
--- /dev/null
+++ b/data/UPB_00001856/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Low Media Console Cabinet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        160.0,
+        40.0,
+        50.0
+    ],
+    "mass": 28.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001856/annotations/part_1.json b/data/UPB_00001856/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..28f5dc0f6a62347f1ff6727127935177ea30c6a5
--- /dev/null
+++ b/data/UPB_00001856/annotations/part_1.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001856",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Hinged Door Panel",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Rectangular oak door panel with three arched inset panels, approx 40*2*28 cm.",
+        "functional_description": "Covers the left storage compartment, providing visual concealment and dust protection.",
+        "movement_description": "Rotates about a vertical hinge line mounted to the cabinet frame; typical opening angle about 110 degrees.",
+        "grasp_description": "Usually operated via the attached knob; the panel itself is not directly grasped."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.75,
+        "young": 11.0,
+        "hardness": 40,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
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+                1,
+                4
+            ],
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+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001856/annotations/part_2.json b/data/UPB_00001856/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e2628a86df63a0b49bc967229385c2128e495f9
--- /dev/null
+++ b/data/UPB_00001856/annotations/part_2.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001856",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Right Hinged Door Panel",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Rectangular oak door panel with three arched inset panels, approx 40*2*28 cm, positioned on the right bay.",
+        "functional_description": "Covers the right storage compartment.",
+        "movement_description": "Rotates on side hinges relative to the cabinet frame with a soft hinge friction.",
+        "grasp_description": "Operated via the right door knob; the door surface is seldom grasped directly."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.75,
+        "young": 11.0,
+        "hardness": 40,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
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+                5
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+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001856/annotations/part_3.json b/data/UPB_00001856/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..70ee8a2ec7f16fc6b8ae245d2006e3d5ae4cc8e8
--- /dev/null
+++ b/data/UPB_00001856/annotations/part_3.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001856",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Center Shelf Board",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Veneered MDF shelf spanning the central open bay, approx 60*35*1.8 cm.",
+        "functional_description": "Supports media devices or accessories, dividing the central opening into two levels.",
+        "movement_description": "Fixed on supports inside the frame; no intentional motion during normal use.",
+        "grasp_description": "Occasionally handled during assembly or adjustment, not typically grasped in daily use."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Veneered",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                3
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.1834980994462967,
+                    0.02515006810426712
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001856/annotations/part_4.json b/data/UPB_00001856/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..f804c838b8bdf518d46c26b15978e8065236225d
--- /dev/null
+++ b/data/UPB_00001856/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001856",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Left Door Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Small round brass knob, ~3 cm diameter and 2 cm projection.",
+        "functional_description": "Primary handle for opening/closing the left door.",
+        "movement_description": "Rigidly attached to the left door; it follows the door\u2019s rotation.",
+        "grasp_description": "Grasped and pulled by fingers to operate the door."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001856/annotations/part_5.json b/data/UPB_00001856/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..59f0ef7961b4bcbfa3344a8f5e6f95fd1360d6d9
--- /dev/null
+++ b/data/UPB_00001856/annotations/part_5.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001856",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Right Door Knob",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Small round brass knob, ~3 cm diameter and 2 cm projection.",
+        "functional_description": "Primary handle for opening/closing the right door.",
+        "movement_description": "Rigidly fixed to the right door; co-moves with the door motion.",
+        "grasp_description": "Gripped by hand for door operation."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 120,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001856/annotations/part_6.json b/data/UPB_00001856/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..d704129c1bd8383e373ad853b097bc67a6cdb795
--- /dev/null
+++ b/data/UPB_00001856/annotations/part_6.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001856",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Cabinet Frame and Legs",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Main plywood-veneer carcass with top, sides, back, internal partitions, and four legs; approx 160*40*50 cm overall.",
+        "functional_description": "Provides structural support, houses the storage bays and shelf, and transfers loads to the floor through the legs.",
+        "movement_description": "Stationary structure; serves as the parent component for the hinged doors.",
+        "grasp_description": "Touched when moving or cleaning the furniture but not a primary grasp surface."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Veneer",
+        "density": 0.6,
+        "young": 9.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001856/full_model/material.mtl b/data/UPB_00001856/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001856/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
\ No newline at end of file
diff --git a/data/UPB_00001856/full_model/material_0.png b/data/UPB_00001856/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..59bfcec017f7e058cdaf3e58663ea199d3c0988b
--- /dev/null
+++ b/data/UPB_00001856/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d74eb38306d6794898b8b13465f576305f87d6eb7b3626f6f3be4244a8ee7944
+size 834306
diff --git a/data/UPB_00001856/full_model/model.obj b/data/UPB_00001856/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60498cd02118b004263be21a72889ce812dd16a9
--- /dev/null
+++ b/data/UPB_00001856/full_model/model.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c42845d53eaf06d1bbdf654007afc340cd34623e16ed39099f3669836312bc30
+size 66255264
diff --git a/data/UPB_00001856/meta_data.json b/data/UPB_00001856/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..752583d1f1d4b488ccc1cb5528d9a63a171b5431
--- /dev/null
+++ b/data/UPB_00001856/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001856",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Low Media Console Cabinet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 6,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001856/model.urdf b/data/UPB_00001856/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..04c0c895cc5df1e65585649b8aa8cd3741a15aad
--- /dev/null
+++ b/data/UPB_00001856/model.urdf
@@ -0,0 +1,130 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="helper_link_2"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.842137 0.842137 0.842137"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.842137 0.842137 0.842137"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.842137 0.842137 0.842137"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.842137 0.842137 0.842137"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.842137 0.842137 0.842137"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.842137 0.842137 0.842137"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.842137 0.842137 0.842137"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.842137 0.842137 0.842137"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.842137 0.842137 0.842137"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.842137 0.842137 0.842137"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.842137 0.842137 0.842137"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.842137 0.842137 0.842137"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_6"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.776867 -0.159104 0.057551" 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="0.776867 0.159104 -0.057551" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_6"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.781045 -0.155153 0.044828" 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="-0.781045 0.155153 -0.044828" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="base_link"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.000000 -0.154531 0.021180" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2526411978615835" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.000000 0.154531 -0.021180" 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="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001856/parts/1.mtl b/data/UPB_00001856/parts/1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc
--- /dev/null
+++ b/data/UPB_00001856/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
diff --git a/data/UPB_00001856/parts/1.png b/data/UPB_00001856/parts/1.png
new file mode 100644
index 0000000000000000000000000000000000000000..250df4cb7cf130ae2fcef4d37a033c79fdc47add
--- /dev/null
+++ b/data/UPB_00001856/parts/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98747939953817fdc00af73ad9733c55aa83aaea12f1079c5201dc1b337fd0e0
+size 765006
diff --git a/data/UPB_00001856/parts/2.mtl b/data/UPB_00001856/parts/2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..57a1c04a7f3f0f8866abca464506627fead239e6
--- /dev/null
+++ b/data/UPB_00001856/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
diff --git a/data/UPB_00001856/parts/2.png b/data/UPB_00001856/parts/2.png
new file mode 100644
index 0000000000000000000000000000000000000000..250df4cb7cf130ae2fcef4d37a033c79fdc47add
--- /dev/null
+++ b/data/UPB_00001856/parts/2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98747939953817fdc00af73ad9733c55aa83aaea12f1079c5201dc1b337fd0e0
+size 765006
diff --git a/data/UPB_00001856/parts/T_66f8b48f02654b0001db29db_normal.jpg b/data/UPB_00001856/parts/T_66f8b48f02654b0001db29db_normal.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..376d2ed5b106d4ba40113785ecbce631a2630834
--- /dev/null
+++ b/data/UPB_00001856/parts/T_66f8b48f02654b0001db29db_normal.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3547d8f5ca25c846f27be41bfe85644a68854d2571d4e1c9682504278d777e2c
+size 17013
diff --git a/data/UPB_00001856/parts/T_66f8b48f0ec007000163dd00_color.jpg b/data/UPB_00001856/parts/T_66f8b48f0ec007000163dd00_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..68f4dd3a49aa50a3e907ea99f2fc3b015705d618
--- /dev/null
+++ b/data/UPB_00001856/parts/T_66f8b48f0ec007000163dd00_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:181bb753e5f5a8639109fd782537c307ca3fa68bf9f9d3e3246524824b8358a5
+size 221756
diff --git a/data/UPB_00001856/parts/TvCabinet_ZLDCQJZVAIJP4PTUKI888888_9TDNE.mtl b/data/UPB_00001856/parts/TvCabinet_ZLDCQJZVAIJP4PTUKI888888_9TDNE.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..edf6574cd03b09eaec59ee58db2cf5485d307c96
--- /dev/null
+++ b/data/UPB_00001856/parts/TvCabinet_ZLDCQJZVAIJP4PTUKI888888_9TDNE.mtl
@@ -0,0 +1,20 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_66f8b48f0ec007000163dd00
+Kd 1 1 1
+illum 1
+map_Kd ./T_66f8b48f0ec007000163dd00_color.jpg
+
+newmtl MI_66f8b48f0319cb0001892956
+Kd 0.969960988 0.969960988 0.969960988
+Ks 0.100000001 0.100000001 0.100000001
+d 1
+illum 1
+
+newmtl MI_66f8b48f02654b0001db29db
+Kd 0.413448989 0.413448989 0.413448989
+illum 1
+bump ./T_66f8b48f02654b0001db29db_normal.jpg
+map_bump ./T_66f8b48f02654b0001db29db_normal.jpg
+
diff --git a/data/UPB_00001856/parts/part_1.obj b/data/UPB_00001856/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef5300b17dbcfa6cb401f2a78a75bc0a3e34dbc4
--- /dev/null
+++ b/data/UPB_00001856/parts/part_1.obj
@@ -0,0 +1,223004 @@
+# https://github.com/mikedh/trimesh
+mtllib 1.mtl
+usemtl material_0
+v -0.35653710 -0.18462899 0.20248589
+v -0.90986723 -0.18462905 0.20248589
+v -0.90986723 -0.18462902 -0.02233169
+v -0.35653710 -0.18462896 -0.02233169
+v -0.90986723 -0.17462903 -0.02233169
+v -0.90986723 -0.17462906 0.20248589
+v -0.35653710 -0.17462900 0.20248589
+v -0.35653710 -0.17462897 -0.02233169
+v -0.90986723 -0.18462905 0.20248589
+v -0.35653710 -0.18462899 0.20248589
+v -0.35653710 -0.17462900 0.20248589
+v -0.90986723 -0.17462906 0.20248589
+v -0.90986723 -0.18462902 -0.02233169
+v -0.90986723 -0.18462905 0.20248589
+v -0.90986723 -0.17462906 0.20248589
+v -0.90986723 -0.17462903 -0.02233169
+v -0.35653710 -0.18462896 -0.02233169
+v -0.90986723 -0.18462902 -0.02233169
+v -0.90986723 -0.17462903 -0.02233169
+v -0.35653710 -0.17462897 -0.02233169
+v -0.35653710 -0.18462899 0.20248589
+v -0.35653710 -0.18462896 -0.02233169
+v -0.35653710 -0.17462897 -0.02233169
+v -0.35653710 -0.17462900 0.20248589
+v -0.90280837 -0.19241300 0.21022028
+v -0.90319639 -0.19243103 0.20989698
+v -0.90302181 -0.19246745 0.20923615
+v -0.90250880 -0.19243103 0.20995328
+v -0.90379238 -0.19244954 0.20947701
+v -0.90370744 -0.19249275 0.20859650
+v -0.90348709 -0.19252551 0.20771980
+v -0.90263087 -0.19249421 0.20862737
+v -0.90197986 -0.19245082 0.20958155
+v -0.90522909 -0.19246751 0.20884371
+v -0.90529537 -0.19251487 0.20775023
+v -0.90449178 -0.19250900 0.20806563
+v -0.90449101 -0.19246244 0.20909512
+v -0.90549755 -0.19255227 0.20648593
+v -0.90449798 -0.19254538 0.20693254
+v -0.90647727 -0.19261527 0.20238605
+v -0.90341091 -0.19259494 0.20450860
+v -0.90438557 -0.19257453 0.20564061
+v -0.90579939 -0.19258326 0.20494491
+v -0.90169692 -0.19256699 0.20612404
+v -0.90293711 -0.19255009 0.20685515
+v -0.89967787 -0.19248018 0.20885745
+v -0.90109801 -0.19246751 0.20919707
+v -0.90185863 -0.19251487 0.20804995
+v -0.90049314 -0.19252947 0.20756191
+v -0.90767759 -0.19241300 0.20928132
+v -0.90789878 -0.19243103 0.20889538
+v -0.90734094 -0.19246745 0.20838052
+v -0.90722316 -0.19243103 0.20912060
+v -0.90825617 -0.19244954 0.20837888
+v -0.90765846 -0.19249278 0.20767644
+v -0.90702152 -0.19252411 0.20706665
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diff --git a/data/UPB_00001856/parts/part_2.obj b/data/UPB_00001856/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..329707f0864279e8d74cc703644462186a2efe77
--- /dev/null
+++ b/data/UPB_00001856/parts/part_2.obj
@@ -0,0 +1,223004 @@
+# https://github.com/mikedh/trimesh
+mtllib 2.mtl
+usemtl material_0
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diff --git a/data/UPB_00001856/parts/part_6.obj b/data/UPB_00001856/parts/part_6.obj
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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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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00001856/plys/model.ply b/data/UPB_00001856/plys/model.ply
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00001857/annotations/object.json b/data/UPB_00001857/annotations/object.json
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index 0000000000000000000000000000000000000000..36af273ce01c1a4b57c1cf37b6fa65d7ab4b3469
--- /dev/null
+++ b/data/UPB_00001857/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Vintage TV Console Cabinet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        180.0,
+        45.0,
+        55.0
+    ],
+    "mass": 42.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001857/annotations/part_1.json b/data/UPB_00001857/annotations/part_1.json
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index 0000000000000000000000000000000000000000..d654a198e5aea1f5f954d4937478c0eb1e75ec04
--- /dev/null
+++ b/data/UPB_00001857/annotations/part_1.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001857",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Upper center drawer (treated as full drawer)",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Solid oak drawer box with a rectangular front panel, approx. 60*35*15 cm, finished to match the cabinet.",
+        "functional_description": "Provides enclosed storage in the upper center bay.",
+        "movement_description": "Slides in and out along wooden runners relative to the cabinet carcass.",
+        "grasp_description": "Normally pulled via the knob (part 3) rather than grasping the panel edges."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                3
+            ],
+            "B": {
+                "axis": [
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+                    1.0,
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+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001857/annotations/part_2.json b/data/UPB_00001857/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..3df143d4cbc849fb383ea4616c9700e07d90af24
--- /dev/null
+++ b/data/UPB_00001857/annotations/part_2.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001857",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Lower center drawer (treated as full drawer)",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Solid oak drawer box with a rectangular front panel, approx. 60*35*15 cm.",
+        "functional_description": "Provides enclosed storage in the lower center bay.",
+        "movement_description": "Slides on wooden guides relative to the cabinet carcass.",
+        "grasp_description": "Usually actuated by its knob (part 4)."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                4
+            ],
+            "B": {
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+                    0.0,
+                    1.0,
+                    0.0
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+                ],
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+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001857/annotations/part_3.json b/data/UPB_00001857/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a977460647c74cc6a0db50ae54b7b05c10df6b7
--- /dev/null
+++ b/data/UPB_00001857/annotations/part_3.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001857",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Upper drawer knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Round brass pull knob (~3 cm diameter) with a short threaded stem.",
+        "functional_description": "Provides a comfortable handle to pull the upper drawer.",
+        "movement_description": "No motion of its own; rigidly fixed to the drawer front.",
+        "grasp_description": "Grasped with fingers to pull the drawer open or push it closed."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001857/annotations/part_4.json b/data/UPB_00001857/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ee47d0d71b1a1f87894aadbe0b9202b90ad8229
--- /dev/null
+++ b/data/UPB_00001857/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001857",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Lower drawer knob",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Round brass pull knob (~3 cm diameter) matching the upper knob.",
+        "functional_description": "Provides a handle to operate the lower drawer.",
+        "movement_description": "Rigidly attached to the lower drawer; moves only when the drawer moves.",
+        "grasp_description": "Pinched or hooked with fingers for drawer operation."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001857/annotations/part_6.json b/data/UPB_00001857/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3d17219091f2c3da72668dccc288d59a372e9ca
--- /dev/null
+++ b/data/UPB_00001857/annotations/part_6.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001857",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Cabinet carcass (top, sides, base and legs)",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Main wooden body of the console with ornate legs and a central open bay; finished hardwood construction.",
+        "functional_description": "Provides structure, supports loads (TV, decor), and houses drawers and decorative elements.",
+        "movement_description": "Acts as the stationary parent for the sliding drawers; all other parts mount rigidly to it.",
+        "grasp_description": "Touched for cleaning or moving the entire cabinet, but not normally grasped during regular use."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001857/annotations/part_7.json b/data/UPB_00001857/annotations/part_7.json
new file mode 100644
index 0000000000000000000000000000000000000000..d09b6371ee6b48375d580a909b83c8fc3b0f6277
--- /dev/null
+++ b/data/UPB_00001857/annotations/part_7.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001857",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Decorative brass front rail and corner appliqu\u00e9s",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Curved brass trim spanning the lower front edge with ornate end pieces and mounts.",
+        "functional_description": "Primarily decorative; also provides minor protection to the lower front edge.",
+        "movement_description": "No motion; firmly fastened to the wooden carcass.",
+        "grasp_description": "Not intended for grasping; may be lightly touched when cleaning."
+    },
+    "basic_info": {
+        "material": "metal/Brass",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 110,
+        "poisson": 0.34,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001857/full_model/material.mtl b/data/UPB_00001857/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001857/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
\ No newline at end of file
diff --git a/data/UPB_00001857/full_model/material_0.png b/data/UPB_00001857/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..575bf4d61f5b4dcbcfa890456f71aa3fe919a6ab
--- /dev/null
+++ b/data/UPB_00001857/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8366fc98dd8811fd225eb6e26b11b8eb44df10dacb83beeb22cc6c55a5ba5e21
+size 115
diff --git a/data/UPB_00001857/full_model/model.obj b/data/UPB_00001857/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c547ab0695166859602c931a4a67fcd7a187fa1
--- /dev/null
+++ b/data/UPB_00001857/full_model/model.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed0a93aff905b0879ee26601403df0a4f7bda78447483d14113223789219e0dd
+size 43450492
diff --git a/data/UPB_00001857/meta_data.json b/data/UPB_00001857/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfdefc2f323cd8626b640ae0b79375130e3779aa
--- /dev/null
+++ b/data/UPB_00001857/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001857",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Vintage TV Console Cabinet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 6,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001857/model.urdf b/data/UPB_00001857/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..174bf6d19d6884c60a17181a30912331de6b5fad
--- /dev/null
+++ b/data/UPB_00001857/model.urdf
@@ -0,0 +1,122 @@
+<?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="1.042459 1.042459 1.042459"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.042459 1.042459 1.042459"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.042459 1.042459 1.042459"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.042459 1.042459 1.042459"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.042459 1.042459 1.042459"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.042459 1.042459 1.042459"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.042459 1.042459 1.042459"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.042459 1.042459 1.042459"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.042459 1.042459 1.042459"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.042459 1.042459 1.042459"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.042459 1.042459 1.042459"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.042459 1.042459 1.042459"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_6"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.169639 0.189415" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.3127376720544316" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.169639 -0.189415" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_6"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 -0.170583 0.031561" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.3127376720544316" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 0.170583 -0.031561" 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_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001857/parts/6.mtl b/data/UPB_00001857/parts/6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9bdd1db9ee7771e097f5aeb7f5c8894b845287d3
--- /dev/null
+++ b/data/UPB_00001857/parts/6.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 6.png
diff --git a/data/UPB_00001857/parts/6.png b/data/UPB_00001857/parts/6.png
new file mode 100644
index 0000000000000000000000000000000000000000..de6b4842395280a02d17333af90ef1bd96cb0cec
--- /dev/null
+++ b/data/UPB_00001857/parts/6.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1626c89bbcb5225db2ab729ce49d51a980d86badeb123a0a939928da8cee59c0
+size 91
diff --git a/data/UPB_00001857/parts/T_66f80c9d3ed15a0001423c11_color.jpg b/data/UPB_00001857/parts/T_66f80c9d3ed15a0001423c11_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..06967a8dbeac65e7c3de817d365cd44dab311a23
--- /dev/null
+++ b/data/UPB_00001857/parts/T_66f80c9d3ed15a0001423c11_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:408802e2efc10d53effd4297993276bb494fa35486635f84f30080c4d8f422ca
+size 453283
diff --git a/data/UPB_00001857/parts/TvCabinet_ZLDJBHBVAIBCEPTUKU888888_XStEB.mtl b/data/UPB_00001857/parts/TvCabinet_ZLDJBHBVAIBCEPTUKU888888_XStEB.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7a19784f1f472855653539ffe66ffba14f5fd26d
--- /dev/null
+++ b/data/UPB_00001857/parts/TvCabinet_ZLDJBHBVAIBCEPTUKU888888_XStEB.mtl
@@ -0,0 +1,17 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_66f80c9da3b2f00001824154
+Kd 0.570574999 0.532127023 0.437875986
+illum 1
+
+newmtl MI_66f80c9dca5f67000153ad0b
+Kd 0.372099996 0.290360004 0.172629997
+illum 1
+
+newmtl MI_66f80c9d3ed15a0001423c11
+Kd 1 1 1
+Ks 0.100000001 0.100000001 0.100000001
+d 1
+illum 1
+
diff --git a/data/UPB_00001857/parts/part_1.obj b/data/UPB_00001857/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f286070864337df2a0f5512a9a10f8620723e3f
--- /dev/null
+++ b/data/UPB_00001857/parts/part_1.obj
@@ -0,0 +1,1872 @@
+mtllib TvCabinet_ZLDJBHBVAIBCEPTUKU888888_XStEB.mtl
+v 0.239715934 -0.163449287 0.10582763
+v 0.239585429 -0.163253248 0.105667971
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diff --git a/data/UPB_00001857/parts/part_2.obj b/data/UPB_00001857/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d51f26f7330f9014bef956e3cb9ce16da3067a17
--- /dev/null
+++ b/data/UPB_00001857/parts/part_2.obj
@@ -0,0 +1,1866 @@
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