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diff --git a/data/UPB_00001406/parts/part_14.obj b/data/UPB_00001406/parts/part_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5067a524ae4b466e52f1bb55f09da5a5b30fadd8
--- /dev/null
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diff --git a/data/UPB_00001406/parts/part_15.obj b/data/UPB_00001406/parts/part_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6581d139e271419aadacd3df28119aef14960355
--- /dev/null
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diff --git a/data/UPB_00001406/parts/part_2.obj b/data/UPB_00001406/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cac0e154350b32b1ba5a08f6595608012eed8355
--- /dev/null
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index 0000000000000000000000000000000000000000..f703cce9364e87861db56e319ab5ba40c1a6cd95
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diff --git a/data/UPB_00001406/parts/part_8.obj b/data/UPB_00001406/parts/part_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2b3cd19f5120188fceab81ce870fcb4ffe29c60
--- /dev/null
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diff --git a/data/UPB_00001406/parts/part_9.obj b/data/UPB_00001406/parts/part_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01a57ed506605bac37fb73027efe7614d84acb67
--- /dev/null
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diff --git a/data/UPB_00001406/parts/wardrobe_YVIPACZVALSEGPTUJU888888_ZXHKV.mtl b/data/UPB_00001406/parts/wardrobe_YVIPACZVALSEGPTUJU888888_ZXHKV.mtl
new file mode 100644
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--- /dev/null
+++ b/data/UPB_00001406/parts/wardrobe_YVIPACZVALSEGPTUJU888888_ZXHKV.mtl
@@ -0,0 +1,22 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_696e75ad2f71860666d70562
+Kd 1 1 1
+illum 1
+map_Kd ./T_696e75ad2f71860666d70562_color.jpg
+bump ./T_696e75ad2f71860666d70562_normal.jpg
+map_bump ./T_696e75ad2f71860666d70562_normal.jpg
+
+newmtl MI_696e75ad29b3bf203c652127
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+illum 1
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+newmtl MI_696e75ad2c9c1c6b9214b0b6
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+illum 1
+
+newmtl MI_696e75ad92e71a7b73aa4b30
+Kd 0.32529971 0.349582195 0.294129789
+illum 1
+
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00001406/plys/model.ply b/data/UPB_00001406/plys/model.ply
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diff --git a/data/UPB_00001407/annotations/object.json b/data/UPB_00001407/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..46cc13c237cbe4f0e5bad1c64ac96f358f049cfc
--- /dev/null
+++ b/data/UPB_00001407/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Six-door Wardrobe with Drawers",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        240.0,
+        60.0,
+        220.0
+    ],
+    "mass": 180.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001407/annotations/part_1.json b/data/UPB_00001407/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..32c11e790086b71c82fecc8c660b5dff0196cc41
--- /dev/null
+++ b/data/UPB_00001407/annotations/part_1.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001407",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Top Drawer Box",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Painted MDF drawer box about 80x45x15 cm for the upper drawer in the center module.",
+        "functional_description": "Stores folded clothes or accessories; carries moderate loads using slides fixed to the carcass.",
+        "movement_description": "Translates in and out on side slides relative to the carcass with limited travel (~45 cm).",
+        "grasp_description": "Usually pulled by its metal handle; can also be pushed on the front panel to close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.31,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                15
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    0.0,
+                    0.0
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001407/annotations/part_10.json b/data/UPB_00001407/annotations/part_10.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e82533194b8a9f57d50cf032d2252341dfb8e0d
--- /dev/null
+++ b/data/UPB_00001407/annotations/part_10.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001407",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Handle - Left Inner Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Black stainless pull handle sized ~13 cm for the adjacent inner door.",
+        "functional_description": "Primary touchpoint for operating the left inner door.",
+        "movement_description": "Rigidly attached with two fasteners.",
+        "grasp_description": "Pulled with a light force to overcome hinge and latch resistance."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "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_00001407/annotations/part_11.json b/data/UPB_00001407/annotations/part_11.json
new file mode 100644
index 0000000000000000000000000000000000000000..28770d877fb2bb0e2e214416af426af6a9d72a1b
--- /dev/null
+++ b/data/UPB_00001407/annotations/part_11.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001407",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Handle - Right Narrow Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Compact stainless steel door handle, powder-coated black.",
+        "functional_description": "Allows opening of the slim right-hand compartment door.",
+        "movement_description": "No motion of its own; rigidly fixed to the door.",
+        "grasp_description": "Pinched by fingers to pull and swing the door."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "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_00001407/annotations/part_12.json b/data/UPB_00001407/annotations/part_12.json
new file mode 100644
index 0000000000000000000000000000000000000000..17157881ce98624170f239886e37f9b18c58bcb0
--- /dev/null
+++ b/data/UPB_00001407/annotations/part_12.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001407",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Handle - Left Glass Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Slim stainless pull for the left glass door.",
+        "functional_description": "Dedicated grasp point located on the wooden frame of the glass door.",
+        "movement_description": "Rigidly attached; no relative motion to the door.",
+        "grasp_description": "Pulled gently to avoid loading the glass panes."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "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_00001407/annotations/part_13.json b/data/UPB_00001407/annotations/part_13.json
new file mode 100644
index 0000000000000000000000000000000000000000..db2efe74c9e42763647efcf476059839d56f03b7
--- /dev/null
+++ b/data/UPB_00001407/annotations/part_13.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001407",
+        "label": "13"
+    },
+    "part_level": {
+        "part_name": "Handle - Right Glass Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Stainless steel handle for the right glass door.",
+        "functional_description": "Used to swing the right glass door open.",
+        "movement_description": "Fixed to the door frame with screws.",
+        "grasp_description": "User grips and pulls to operate the hinge."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "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_00001407/annotations/part_14.json b/data/UPB_00001407/annotations/part_14.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbd357732c48bba7ec7eaca763c804cfa14cdbe4
--- /dev/null
+++ b/data/UPB_00001407/annotations/part_14.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001407",
+        "label": "14"
+    },
+    "part_level": {
+        "part_name": "Auxiliary Handle - Left Inner Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Secondary stainless handle mounted on the same bay as the left inner door for symmetric grip.",
+        "functional_description": "Provides alternative grasp position (useful for tall doors or different user heights).",
+        "movement_description": "Rigidly fixed; co-moves with the door.",
+        "grasp_description": "Gripped similarly to the main handle to pull the door."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "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_00001407/annotations/part_15.json b/data/UPB_00001407/annotations/part_15.json
new file mode 100644
index 0000000000000000000000000000000000000000..edc0192605b4a4d0289225d31c58bb4337d678c6
--- /dev/null
+++ b/data/UPB_00001407/annotations/part_15.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001407",
+        "label": "15"
+    },
+    "part_level": {
+        "part_name": "Handle - Top Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Curved stainless-steel drawer pull (~14 cm wide) with black finish.",
+        "functional_description": "Transfers user pull force to the drawer slides to open the drawer.",
+        "movement_description": "Rigidly attached to the drawer face.",
+        "grasp_description": "Finger grip from above or below to pull the drawer outward."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "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_00001407/annotations/part_16.json b/data/UPB_00001407/annotations/part_16.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0a610e6f713a9c6123ea78c341da3382d116c0e
--- /dev/null
+++ b/data/UPB_00001407/annotations/part_16.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001407",
+        "label": "16"
+    },
+    "part_level": {
+        "part_name": "Handle - Middle Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Metallic curved pull handle for the middle drawer.",
+        "functional_description": "Hand interface to open and close the middle drawer.",
+        "movement_description": "No movement relative to the drawer.",
+        "grasp_description": "Pulled by fingers to actuate sliding motion."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "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_00001407/annotations/part_17.json b/data/UPB_00001407/annotations/part_17.json
new file mode 100644
index 0000000000000000000000000000000000000000..351913c8f97bb947e421899642ececebc42d4aa1
--- /dev/null
+++ b/data/UPB_00001407/annotations/part_17.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001407",
+        "label": "17"
+    },
+    "part_level": {
+        "part_name": "Handle - Bottom Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Stainless drawer pull for the lowest drawer; slightly arched for finger clearance.",
+        "functional_description": "Primary pulling point for the largest drawer which may hold heavier items.",
+        "movement_description": "Rigidly attached to the drawer face with two screws.",
+        "grasp_description": "Grasped from above; user applies higher force due to heavier contents."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "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_00001407/annotations/part_18.json b/data/UPB_00001407/annotations/part_18.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3fcec524d8e01a4a8f2d765ee942d48df2551c8
--- /dev/null
+++ b/data/UPB_00001407/annotations/part_18.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001407",
+        "label": "18"
+    },
+    "part_level": {
+        "part_name": "Wardrobe Carcass and Shelving",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Main particle-board laminated frame with vertical dividers, shelves, and mounting points for hinges and drawer slides; overall spans the full wardrobe volume.",
+        "functional_description": "Provides structural support, alignment, and mounting for doors, drawers, shelves, and hardware; bears most of the load.",
+        "movement_description": "Stationary reference structure. Doors rotate from it via hinges; drawers translate via slides fixed to it.",
+        "grasp_description": "Not typically grasped directly; touched only when cleaning or assembling."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminated",
+        "density": 0.65,
+        "young": 2.5,
+        "hardness": 15,
+        "poisson": 0.32,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001407/annotations/part_2.json b/data/UPB_00001407/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4e1ebb92ab6ef03e12831f279face637fb66c6a
--- /dev/null
+++ b/data/UPB_00001407/annotations/part_2.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001407",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Middle Drawer Box",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Painted MDF drawer box about 80x45x15 cm for the middle drawer.",
+        "functional_description": "General storage; supported by telescopic slides fixed to the carcass.",
+        "movement_description": "Slides linearly relative to the carcass; motion is damped near end of travel.",
+        "grasp_description": "Pulled by the attached handle to open; pushed to close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.31,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                16
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    0.0,
+                    -0.7497134208679199
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001407/annotations/part_3.json b/data/UPB_00001407/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8319cc5fbbf1b5786eed42c1063074d4d20a834
--- /dev/null
+++ b/data/UPB_00001407/annotations/part_3.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001407",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Bottom Drawer Box",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Painted MDF drawer box about 80x45x18 cm for the lowest drawer, slightly taller for bulky items.",
+        "functional_description": "Holds heavier items; slides on rails anchored to the carcass.",
+        "movement_description": "Linear translation with slightly higher damping due to weight.",
+        "grasp_description": "Pulled via the handle; sometimes lifted slightly when fully open to access contents."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.31,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                17
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    0.0,
+                    -1.021785855293274
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001407/annotations/part_4.json b/data/UPB_00001407/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..56403e61dae4813e81aa081fa4099ebe09504a97
--- /dev/null
+++ b/data/UPB_00001407/annotations/part_4.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001407",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Left Solid Door",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Full-height painted MDF hinged door (~45x200 cm) on the far left bay.",
+        "functional_description": "Covers and protects the left storage compartment; blocks dust and light.",
+        "movement_description": "Rotates about a vertical hinge axis fixed to the carcass; stops against the frame when closed.",
+        "grasp_description": "User grasps the handle and swings the door outward to access the interior."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.31,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                9
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -1.054038405418396,
+                    -0.20119668543338776,
+                    0.1758280098438263
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001407/annotations/part_5.json b/data/UPB_00001407/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..07c152e96f3951eafcd426a1427ecff0bf610646
--- /dev/null
+++ b/data/UPB_00001407/annotations/part_5.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001407",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Left Inner Solid Door",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Full-height painted MDF door (~45x200 cm) adjacent to the leftmost door.",
+        "functional_description": "Covers a central wardrobe bay; often used for hanging clothes.",
+        "movement_description": "Swings on side hinges attached to the carcass; soft-close hardware may slow the last few degrees.",
+        "grasp_description": "Pulled by the attached handle(s) to open; pushed to close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.31,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                5,
+                10
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    -0.3812107443809509,
+                    -0.18727748095989227,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001407/annotations/part_6.json b/data/UPB_00001407/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..01bce1b2ca5b6b8e5ea289a990af7b5dde95c35c
--- /dev/null
+++ b/data/UPB_00001407/annotations/part_6.json
@@ -0,0 +1,53 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001407",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Right Narrow Solid Door",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Tall, narrower painted MDF door (~35x200 cm) adjacent to the open-shelf column.",
+        "functional_description": "Closes a slim compartment for folded items or accessories.",
+        "movement_description": "Rotates about a vertical hinge line fixed to the carcass.",
+        "grasp_description": "User pulls the small handle to swing the door open."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.31,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                6,
+                11,
+                12
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    1.0551512241363525,
+                    -0.2049431949853897,
+                    0.249459370970726
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001407/annotations/part_7.json b/data/UPB_00001407/annotations/part_7.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4d8fb9f45afb12f6e1eab1f9f1362a2162bfe32
--- /dev/null
+++ b/data/UPB_00001407/annotations/part_7.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001407",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Left Glass Door",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Framed glass-panel door (~40x200 cm) with mullions; wooden frame with inserted glass panes.",
+        "functional_description": "Provides visibility into the compartment while keeping dust out.",
+        "movement_description": "Swings on hinges mounted to the carcass, with limited rotation for clearance.",
+        "grasp_description": "Pulled by its handle; users avoid pushing directly on the glass."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.31,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                7,
+                13
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.3868659436702728,
+                    -0.19959519803524017,
+                    0.4678948223590851
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001407/annotations/part_8.json b/data/UPB_00001407/annotations/part_8.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e7cf2a038a753d965fbf22ea06f98f011b5d6ae
--- /dev/null
+++ b/data/UPB_00001407/annotations/part_8.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001407",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Right Glass Door",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Framed glass-panel door (~40x200 cm) mirroring the left glass door.",
+        "functional_description": "Displays contents and protects them from dust.",
+        "movement_description": "Hinged rotation about a vertical axis fixed to the carcass.",
+        "grasp_description": "Pulled by the handle mounted on the wooden frame."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.31,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                8,
+                14
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.3675195276737213,
+                    -0.1919305920600891,
+                    0.23662695288658142
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001407/annotations/part_9.json b/data/UPB_00001407/annotations/part_9.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dc4b1c1846087abc60bc15d1343944a55a18db6
--- /dev/null
+++ b/data/UPB_00001407/annotations/part_9.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001407",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Handle - Left Solid Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Curved stainless-steel pull handle, powder-coated black; about 13 cm long.",
+        "functional_description": "Provides a robust grasp point to open/close the left door.",
+        "movement_description": "Rigidly fixed to the wooden door with screws.",
+        "grasp_description": "Gripped by fingers to pull the door outward."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "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_00001407/full_model/material.mtl b/data/UPB_00001407/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001407/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_00001407/full_model/material_0.png b/data/UPB_00001407/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e01f1d5389d2663a592db86499a852dd8fb5c79c
--- /dev/null
+++ b/data/UPB_00001407/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca25ade35c45793dc4aa2e290ed3dd208970edc3742aa0c05f6fd7470b3523cb
+size 116
diff --git a/data/UPB_00001407/full_model/model.obj b/data/UPB_00001407/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bba087c55a2becfc7f0fa06661a3d1774359868b
--- /dev/null
+++ b/data/UPB_00001407/full_model/model.obj
@@ -0,0 +1,193214 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.33217111 0.15079662 -0.42852923
+v -0.32936600 0.15079662 -0.54452926
+v 0.33217111 0.15079662 -0.54452926
+v -0.32936600 0.15079662 -0.42852923
+v -0.33136597 0.14879662 -0.54452926
+v -0.33136597 -0.16720337 -0.42852923
+v -0.33136597 -0.16720337 -0.54452926
+v -0.33136597 0.14879662 -0.42852923
+v -0.32936600 -0.16920337 -0.42852923
+v 0.33217111 -0.16920337 -0.54452926
+v -0.32936600 -0.16920337 -0.54452926
+v 0.33217111 -0.16920337 -0.42852923
+v 0.34917104 0.16379663 -0.56112760
+v 0.34917104 -0.18220338 -0.42852923
+v 0.34917104 -0.18220338 -0.56112760
+v 0.34917104 0.16379663 -0.42852923
+v -0.34436598 0.16579661 -0.42852923
+v 0.34717113 0.16579661 -0.56112760
+v -0.34436598 0.16579661 -0.56112760
+v 0.34717113 0.16579661 -0.42852923
+v 0.34717113 0.16379663 -0.56312758
+v -0.34436598 -0.18220338 -0.56312758
+v -0.34436598 0.16379663 -0.56312758
+v 0.34717113 -0.18220338 -0.56312758
+v -0.34436598 -0.18220338 -0.42652923
+v -0.33336598 -0.16720337 -0.42652923
+v -0.34436598 0.16379663 -0.42652923
+v -0.33322969 -0.16823867 -0.42652923
+v -0.33283010 -0.16920337 -0.42652923
+v -0.33219442 -0.17003182 -0.42652923
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+
diff --git a/data/UPB_00001407/meta_data.json b/data/UPB_00001407/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..a493a6f619a0548e98f8fe3dcba41f0ee523f349
--- /dev/null
+++ b/data/UPB_00001407/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001407",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Six-door Wardrobe with Drawers"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 18,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001407/model.urdf b/data/UPB_00001407/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a1bec869bff2b7c30f2a0f026048baa987359dad
--- /dev/null
+++ b/data/UPB_00001407/model.urdf
@@ -0,0 +1,374 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="helper_link_2"/>
+  <link name="helper_link_3"/>
+  <link name="helper_link_4"/>
+  <link name="helper_link_5"/>
+  <link name="helper_link_6"/>
+  <link name="helper_link_7"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_14">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_15">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_16">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_17">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_18">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_18.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_18.obj" scale="1.115774 1.115774 1.115774"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_18"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 0.000000 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.3347321239385758" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 -0.000000 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_18"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 0.000000 -0.836511" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.3347321239385758" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 -0.000000 0.836511" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_18"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.000000 0.000000 -1.140082" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.3347321239385758" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.000000 -0.000000 1.140082" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="revolute">
+    <parent link="link_18"/>
+    <child link="helper_link_3"/>
+    <origin xyz="-1.176068 -0.224490 0.196184" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="1.176068 0.224490 -0.196184" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="revolute">
+    <parent link="link_18"/>
+    <child link="helper_link_4"/>
+    <origin xyz="-0.425345 -0.208959 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_5"/>
+    <origin xyz="0.425345 0.208959 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="revolute">
+    <parent link="link_18"/>
+    <child link="helper_link_5"/>
+    <origin xyz="1.177310 -0.228670 0.278340" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="helper_link_5"/>
+    <child link="link_6"/>
+    <origin xyz="-1.177310 0.228670 -0.278340" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="revolute">
+    <parent link="link_18"/>
+    <child link="helper_link_6"/>
+    <origin xyz="-0.431655 -0.222703 0.522065" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="helper_link_6"/>
+    <child link="link_7"/>
+    <origin xyz="0.431655 0.222703 -0.522065" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="revolute">
+    <parent link="link_18"/>
+    <child link="helper_link_7"/>
+    <origin xyz="0.410069 -0.214151 0.264022" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="helper_link_7"/>
+    <child link="link_8"/>
+    <origin xyz="-0.410069 0.214151 -0.264022" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_16" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_17" type="fixed">
+    <parent link="link_5"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_18" type="fixed">
+    <parent link="link_6"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_19" type="fixed">
+    <parent link="link_6"/>
+    <child link="link_12"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_20" type="fixed">
+    <parent link="link_7"/>
+    <child link="link_13"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_21" type="fixed">
+    <parent link="link_8"/>
+    <child link="link_14"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_22" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_15"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_23" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_16"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_24" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_17"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_25" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_18"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001407/parts/7.mtl b/data/UPB_00001407/parts/7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dff8f6f0b5634871fcba48e53c20d8bd728090f2
--- /dev/null
+++ b/data/UPB_00001407/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_00001407/parts/7.png b/data/UPB_00001407/parts/7.png
new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..795119715e520d0f1d54181abe9e28b61d835e0e
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diff --git a/data/UPB_00001407/parts/part_11.obj b/data/UPB_00001407/parts/part_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0376f44c72225185d455e1e1223005b1b077aab2
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diff --git a/data/UPB_00001407/parts/part_12.obj b/data/UPB_00001407/parts/part_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11ea4f27e4933bd3757dad38622fb52e9d564896
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..ac59eba8593480d90a36d18c7306f027670f3762
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diff --git a/data/UPB_00001407/parts/part_14.obj b/data/UPB_00001407/parts/part_14.obj
new file mode 100644
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diff --git a/data/UPB_00001407/parts/part_16.obj b/data/UPB_00001407/parts/part_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06c5227ac5e45d304792588b44a7afc4c02128be
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diff --git a/data/UPB_00001407/parts/part_17.obj b/data/UPB_00001407/parts/part_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a656f30c0f30721efbb1d4179843e1d5e69efdc5
--- /dev/null
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diff --git a/data/UPB_00001407/parts/part_18.obj b/data/UPB_00001407/parts/part_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18c6c135bdd62a794c62ed13c85d7e81b08130b5
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..1cefa61d86c5539e438d7b8b1e24a17b743e0d21
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new file mode 100644
index 0000000000000000000000000000000000000000..a6a53968faba70bd5f3912026deeb6989e712e39
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diff --git a/data/UPB_00001407/parts/part_8.obj b/data/UPB_00001407/parts/part_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5fdc5f420045ac0ed9c7df7627fae8190e19da8
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+version https://git-lfs.github.com/spec/v1
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+size 160242
diff --git a/data/UPB_00001407/plys/5.ply b/data/UPB_00001407/plys/5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d8d0d2746af1493994f846c5453a01bbb8abd6a4
--- /dev/null
+++ b/data/UPB_00001407/plys/5.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b260a75d9351af9062a705a606e8933af1aa946b64c66e1e0e516ab3a995ef9
+size 160242
diff --git a/data/UPB_00001407/plys/6.ply b/data/UPB_00001407/plys/6.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e8204610fd0046e2f73bc9f26c1a19adecc220b8
--- /dev/null
+++ b/data/UPB_00001407/plys/6.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8225884643250f316232f85cdf5833b516dbebd98489829e65228eecc976aac
+size 160242
diff --git a/data/UPB_00001407/plys/7.ply b/data/UPB_00001407/plys/7.ply
new file mode 100644
index 0000000000000000000000000000000000000000..131301c7f5b7f3b8599c46ff0ca370ca78a6254d
--- /dev/null
+++ b/data/UPB_00001407/plys/7.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed4361df4638ad07e03a63f473a454b3b9ff68aa5a1e793a89278867ca8d2347
+size 160242
diff --git a/data/UPB_00001407/plys/8.ply b/data/UPB_00001407/plys/8.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ed3e78edf0254114aa4d3dab172239c331d3626a
--- /dev/null
+++ b/data/UPB_00001407/plys/8.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fab8d060d7674a694cc367f1c6bb176ac036f3117d66a7c0b5d54f3b3966b98a
+size 160242
diff --git a/data/UPB_00001407/plys/9.ply b/data/UPB_00001407/plys/9.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d914d63040f9cd67b139d23ebf42c257fb3e0365
--- /dev/null
+++ b/data/UPB_00001407/plys/9.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46f1238810f780e1cea8c61d9718beec01636607748d7d92cc4ff1d078280fac
+size 160242
diff --git a/data/UPB_00001407/plys/model.ply b/data/UPB_00001407/plys/model.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5d2c171478e9ba2d243cec6b6441cf11df83288a
--- /dev/null
+++ b/data/UPB_00001407/plys/model.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6eacecf376369e08228e4922d1e56ed44ccb38d588fc182d61107fd172823124
+size 1600243
diff --git a/data/UPB_00001408/annotations/object.json b/data/UPB_00001408/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d723e82011e70a2a7fd49fa4f90ae995623f094
--- /dev/null
+++ b/data/UPB_00001408/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Entryway Mudroom Cabinet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        220.0,
+        50.0,
+        210.0
+    ],
+    "mass": 120.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001408/annotations/part_1.json b/data/UPB_00001408/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..20c97717e2e2e719046e1e60eff6f45548b21b4c
--- /dev/null
+++ b/data/UPB_00001408/annotations/part_1.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001408",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Center Drawer",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "A plywood birch drawer box with a decorative front, approx. 80*40*15 cm.",
+        "functional_description": "Provides enclosed storage beneath the seating nook; supports moderate loads of everyday items.",
+        "movement_description": "Slides in/out on runners within the cabinet carcass; motion damped to prevent slamming.",
+        "grasp_description": "Pulled by its center knob or by grasping the drawer front's lower edge."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.65,
+        "young": 9.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                22
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.2704530656337738,
+                    -0.6019043326377869
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001408/annotations/part_10.json b/data/UPB_00001408/annotations/part_10.json
new file mode 100644
index 0000000000000000000000000000000000000000..3aa2eb05594868935c77feb4cf4d80834383eb4f
--- /dev/null
+++ b/data/UPB_00001408/annotations/part_10.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001408",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Tall Right-Center Door",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Tall hardwood door panel, approx. 45*2*185 cm.",
+        "functional_description": "Protects a right-of-center tall bay.",
+        "movement_description": "Opens by rotation about vertical hinges.",
+        "grasp_description": "Operated using the round knob near the leading edge."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Maple",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.33,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                10,
+                20
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    0.4593917429447174,
+                    -0.27822744846343994,
+                    -0.18538974225521088
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001408/annotations/part_11.json b/data/UPB_00001408/annotations/part_11.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbf023c1f9830be2fe2979235f54c210b25663e8
--- /dev/null
+++ b/data/UPB_00001408/annotations/part_11.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001408",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Tall Right Door",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Full-height hardwood door panel, approx. 45*2*185 cm.",
+        "functional_description": "Covers the far-right tall compartment.",
+        "movement_description": "Rotates open on side hinges.",
+        "grasp_description": "Pulled via its knob along the edge."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Maple",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.33,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                11,
+                21
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    1.3429778814315796,
+                    -0.2782272696495056,
+                    -0.2331506758928299
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001408/annotations/part_12.json b/data/UPB_00001408/annotations/part_12.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef9064ff9b2f6eb3c9487d375a15cea0f141a604
--- /dev/null
+++ b/data/UPB_00001408/annotations/part_12.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001408",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Knob for Tall Left Door",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Round anodized aluminum pull knob, approx. 3*3*2.5 cm.",
+        "functional_description": "Handhold to open the tall left door.",
+        "movement_description": "Rigidly fixed to door; moves with door as it rotates.",
+        "grasp_description": "Pinched between fingers for pulling the door."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001408/annotations/part_13.json b/data/UPB_00001408/annotations/part_13.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b71ec575abf0ddd3e5f547ae0291ce2aa361406
--- /dev/null
+++ b/data/UPB_00001408/annotations/part_13.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001408",
+        "label": "13"
+    },
+    "part_level": {
+        "part_name": "Knob for Tall Left-Center Door",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Round aluminum knob, approx. 3*3*2.5 cm.",
+        "functional_description": "Handhold for the left-center tall door.",
+        "movement_description": "Rigidly attached to the door panel.",
+        "grasp_description": "Used by fingers for pulling and pushing the door."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001408/annotations/part_14.json b/data/UPB_00001408/annotations/part_14.json
new file mode 100644
index 0000000000000000000000000000000000000000..300b0fe1435f43b1c87feeefcaa574fe4251e05e
--- /dev/null
+++ b/data/UPB_00001408/annotations/part_14.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001408",
+        "label": "14"
+    },
+    "part_level": {
+        "part_name": "Knob for Upper Left Door 1",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Small round aluminum knob, approx. 3*3*2.5 cm.",
+        "functional_description": "Pull point for upper left door 1.",
+        "movement_description": "Fixed to door; follows rotational motion.",
+        "grasp_description": "Pinched to open the overhead compartment."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001408/annotations/part_15.json b/data/UPB_00001408/annotations/part_15.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4f3d4a96bba4b918496f153c47f473bb13d42f1
--- /dev/null
+++ b/data/UPB_00001408/annotations/part_15.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001408",
+        "label": "15"
+    },
+    "part_level": {
+        "part_name": "Knob for Upper Left Door 2",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Round aluminum knob, approx. 3*3*2.5 cm.",
+        "functional_description": "Handle for upper left door 2.",
+        "movement_description": "Rigidly mounted on the door.",
+        "grasp_description": "Used to pull the door open and closed."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001408/annotations/part_16.json b/data/UPB_00001408/annotations/part_16.json
new file mode 100644
index 0000000000000000000000000000000000000000..50ac12b17abca167e7ec89a6ed78534a922ec055
--- /dev/null
+++ b/data/UPB_00001408/annotations/part_16.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001408",
+        "label": "16"
+    },
+    "part_level": {
+        "part_name": "Knob for Upper Center-Left Door",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Round aluminum knob, approx. 3*3*2.5 cm.",
+        "functional_description": "Handle for the center-left upper door.",
+        "movement_description": "Rigid connection to the door.",
+        "grasp_description": "Gripped to swing the door."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001408/annotations/part_17.json b/data/UPB_00001408/annotations/part_17.json
new file mode 100644
index 0000000000000000000000000000000000000000..6faa523ac7291500eaa62527780ca6630c5bcb9e
--- /dev/null
+++ b/data/UPB_00001408/annotations/part_17.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001408",
+        "label": "17"
+    },
+    "part_level": {
+        "part_name": "Knob for Upper Center Door",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Round aluminum knob, approx. 3*3*2.5 cm.",
+        "functional_description": "Handle for the central upper door.",
+        "movement_description": "Rigid mount; moves with the door.",
+        "grasp_description": "Pinched by fingers for access to the central cubby."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001408/annotations/part_18.json b/data/UPB_00001408/annotations/part_18.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8be2a9bc0c2abd932fb1b1bd9f95aa70ca572a3
--- /dev/null
+++ b/data/UPB_00001408/annotations/part_18.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001408",
+        "label": "18"
+    },
+    "part_level": {
+        "part_name": "Knob for Upper Center-Right Door",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Round aluminum knob, approx. 3*3*2.5 cm.",
+        "functional_description": "Pull knob for the center-right upper door.",
+        "movement_description": "Rigidly secured; translates/rotates only with the door.",
+        "grasp_description": "Finger grip for opening."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001408/annotations/part_19.json b/data/UPB_00001408/annotations/part_19.json
new file mode 100644
index 0000000000000000000000000000000000000000..366ae2ee3b359e36d75a205884207e1566bc68fc
--- /dev/null
+++ b/data/UPB_00001408/annotations/part_19.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001408",
+        "label": "19"
+    },
+    "part_level": {
+        "part_name": "Knob for Upper Right Door",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Round aluminum knob, approx. 3*3*2.5 cm.",
+        "functional_description": "Handle for the far-right upper door.",
+        "movement_description": "Rigidly attached to the door.",
+        "grasp_description": "Used to pull the door open and push it closed."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001408/annotations/part_2.json b/data/UPB_00001408/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ca9d25408550a250ee9852497ea66947786de51
--- /dev/null
+++ b/data/UPB_00001408/annotations/part_2.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001408",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Upper Left Door 1",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Raised-panel hardwood maple upper cabinet door, approx. 40*2*40 cm.",
+        "functional_description": "Covers a small overhead compartment for light storage.",
+        "movement_description": "Rotates about vertical hinges attached to the carcass.",
+        "grasp_description": "Opened via the small round knob at the lower corner."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Maple",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.33,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                12
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -1.3486875295639038,
+                    -0.2930431365966797,
+                    0.9426383972167969
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001408/annotations/part_20.json b/data/UPB_00001408/annotations/part_20.json
new file mode 100644
index 0000000000000000000000000000000000000000..358639cda2d0d6c3202c3ddc362e6f4806f5dd1c
--- /dev/null
+++ b/data/UPB_00001408/annotations/part_20.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001408",
+        "label": "20"
+    },
+    "part_level": {
+        "part_name": "Knob for Tall Right-Center Door",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Round aluminum knob, approx. 3*3*2.5 cm.",
+        "functional_description": "Grip point for the right-center tall door.",
+        "movement_description": "Fixed to door; moves with door rotation.",
+        "grasp_description": "Pinch and pull to operate the door."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001408/annotations/part_21.json b/data/UPB_00001408/annotations/part_21.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9b7d3bad2068ee5426d03cd66837c8729aa3ae2
--- /dev/null
+++ b/data/UPB_00001408/annotations/part_21.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001408",
+        "label": "21"
+    },
+    "part_level": {
+        "part_name": "Knob for Tall Right Door",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Round aluminum knob, approx. 3*3*2.5 cm.",
+        "functional_description": "Handhold for the far-right tall door.",
+        "movement_description": "Rigidly installed; follows door movement.",
+        "grasp_description": "Used to pull/push the tall door."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001408/annotations/part_22.json b/data/UPB_00001408/annotations/part_22.json
new file mode 100644
index 0000000000000000000000000000000000000000..bec160920b19f7b15bbe7c1bc12b5bcf6eea1c36
--- /dev/null
+++ b/data/UPB_00001408/annotations/part_22.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001408",
+        "label": "22"
+    },
+    "part_level": {
+        "part_name": "Knob for Center Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Round aluminum knob for the drawer, approx. 3*3*2.5 cm.",
+        "functional_description": "Primary pull point for sliding the center drawer.",
+        "movement_description": "Rigidly fastened to the drawer front; translates with the drawer.",
+        "grasp_description": "Thumb-and-finger grip to pull the drawer open and push it closed."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061_Anodized",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.32
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001408/annotations/part_23.json b/data/UPB_00001408/annotations/part_23.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f59248472bcb2000359845417abbf530efcc008
--- /dev/null
+++ b/data/UPB_00001408/annotations/part_23.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001408",
+        "label": "23"
+    },
+    "part_level": {
+        "part_name": "Cabinet Carcass and Shelving",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Main plywood birch frame and shelves with dividers, approx. 220*50*210 cm overall.",
+        "functional_description": "Provides structural support, housing for doors/drawer, and open cubbies; transfers loads to floor and wall.",
+        "movement_description": "Static structural component. Serves as the parent reference for all swinging doors and the sliding drawer.",
+        "grasp_description": "Not typically grasped directly; interacted with via doors, knobs, and drawer."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.65,
+        "young": 9.5,
+        "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_00001408/annotations/part_3.json b/data/UPB_00001408/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a7ec0a6cfec57f644e91ad80c7809b980858bb0
--- /dev/null
+++ b/data/UPB_00001408/annotations/part_3.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001408",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Upper Left Door 2",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Raised-panel hardwood maple upper cabinet door, approx. 40*2*40 cm.",
+        "functional_description": "Encloses one of the overhead cubbies.",
+        "movement_description": "Swings about a vertical hinge line; soft-close hardware typical.",
+        "grasp_description": "Pulled using its knob mounted near the lower edge."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Maple",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.33,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                13
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    -0.45954781770706177,
+                    -0.28166303038597107,
+                    0.9348536133766174
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001408/annotations/part_4.json b/data/UPB_00001408/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ad177606eacc6906ad91d6dff5df4de9d2b4ee8
--- /dev/null
+++ b/data/UPB_00001408/annotations/part_4.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001408",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Upper Center-Left Door",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Hardwood maple overhead door, approx. 40*2*40 cm.",
+        "functional_description": "Covers a small center-left top compartment.",
+        "movement_description": "Rotates about side hinges.",
+        "grasp_description": "Operated by its corner knob."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Maple",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.33,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                14
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.4440080225467682,
+                    -0.26773834228515625,
+                    0.9444652199745178
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001408/annotations/part_5.json b/data/UPB_00001408/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee6f3276b50bbb900a02ba08e0b240e9cb74f115
--- /dev/null
+++ b/data/UPB_00001408/annotations/part_5.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001408",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Upper Center Door",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Hardwood maple overhead door, approx. 40*2*40 cm.",
+        "functional_description": "Protects the central overhead cubby.",
+        "movement_description": "Swings open on side hinges.",
+        "grasp_description": "Handled using the small knob positioned at the lower edge."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Maple",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.33,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                5,
+                15
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.445328950881958,
+                    -0.2758537232875824,
+                    0.9572914838790894
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001408/annotations/part_6.json b/data/UPB_00001408/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..d87faf2f2efe5c5ba5ca0935b565b9a03d992d86
--- /dev/null
+++ b/data/UPB_00001408/annotations/part_6.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001408",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Upper Center-Right Door",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Hardwood maple overhead door, approx. 40*2*40 cm.",
+        "functional_description": "Covers a right-of-center upper compartment.",
+        "movement_description": "Rotational opening around vertical hinges.",
+        "grasp_description": "Opened by pulling the corner knob."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Maple",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.33,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                6,
+                16
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    0.45880091190338135,
+                    -0.26313120126724243,
+                    0.91753089427948
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001408/annotations/part_7.json b/data/UPB_00001408/annotations/part_7.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc64dfcf32feccee8856d026a251e9fb85d4a5f5
--- /dev/null
+++ b/data/UPB_00001408/annotations/part_7.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001408",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Upper Right Door",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Hardwood maple overhead door, approx. 40*2*40 cm.",
+        "functional_description": "Covers the far-right upper compartment.",
+        "movement_description": "Swings on vertical hinges.",
+        "grasp_description": "Operated by the knob near the lower corner."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Maple",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.33,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                7,
+                17
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    1.343928575515747,
+                    -0.2745724320411682,
+                    0.9309195876121521
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001408/annotations/part_8.json b/data/UPB_00001408/annotations/part_8.json
new file mode 100644
index 0000000000000000000000000000000000000000..203513de6e7dd91339166ff0b413fa08a8be942a
--- /dev/null
+++ b/data/UPB_00001408/annotations/part_8.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001408",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Tall Left Door",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Full-height hardwood door panel, approx. 45*2*185 cm.",
+        "functional_description": "Covers a tall storage bay for coats or cleaning tools.",
+        "movement_description": "Opens by rotating about side hinges; typical soft-close damping.",
+        "grasp_description": "Gripped by its circular knob or by the leading edge."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Maple",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.33,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                8,
+                18
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -1.344581127166748,
+                    -0.26644769310951233,
+                    -4.6023053812405124e-08
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001408/annotations/part_9.json b/data/UPB_00001408/annotations/part_9.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd7148a4c8b3ac1b0859d0db2eceeb511afd2597
--- /dev/null
+++ b/data/UPB_00001408/annotations/part_9.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001408",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Tall Left-Center Door",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Tall hardwood door panel, approx. 45*2*185 cm.",
+        "functional_description": "Closes a tall compartment next to the central seating niche.",
+        "movement_description": "Rotates about side hinges fixed to the frame.",
+        "grasp_description": "Pulled via its knob."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Maple",
+        "density": 0.7,
+        "young": 11.0,
+        "hardness": 35,
+        "poisson": 0.33,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                9,
+                19
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    -0.4566326141357422,
+                    -0.278707891702652,
+                    -0.18491235375404358
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001408/full_model/material.mtl b/data/UPB_00001408/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001408/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_00001408/full_model/material_0.png b/data/UPB_00001408/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c01da8c2dd96c5f380fa523ccde45c22fcece71
--- /dev/null
+++ b/data/UPB_00001408/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ca2108a8574848d87f34016e965ed468eee8b778768dc322bddcf2fcb00ec72
+size 96
diff --git a/data/UPB_00001408/full_model/model.obj b/data/UPB_00001408/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e0b8f55001124cd703253b11e34d9f1bbcbabef
--- /dev/null
+++ b/data/UPB_00001408/full_model/model.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:144e253da6d77ed72ea79cb78c43b276c222913e46b2f77f43b0203d4746031b
+size 18699892
diff --git a/data/UPB_00001408/meta_data.json b/data/UPB_00001408/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dc86b333a3e6b6165fef44c3317ea1c1c7485a0
--- /dev/null
+++ b/data/UPB_00001408/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001408",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Entryway Mudroom Cabinet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 23,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001408/model.urdf b/data/UPB_00001408/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0732bf0521164b976494b10f6f8755e9b8464346
--- /dev/null
+++ b/data/UPB_00001408/model.urdf
@@ -0,0 +1,483 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="helper_link_2"/>
+  <link name="helper_link_3"/>
+  <link name="helper_link_4"/>
+  <link name="helper_link_5"/>
+  <link name="helper_link_6"/>
+  <link name="helper_link_7"/>
+  <link name="helper_link_8"/>
+  <link name="helper_link_9"/>
+  <link name="helper_link_10"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_14">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_15">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_16">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_17">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_18">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_18.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_18.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_19">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_19.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_19.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_20">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_20.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_20.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_21">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_21.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_21.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_22">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_22.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_22.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_23">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_23.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_23.obj" scale="0.761124 0.761124 0.761124"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_23"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.205848 -0.458124" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2283370653731427" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.205848 0.458124" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_23"/>
+    <child link="helper_link_1"/>
+    <origin xyz="-1.026518 -0.223042 0.717464" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="1.026518 0.223042 -0.717464" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="link_23"/>
+    <child link="helper_link_2"/>
+    <origin xyz="-0.349773 -0.214380 0.711539" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0.349773 0.214380 -0.711539" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="revolute">
+    <parent link="link_23"/>
+    <child link="helper_link_3"/>
+    <origin xyz="-0.337945 -0.203782 0.718855" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="0.337945 0.203782 -0.718855" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="revolute">
+    <parent link="link_23"/>
+    <child link="helper_link_4"/>
+    <origin xyz="0.338950 -0.209959 0.728617" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_5"/>
+    <origin xyz="-0.338950 0.209959 -0.728617" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="revolute">
+    <parent link="link_23"/>
+    <child link="helper_link_5"/>
+    <origin xyz="0.349204 -0.200275 0.698354" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="helper_link_5"/>
+    <child link="link_6"/>
+    <origin xyz="-0.349204 0.200275 -0.698354" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="revolute">
+    <parent link="link_23"/>
+    <child link="helper_link_6"/>
+    <origin xyz="1.022896 -0.208984 0.708545" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="helper_link_6"/>
+    <child link="link_7"/>
+    <origin xyz="-1.022896 0.208984 -0.708545" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="revolute">
+    <parent link="link_23"/>
+    <child link="helper_link_7"/>
+    <origin xyz="-1.023392 -0.202800 -0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="helper_link_7"/>
+    <child link="link_8"/>
+    <origin xyz="1.023392 0.202800 0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_16" type="revolute">
+    <parent link="link_23"/>
+    <child link="helper_link_8"/>
+    <origin xyz="-0.347554 -0.212131 -0.140741" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_17" type="fixed">
+    <parent link="helper_link_8"/>
+    <child link="link_9"/>
+    <origin xyz="0.347554 0.212131 0.140741" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_18" type="revolute">
+    <parent link="link_23"/>
+    <child link="helper_link_9"/>
+    <origin xyz="0.349654 -0.211765 -0.141104" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_19" type="fixed">
+    <parent link="helper_link_9"/>
+    <child link="link_10"/>
+    <origin xyz="-0.349654 0.211765 0.141104" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_20" type="revolute">
+    <parent link="link_23"/>
+    <child link="helper_link_10"/>
+    <origin xyz="1.022172 -0.211765 -0.177456" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_21" type="fixed">
+    <parent link="helper_link_10"/>
+    <child link="link_11"/>
+    <origin xyz="-1.022172 0.211765 0.177456" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_22" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_12"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_23" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_13"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_24" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_14"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_25" type="fixed">
+    <parent link="link_5"/>
+    <child link="link_15"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_26" type="fixed">
+    <parent link="link_6"/>
+    <child link="link_16"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_27" type="fixed">
+    <parent link="link_7"/>
+    <child link="link_17"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_28" type="fixed">
+    <parent link="link_8"/>
+    <child link="link_18"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_29" type="fixed">
+    <parent link="link_9"/>
+    <child link="link_19"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_30" type="fixed">
+    <parent link="link_10"/>
+    <child link="link_20"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_31" type="fixed">
+    <parent link="link_11"/>
+    <child link="link_21"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_32" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_22"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_33" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_23"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001408/parts/part_1.obj b/data/UPB_00001408/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba5c0a01df720c9cf7ebe27e2220a9da2278764a
--- /dev/null
+++ b/data/UPB_00001408/parts/part_1.obj
@@ -0,0 +1,17885 @@
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diff --git a/data/UPB_00001408/parts/part_10.obj b/data/UPB_00001408/parts/part_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f77775c40530508cdc40283fd47edb44001243f
--- /dev/null
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