diff --git a/.gitattributes b/.gitattributes
index 6dc4961b7b458921eca09ab3427b83586c0e0217..24407e4c7466be9abbdd6793d83d20da98d323f3 100644
--- a/.gitattributes
+++ b/.gitattributes
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/data/UPB_00001512/annotations/object.json b/data/UPB_00001512/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..5553d60e624db222d2e920eb40747c629dc6b145
--- /dev/null
+++ b/data/UPB_00001512/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Front-Load Washing Machine",
+    "category": "KitchenDining/KitchenDining_Other",
+    "volume": [
+        60.0,
+        60.0,
+        85.0
+    ],
+    "mass": 65.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001512/annotations/part_1.json b/data/UPB_00001512/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..5687bf34fc182d010132d0e06ada5a20658758c1
--- /dev/null
+++ b/data/UPB_00001512/annotations/part_1.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001512",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Front Door (Glass Porthole)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Tempered glass circular door with a plastic/metallic rim, approx. 35 cm diameter and 4 cm thick, for a front-load washer.",
+        "functional_description": "Provides access to the drum, seals the opening with a gasket to prevent leaks, and allows users to view the wash cycle.",
+        "movement_description": "Side-hinged rotation about a vertical axis relative to the cabinet; opens outward with limited damping provided by hinge friction and latch.",
+        "grasp_description": "Users grasp the rim/handle area to open and close; also used to align and latch before starting a cycle."
+    },
+    "basic_info": {
+        "material": "glass/Soda_Lime_Glass_Tempered",
+        "density": 2.5,
+        "young": 70.0,
+        "hardness": 600,
+        "poisson": 0.22,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.2918441593647003,
+                    -0.2644602656364441,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001512/annotations/part_2.json b/data/UPB_00001512/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d99139bdaf97df40a1178dd5d2d21f2ed98fe086
--- /dev/null
+++ b/data/UPB_00001512/annotations/part_2.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001512",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Cabinet and Control Assembly",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Powder-coated steel outer cabinet with front control panel and detergent drawer; forms the main structural body of the washer (approx. 60\u00d760\u00d785 cm).",
+        "functional_description": "Houses and supports internal components (drum, motor, suspension, valves), provides the interface for controls and detergent loading, and anchors the front door and gasket.",
+        "movement_description": "Rigid stationary structure; serves as the parent frame for the hinged door and all internal mechanisms.",
+        "grasp_description": "Users touch the control panel and drawer; edges or sides may be grasped when repositioning the appliance."
+    },
+    "basic_info": {
+        "material": "plastic",
+        "density": 1.0620871407760706,
+        "young": 2.2253158522050236,
+        "hardness": 13.668123427360614,
+        "poisson": 0.3764176930207783,
+        "friction": 0.4458561779896716
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001512/full_model/material.mtl b/data/UPB_00001512/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001512/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_00001512/full_model/material_0.png b/data/UPB_00001512/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ddaf1ea61fd3f710480f04f7ef2f2b53cc73c57
--- /dev/null
+++ b/data/UPB_00001512/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dc105fa879a834fb8375e76f89f40f0c9c0803b354a78e8500185a0cca3bdd2
+size 56188
diff --git a/data/UPB_00001512/full_model/model.obj b/data/UPB_00001512/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81362e9494046da1a58f3315e5ed0683f20e21a6
--- /dev/null
+++ b/data/UPB_00001512/full_model/model.obj
@@ -0,0 +1,160426 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v -0.14290699 -0.27869451 0.21479601
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diff --git a/data/UPB_00001512/meta_data.json b/data/UPB_00001512/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..249ea2624d0eda33ce8105820f89164851825aa7
--- /dev/null
+++ b/data/UPB_00001512/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001512",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenDining_Other",
+        "object_name": "Front-Load Washing Machine"
+    },
+    "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_00001512/model.urdf b/data/UPB_00001512/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..89c0ad8dd2c8ed6603594b5f18642cd3ed8a7ee0
--- /dev/null
+++ b/data/UPB_00001512/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="0.974764 0.974764 0.974764"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.974764 0.974764 0.974764"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.974764 0.974764 0.974764"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.974764 0.974764 0.974764"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_2"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.284479 -0.257786 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="0.284479 0.257786 -0.000000" 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_00001512/parts/1.mtl b/data/UPB_00001512/parts/1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc
--- /dev/null
+++ b/data/UPB_00001512/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_00001512/parts/1.png b/data/UPB_00001512/parts/1.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee6403f6ed7884219ebcde86902a8f2d6283b795
--- /dev/null
+++ b/data/UPB_00001512/parts/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bff8434875739d638a226392fa642fb56aa86e7267c473f8d83a5e66a003158f
+size 97
diff --git a/data/UPB_00001512/parts/T_6527b43e7ae59d0001e1c17a_color.jpg b/data/UPB_00001512/parts/T_6527b43e7ae59d0001e1c17a_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6f7d5dcfefd4ee207bcd8515b352411e206430f2
--- /dev/null
+++ b/data/UPB_00001512/parts/T_6527b43e7ae59d0001e1c17a_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afd0ca4d2a4f52f40feb774165152732766ac984ff23690d15d974ea4f1afe63
+size 14300
diff --git a/data/UPB_00001512/parts/part_1.obj b/data/UPB_00001512/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad0ba035b63cb290c093834cb5229cc5c9c026ac
--- /dev/null
+++ b/data/UPB_00001512/parts/part_1.obj
@@ -0,0 +1,26084 @@
+# https://github.com/mikedh/trimesh
+mtllib 1.mtl
+usemtl material_0
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diff --git a/data/UPB_00001512/parts/part_2.obj b/data/UPB_00001512/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94af74e7e94b4cc98d69511ea90ebb0c18899e92
--- /dev/null
+++ b/data/UPB_00001512/parts/part_2.obj
@@ -0,0 +1,179992 @@
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diff --git a/data/UPB_00001512/parts/washing_machine_ZEMSSYRVAJ3UAPTUKI888888_Z0VWi.mtl b/data/UPB_00001512/parts/washing_machine_ZEMSSYRVAJ3UAPTUKI888888_Z0VWi.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f23683611e9d478c79a5b1d0c4fd03d7f86f339e
--- /dev/null
+++ b/data/UPB_00001512/parts/washing_machine_ZEMSSYRVAJ3UAPTUKI888888_Z0VWi.mtl
@@ -0,0 +1,16 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_6527b43e7ae59d0001e1c17a
+Kd 1 1 1
+illum 1
+map_Kd ./T_6527b43e7ae59d0001e1c17a_color.jpg
+
+newmtl MI_6527b43eb9b35600017e64fa
+Kd 0.0118000004 0.0118000004 0.0118000004
+illum 1
+
+newmtl MI_6527b43ef14b7400016a941b
+Kd 0.709360003 0.709360003 0.709360003
+illum 1
+
diff --git a/data/UPB_00001512/plys/1.ply b/data/UPB_00001512/plys/1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e59edf76d4596f0091e04de5d1f0bdae4d6fb174
--- /dev/null
+++ b/data/UPB_00001512/plys/1.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:391cb0b6aa4629380680194dd2467a0ac0d08d49074b0630509bf32f50eca701
+size 185602
diff --git a/data/UPB_00001512/plys/2.ply b/data/UPB_00001512/plys/2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..67886d18186c4d2cd4c7ca686edb6b0661ae4ba0
--- /dev/null
+++ b/data/UPB_00001512/plys/2.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e85c7094c97db79b401d39d671f790ec6323a9623aa444cb8c50a3da8c23a495
+size 1414866
diff --git a/data/UPB_00001512/plys/model.ply b/data/UPB_00001512/plys/model.ply
new file mode 100644
index 0000000000000000000000000000000000000000..454ec1c40b92c86d53402ebf6395a9225a4e8d02
--- /dev/null
+++ b/data/UPB_00001512/plys/model.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0141f9746cf22954fbe30240e832e18be131e118a0e7c2ecd8ef95de544f8ea8
+size 1600243
diff --git a/data/UPB_00001513/annotations/object.json b/data/UPB_00001513/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..d47ef4c983aad075e798f825d80d9124501a00f8
--- /dev/null
+++ b/data/UPB_00001513/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Front-Load Heat Pump Clothes Dryer",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        60.0,
+        60.0,
+        85.0
+    ],
+    "mass": 55.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001513/annotations/part_1.json b/data/UPB_00001513/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cf817dca7313ef4468bd76ca90c308b6cf10cbd
--- /dev/null
+++ b/data/UPB_00001513/annotations/part_1.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Door outer cover",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "ABS plastic round outer door cover panel with integrated grasp area; large circular geometry at the center of the front.",
+        "functional_description": "Provides the main handleable surface of the door, protects and holds the inner glass.",
+        "movement_description": "Rotates about a left-side hinge axis through Part_5 to open/close the dryer.",
+        "grasp_description": "Users pull this surface to open or push to close the door."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.2688363790512085,
+                    -0.2857467830181122,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001513/annotations/part_11.json b/data/UPB_00001513/annotations/part_11.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ee04dc009049a104676d861af3fff51c76a6970
--- /dev/null
+++ b/data/UPB_00001513/annotations/part_11.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Knob bezel ring",
+        "affordance": 12,
+        "graspable": false,
+        "basic_description": "Decorative circular bezel surrounding the control knob, chrome-look ABS.",
+        "functional_description": "Finishes the knob opening and hides mounting features.",
+        "movement_description": "Fixed to cabinet; knob rotates within it.",
+        "grasp_description": "Not grasped."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_ChromePlated",
+        "density": 1.04,
+        "young": 2.3,
+        "hardness": 12,
+        "poisson": 0.35,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001513/annotations/part_12.json b/data/UPB_00001513/annotations/part_12.json
new file mode 100644
index 0000000000000000000000000000000000000000..70e371696ab4d79721709075f0d21becab582281
--- /dev/null
+++ b/data/UPB_00001513/annotations/part_12.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Front door frame bezel",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Large square ABS bezel with a circular opening that frames the door.",
+        "functional_description": "Defines the doorway, provides sealing surfaces and appearance trim.",
+        "movement_description": "Rigidly attached to the cabinet; stays stationary as the door swings through it.",
+        "grasp_description": "Occasionally touched around the opening, but not a handle."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001513/annotations/part_13.json b/data/UPB_00001513/annotations/part_13.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f979da7e3c46386a9833190e2d5fc11a3a97aaf
--- /dev/null
+++ b/data/UPB_00001513/annotations/part_13.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "13"
+    },
+    "part_level": {
+        "part_name": "Fasteners and anchors set",
+        "affordance": 14,
+        "graspable": false,
+        "basic_description": "Assorted small steel screws/studs and mounting bosses on the fascia and corners.",
+        "functional_description": "Provide mechanical attachment for the hinge, panels and trim pieces.",
+        "movement_description": "No motion; create rigid joints.",
+        "grasp_description": "Service-only interaction with tools."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Generic",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 140,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001513/annotations/part_15.json b/data/UPB_00001513/annotations/part_15.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f17b57c38a03cbdca0ba9ed430bd8913e4b6d4e
--- /dev/null
+++ b/data/UPB_00001513/annotations/part_15.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "15"
+    },
+    "part_level": {
+        "part_name": "Status indicator LED lens",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Small blue-tinted polycarbonate lens dot on the fascia.",
+        "functional_description": "Displays operating status or power with a blue light.",
+        "movement_description": "No motion; fixed in place over an LED.",
+        "grasp_description": "Only tapped lightly if present as a touch indicator; generally not grasped."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001513/annotations/part_16.json b/data/UPB_00001513/annotations/part_16.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9281810ec78a2c9d4ea69892ca00e4bcc073151
--- /dev/null
+++ b/data/UPB_00001513/annotations/part_16.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "16"
+    },
+    "part_level": {
+        "part_name": "Rotating drum front plate",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Circular stainless-steel plate forming the front of the rotating drum with small vent holes.",
+        "functional_description": "Rotates with the drum to tumble clothing and promote air circulation.",
+        "movement_description": "Driven by the motor to rotate continuously about a horizontal axis relative to the cabinet.",
+        "grasp_description": "Never grasped directly; only seen through the door."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 190.0,
+        "hardness": 180,
+        "poisson": 0.3,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001513/annotations/part_17.json b/data/UPB_00001513/annotations/part_17.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1ebab4e13543a02c400be82176df2976e42246a
--- /dev/null
+++ b/data/UPB_00001513/annotations/part_17.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "17"
+    },
+    "part_level": {
+        "part_name": "Rubber pads and trim set",
+        "affordance": 11,
+        "graspable": false,
+        "basic_description": "A set of small black rubber details including anti-vibration feet/grommets and a thin slot trim piece.",
+        "functional_description": "Provide damping, sealing and traction at cabinet corners and openings.",
+        "movement_description": "No motion relative to the cabinet; elastically deforms to absorb vibration.",
+        "grasp_description": "Not grasped; contacted by the floor or used as seals."
+    },
+    "basic_info": {
+        "material": "rubber/Nitrile_Rubber",
+        "density": 1.1,
+        "young": 0.01,
+        "hardness": 5,
+        "poisson": 0.49,
+        "friction": 0.8
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001513/annotations/part_2.json b/data/UPB_00001513/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..31de3b2b7ee64aec2b7a6b963a546cab4eef9904
--- /dev/null
+++ b/data/UPB_00001513/annotations/part_2.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Control knob",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Small cylindrical ABS rotary knob on the control fascia.",
+        "functional_description": "Allows the user to select programs or settings.",
+        "movement_description": "Rotates about an axis normal to the front panel with detents.",
+        "grasp_description": "Pinched and turned by fingertips."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 12,
+        "poisson": 0.35,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.9876883405747593,
+                    -0.1564344651688957
+                ],
+                "pos": [
+                    0.0,
+                    -0.24905650317668915,
+                    0.37213295698165894
+                ],
+                "range": [
+                    0.0,
+                    6.283185307179586
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001513/annotations/part_3.json b/data/UPB_00001513/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..2634b666028b6c46a48f7f0ee150a2d33a05724b
--- /dev/null
+++ b/data/UPB_00001513/annotations/part_3.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Control display module (lens)",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Rectangular polycarbonate window with printed icons covering the electronic display area.",
+        "functional_description": "Protects the electronics and presents cycle information and touch areas.",
+        "movement_description": "No motion; fixed to the cabinet front.",
+        "grasp_description": "Typically touched lightly for capacitive buttons but not grasped."
+    },
+    "basic_info": {
+        "material": "plastic/Polycarbonate_PC",
+        "density": 1.2,
+        "young": 2.4,
+        "hardness": 15,
+        "poisson": 0.37,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001513/annotations/part_4.json b/data/UPB_00001513/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..37d9072139789d1ec4cd728f0e9e788180020951
--- /dev/null
+++ b/data/UPB_00001513/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Warranty badge/decal",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Thin PVC printed sticker applied to the front panel.",
+        "functional_description": "Provides marketing and warranty information.",
+        "movement_description": "No movement; adhered to the cabinet.",
+        "grasp_description": "Not intended to be handled."
+    },
+    "basic_info": {
+        "material": "plastic/PVC_Film",
+        "density": 1.35,
+        "young": 2.9,
+        "hardness": 5,
+        "poisson": 0.38,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001513/annotations/part_5.json b/data/UPB_00001513/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9668a4f4ad46ebb2538dac22728ad3665cbe880
--- /dev/null
+++ b/data/UPB_00001513/annotations/part_5.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Door hinge set",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "A set of stainless-steel hinge brackets/arms mounted on the cabinet\u2019s left side.",
+        "functional_description": "Provides the pivot for the door and transfers loads to the cabinet.",
+        "movement_description": "Acts as the rotational joint for the door, typically with limited stop angle.",
+        "grasp_description": "Never grasped; concealed by the door and frame."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 190.0,
+        "hardness": 200,
+        "poisson": 0.3,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001513/annotations/part_6.json b/data/UPB_00001513/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..01e47fbef178944377418e092e322ef0aa577510
--- /dev/null
+++ b/data/UPB_00001513/annotations/part_6.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Door window glass",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Thick, slightly domed circular tempered-glass window set into the door.",
+        "functional_description": "Allows users to view the drum while providing a heat-resistant seal.",
+        "movement_description": "Moves with the door as a rigid assembly.",
+        "grasp_description": "Occasionally touched but not intended for gripping."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Sheet_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 120,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001513/annotations/part_7.json b/data/UPB_00001513/annotations/part_7.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fbbea8690f0dc781dab632c8e58d00fde545f06
--- /dev/null
+++ b/data/UPB_00001513/annotations/part_7.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Brand logo emblem",
+        "affordance": 11,
+        "graspable": false,
+        "basic_description": "Small anodized aluminum logo attached to the front corner.",
+        "functional_description": "Brand identification only.",
+        "movement_description": "Fixed to the cabinet.",
+        "grasp_description": "Not interacted with."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001513/annotations/part_8.json b/data/UPB_00001513/annotations/part_8.json
new file mode 100644
index 0000000000000000000000000000000000000000..365815cbf7ed7799c918926a5450c011429fcb9b
--- /dev/null
+++ b/data/UPB_00001513/annotations/part_8.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Outer cabinet/shell",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Powder-coated steel housing consisting of top, sides, and structural front opening.",
+        "functional_description": "Provides structural support, mounting interfaces for all modules, and enclosure for safety and noise control.",
+        "movement_description": "Stationary reference frame for all other parts; hosts sliding/rotary joints for drawer, drum, and knob.",
+        "grasp_description": "Only touched during moving/cleaning; not a primary grasp surface."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Sheet_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 120,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001513/annotations/part_9.json b/data/UPB_00001513/annotations/part_9.json
new file mode 100644
index 0000000000000000000000000000000000000000..29d2b02d0c6e6d984e663f5e05acb3c5eb07ed85
--- /dev/null
+++ b/data/UPB_00001513/annotations/part_9.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001513",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Detergent/lint drawer front",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Rectangular ABS front piece of the pull-out drawer at the top-left of the fascia.",
+        "functional_description": "Provides a handle to access the internal drawer (detergent/lint filter depending on model).",
+        "movement_description": "Slides linearly in and out along guides relative to the cabinet.",
+        "grasp_description": "Pulled by hand to open and pushed to close."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001513/full_model/material.mtl b/data/UPB_00001513/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001513/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_00001513/full_model/material_0.png b/data/UPB_00001513/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..46b5576242c5f4b154f9ee10efe4efe1941b8c35
--- /dev/null
+++ b/data/UPB_00001513/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d7eb176709616bd4e0643198eca1d285936a6457fa883766c3480c0ec71decf
+size 644745
diff --git a/data/UPB_00001513/full_model/model.obj b/data/UPB_00001513/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..816972ec48a37b3382c62f0000d1d6c0bfe7ef88
--- /dev/null
+++ b/data/UPB_00001513/full_model/model.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecb4572c36ce4b0db37c23e393c4168134c4a5d6e1a047325a41d5daee7e87de
+size 10930155
diff --git a/data/UPB_00001513/meta_data.json b/data/UPB_00001513/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b6395cebba3f50930988dcc8a8a70850afcf686
--- /dev/null
+++ b/data/UPB_00001513/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001513",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Front-Load Heat Pump Clothes Dryer"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 15,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001513/model.urdf b/data/UPB_00001513/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c4498245360f8b27c40d0330b1f91c9596868be9
--- /dev/null
+++ b/data/UPB_00001513/model.urdf
@@ -0,0 +1,274 @@
+<?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="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_15">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_16">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_17">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="0.989597 0.989597 0.989597"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_5"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.266040 -0.282774 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="0.266040 0.282774 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="continuous">
+    <parent link="link_8"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 -0.246465 0.368262" rpy="0 0 0"/>
+    <axis xyz="0.0 0.9876883405747593 -0.1564344651688957"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 0.246465 -0.368262" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <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>
+  <joint name="joint_12" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_12"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_13"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_15"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_16"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_16" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_17"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001513/parts/1.mtl b/data/UPB_00001513/parts/1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc
--- /dev/null
+++ b/data/UPB_00001513/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_00001513/parts/1.png b/data/UPB_00001513/parts/1.png
new file mode 100644
index 0000000000000000000000000000000000000000..27ebe469b044d78403d07353148447cb98369bf0
--- /dev/null
+++ b/data/UPB_00001513/parts/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40e15c71ccbbb2f584455139b25dca95de95f49d1871e3927374d807307ed073
+size 75882
diff --git a/data/UPB_00001513/parts/16.mtl b/data/UPB_00001513/parts/16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..614c7fd4754269bc9379ae79956c30a8ac93d762
--- /dev/null
+++ b/data/UPB_00001513/parts/16.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 16.png
diff --git a/data/UPB_00001513/parts/16.png b/data/UPB_00001513/parts/16.png
new file mode 100644
index 0000000000000000000000000000000000000000..005ce30c4cdb94af5bb90f0e0a0cd79268048695
--- /dev/null
+++ b/data/UPB_00001513/parts/16.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:150117b8623bc1bf93eca91b66c8509e6a0e1665489a598cab32b497fb119fd3
+size 91
diff --git a/data/UPB_00001513/parts/2.mtl b/data/UPB_00001513/parts/2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..57a1c04a7f3f0f8866abca464506627fead239e6
--- /dev/null
+++ b/data/UPB_00001513/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_00001513/parts/2.png b/data/UPB_00001513/parts/2.png
new file mode 100644
index 0000000000000000000000000000000000000000..9da7016d93ff41573f958a456ace8b0ec3b63098
--- /dev/null
+++ b/data/UPB_00001513/parts/2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dff3192a76526d8eb7dff58185d73adf3dca7619a33e0b64f91325e679e71559
+size 90
diff --git a/data/UPB_00001513/parts/7.mtl b/data/UPB_00001513/parts/7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dff8f6f0b5634871fcba48e53c20d8bd728090f2
--- /dev/null
+++ b/data/UPB_00001513/parts/7.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 7.png
diff --git a/data/UPB_00001513/parts/7.png b/data/UPB_00001513/parts/7.png
new file mode 100644
index 0000000000000000000000000000000000000000..24c3f7e1937c936ded3fa45757a70c179bff35b9
--- /dev/null
+++ b/data/UPB_00001513/parts/7.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31807961e6919fedf619b6a5a230904f5ddfc922afd0f2d4cf41deda24b525eb
+size 97
diff --git a/data/UPB_00001513/parts/T_662f60a707925a0001f98f77_color.jpg b/data/UPB_00001513/parts/T_662f60a707925a0001f98f77_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..cfa124cc94bfd29d3d94eefdc1eb837178ecbb85
--- /dev/null
+++ b/data/UPB_00001513/parts/T_662f60a707925a0001f98f77_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7af31959b595fc350dcdc49a156c218b33ec2cfe5770e6f272134a23f8e127ac
+size 69577
diff --git a/data/UPB_00001513/parts/T_662f60a719035e000145d33a_color.jpg b/data/UPB_00001513/parts/T_662f60a719035e000145d33a_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..37447675afe0a38c62da52952aa13ece16084d4e
--- /dev/null
+++ b/data/UPB_00001513/parts/T_662f60a719035e000145d33a_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6c3268b1a3e62d4949e0099a6ae1e0caca3a43b50b198eaadedd5afba57f356
+size 87562
diff --git a/data/UPB_00001513/parts/T_662f60a719035e000145d33a_metallic.jpg b/data/UPB_00001513/parts/T_662f60a719035e000145d33a_metallic.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5575a302fea4782bcf6e6c63bafc26f29645975d
--- /dev/null
+++ b/data/UPB_00001513/parts/T_662f60a719035e000145d33a_metallic.jpg
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00001513/parts/part_11.obj b/data/UPB_00001513/parts/part_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d25cfd27c024593d4093343e5bf8508aea5530a
--- /dev/null
+++ b/data/UPB_00001513/parts/part_11.obj
@@ -0,0 +1,9091 @@
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diff --git a/data/UPB_00001513/parts/part_12.obj b/data/UPB_00001513/parts/part_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60dbf3db4aa802fe9cba210833e17f3c3f0558b2
--- /dev/null
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