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diff --git a/data/UPB_00001356/parts/part_5.obj b/data/UPB_00001356/parts/part_5.obj
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index 0000000000000000000000000000000000000000..6287831f27618a764780dea448c47dec30c8a30d
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diff --git a/data/UPB_00001356/parts/part_9.obj b/data/UPB_00001356/parts/part_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9ab171eaf39b933e1180186dff533a7414c2d6a
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index 0000000000000000000000000000000000000000..1a1f6f1ace1fdd6bf74eebd066af4e3d9c3f5b17
--- /dev/null
+++ b/data/UPB_00001356/plys/9.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59c190a3aaba229e23622db598cb481af6dc2ad265109136fc6f9de1ecacf7c5
+size 160242
diff --git a/data/UPB_00001356/plys/model.ply b/data/UPB_00001356/plys/model.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9ce49f7037abf0f73b768eb031b95bc449904144
--- /dev/null
+++ b/data/UPB_00001356/plys/model.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fbd9722b65052ada25c5be24ef55290284d6f4174e7ef9d93a8296e957f474b
+size 1600243
diff --git a/data/UPB_00001357/annotations/object.json b/data/UPB_00001357/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..30b40ace132a43081d4ca6baf4e42164e6c90621
--- /dev/null
+++ b/data/UPB_00001357/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Two-Door Cabinet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        90.0,
+        40.0,
+        80.0
+    ],
+    "mass": 30.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001357/annotations/part_1.json b/data/UPB_00001357/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..20aba2ae57f37401a67631e32fdd98d74ac7b2b3
--- /dev/null
+++ b/data/UPB_00001357/annotations/part_1.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001357",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Door Panel",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Flat rectangular MDF door panel with a decorative horizontal mid-band; laminated surface for durability.",
+        "functional_description": "Closes the left half of the cabinet to protect and conceal stored items.",
+        "movement_description": "Rotates about a vertical hinge axis located along the cabinet\u2019s left outer edge via the hinge rails.",
+        "grasp_description": "Typically pulled open by the attached vertical handle; users may also push on the panel to close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.72,
+        "young": 3.5,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                3
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.9854558706283569,
+                    -0.2790886163711548,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001357/annotations/part_2.json b/data/UPB_00001357/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..443e71b4469fdde466ab2f2ab6c6c4ea10838057
--- /dev/null
+++ b/data/UPB_00001357/annotations/part_2.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001357",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Right Door Panel",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Flat rectangular MDF door panel, same design as the left door, laminated surface.",
+        "functional_description": "Closes the right half of the cabinet and mates with the left door at the center seam.",
+        "movement_description": "Rotates about a vertical hinge axis along the cabinet\u2019s right outer edge via the hinge rails.",
+        "grasp_description": "Pulled by the right vertical handle to open; pushed to latch closed."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.72,
+        "young": 3.5,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                4
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.9844874143600464,
+                    -0.2790886163711548,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001357/annotations/part_3.json b/data/UPB_00001357/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..b482a298f71eaba05aae6324e96b3748e0590198
--- /dev/null
+++ b/data/UPB_00001357/annotations/part_3.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001357",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Left Vertical Handle (Center Pull)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Slim extruded aluminum pull mounted vertically near the meeting edge of the left door.",
+        "functional_description": "Provides a comfortable grip to open and close the left door without touching the panel surface.",
+        "movement_description": "Rigidly fixed to the left door and follows its rotation.",
+        "grasp_description": "Users wrap fingers around the handle to pull the door open or push it closed."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001357/annotations/part_4.json b/data/UPB_00001357/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a388c2f96d709441f99644fa3b72277f9087423
--- /dev/null
+++ b/data/UPB_00001357/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001357",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Right Vertical Handle (Center Pull)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Slim extruded aluminum pull mounted vertically near the meeting edge of the right door.",
+        "functional_description": "Provides a grip to actuate the right door.",
+        "movement_description": "Rigidly fixed to the right door and moves with it.",
+        "grasp_description": "Common touchpoint; grasped with fingertips to swing the door."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001357/annotations/part_5.json b/data/UPB_00001357/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3118289a4900b98ece06ede03e0bddb40d2f0c3
--- /dev/null
+++ b/data/UPB_00001357/annotations/part_5.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001357",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Cabinet Body (Carcass)",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Structural cabinet box made from melamine-faced particle board panels forming top, bottom, sides, and back.",
+        "functional_description": "Provides structural support, houses shelves/contents, and serves as the anchor for hinges and doors.",
+        "movement_description": "Stationary reference frame; all moving parts are mounted to it via hinge rails.",
+        "grasp_description": "Rarely handled directly except during installation or relocation."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Melamine",
+        "density": 0.65,
+        "young": 3.0,
+        "hardness": 15,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001357/annotations/part_6.json b/data/UPB_00001357/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cd2d0af2e78ba566a363a87db5976ecbba4d8b7
--- /dev/null
+++ b/data/UPB_00001357/annotations/part_6.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001357",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Hinge Rails",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Two slim stainless-steel vertical hinge assemblies mounted at the cabinet\u2019s outer edges.",
+        "functional_description": "Provide the rotational support and alignment for both doors while resisting wear and corrosion.",
+        "movement_description": "Rigid to the carcass; act as the parent joint elements allowing each door to rotate about its vertical axis.",
+        "grasp_description": "Not intended to be touched during normal use; hidden at the edges."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193.0,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001357/full_model/material.mtl b/data/UPB_00001357/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001357/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_00001357/full_model/material_0.png b/data/UPB_00001357/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..84fd3e62f3e756a986059100be7a118811d51020
--- /dev/null
+++ b/data/UPB_00001357/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d8883208ce8609a95e7273c2e81d917e5f0f80dea4a5e43c03d6338501898b5
+size 127
diff --git a/data/UPB_00001357/full_model/model.obj b/data/UPB_00001357/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f89f3d2345c54c5f699cc320b0a653185829c6ab
--- /dev/null
+++ b/data/UPB_00001357/full_model/model.obj
@@ -0,0 +1,964 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.01028780 -0.26056001 -0.15052600
+v -0.98746300 -0.26056001 -0.15052600
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diff --git a/data/UPB_00001357/meta_data.json b/data/UPB_00001357/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..d875abaaac58f61dfb0b4a7ead176de3dadb7b47
--- /dev/null
+++ b/data/UPB_00001357/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001357",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Two-Door Cabinet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 6,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001357/model.urdf b/data/UPB_00001357/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5dbdcebafd1ff570bbaf1e154c74e9b7e1a9fb99
--- /dev/null
+++ b/data/UPB_00001357/model.urdf
@@ -0,0 +1,122 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.405391 0.405391 0.405391"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.405391 0.405391 0.405391"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.405391 0.405391 0.405391"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.405391 0.405391 0.405391"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.405391 0.405391 0.405391"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.405391 0.405391 0.405391"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.405391 0.405391 0.405391"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.405391 0.405391 0.405391"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.405391 0.405391 0.405391"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.405391 0.405391 0.405391"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.405391 0.405391 0.405391"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.405391 0.405391 0.405391"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_6"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.399495 -0.113140 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.399495 0.113140 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_6"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.399102 -0.113140 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.399102 0.113140 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001357/parts/1.mtl b/data/UPB_00001357/parts/1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc
--- /dev/null
+++ b/data/UPB_00001357/parts/1.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 1.png
diff --git a/data/UPB_00001357/parts/1.png b/data/UPB_00001357/parts/1.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfeeda270009f0a2a337a9632dcbd4093f9d0396
--- /dev/null
+++ b/data/UPB_00001357/parts/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d56a04266a6f5c0a8b66c5e735c29e3bc26ff6655f3bc8af9aa18d3330941c4a
+size 97
diff --git a/data/UPB_00001357/parts/2.mtl b/data/UPB_00001357/parts/2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..57a1c04a7f3f0f8866abca464506627fead239e6
--- /dev/null
+++ b/data/UPB_00001357/parts/2.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 2.png
diff --git a/data/UPB_00001357/parts/2.png b/data/UPB_00001357/parts/2.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfeeda270009f0a2a337a9632dcbd4093f9d0396
--- /dev/null
+++ b/data/UPB_00001357/parts/2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d56a04266a6f5c0a8b66c5e735c29e3bc26ff6655f3bc8af9aa18d3330941c4a
+size 97
diff --git a/data/UPB_00001357/parts/part_1.obj b/data/UPB_00001357/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..500a0efc3205eb2eac3cbc8722b2fa5a37467f3d
--- /dev/null
+++ b/data/UPB_00001357/parts/part_1.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+mtllib 1.mtl
+usemtl material_0
+v -0.01028780 -0.26056001 -0.15052600
+v -0.98746300 -0.26056001 -0.15052600
+v -0.98746300 -0.28055999 -0.15052600
+v -0.01028780 -0.28055999 -0.15052600
+v -0.98746300 -0.26056001 -0.15052600
+v -0.98746300 -0.26056001 -1.08001995
+v -0.98746300 -0.28055999 -1.08001995
+v -0.98746300 -0.28055999 -0.15052600
+v -0.01028780 -0.28055999 -0.15052600
+v -0.98746300 -0.28055999 -0.15052600
+v -0.98746300 -0.28055999 -1.08001995
+v -0.01028780 -0.28055999 -0.15052600
+v -0.01028780 -0.28055999 -1.08001995
+v -0.01028780 -0.26056001 -1.08001995
+v -0.98746300 -0.26056001 -1.08001995
+v -0.01028780 -0.26056001 -1.08001995
+v -0.01028780 -0.28055999 -1.08001995
+v -0.01028780 -0.26056001 -0.15052600
+v -0.98746300 -0.26056001 -1.08001995
+v -0.98746300 -0.26056001 -0.15052600
+v -0.01028780 -0.26056001 -0.15052600
+v -0.01028780 -0.26056001 -1.08001995
+v -0.98746300 -0.28055999 -1.08001995
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diff --git a/data/UPB_00001357/parts/wardrobe_6GDJ3LZVAZ2MUPTUK4888888_WdMEf.mtl b/data/UPB_00001357/parts/wardrobe_6GDJ3LZVAZ2MUPTUK4888888_WdMEf.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5cf1adbec4e9df2e7ea8e047f4aa83e88e43b333
--- /dev/null
+++ b/data/UPB_00001357/parts/wardrobe_6GDJ3LZVAZ2MUPTUK4888888_WdMEf.mtl
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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
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diff --git a/data/UPB_00001357/plys/1.ply b/data/UPB_00001357/plys/1.ply
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--- /dev/null
+++ b/data/UPB_00001357/plys/1.ply
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00001357/plys/3.ply b/data/UPB_00001357/plys/3.ply
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--- /dev/null
+++ b/data/UPB_00001357/plys/3.ply
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00001357/plys/4.ply b/data/UPB_00001357/plys/4.ply
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00001357/plys/5.ply b/data/UPB_00001357/plys/5.ply
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diff --git a/data/UPB_00001357/plys/6.ply b/data/UPB_00001357/plys/6.ply
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00001357/plys/model.ply b/data/UPB_00001357/plys/model.ply
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diff --git a/data/UPB_00001358/annotations/object.json b/data/UPB_00001358/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff28b5b78314aac99e31216e1616ae1694473d01
--- /dev/null
+++ b/data/UPB_00001358/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Wardrobe Cabinet Unit",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        180.0,
+        40.0,
+        220.0
+    ],
+    "mass": 110.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001358/annotations/part_1.json b/data/UPB_00001358/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..e34cb4617063dbaf1dcbd2f6c86542f471ea480b
--- /dev/null
+++ b/data/UPB_00001358/annotations/part_1.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001358",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Upper Cabinet Door 1 (far left)",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Square painted MDF cabinet door, about 35*2*35 cm.",
+        "functional_description": "Closes the far-left top storage compartment.",
+        "movement_description": "Swings on side hinges about a vertical axis relative to the cabinet carcass.",
+        "grasp_description": "Typically pulled via its attached metal handle rather than by the panel surface."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                8
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.9982410073280334,
+                    -0.29272279143333435,
+                    0.9350216388702393
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001358/annotations/part_10.json b/data/UPB_00001358/annotations/part_10.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca7e4583b3cccdc0c4c1e9c4e69576d4ab8459a3
--- /dev/null
+++ b/data/UPB_00001358/annotations/part_10.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001358",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Upper Door Handle 3 (for Door 3)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Brass pull handle, about 10*1.2*2 cm.",
+        "functional_description": "Allows easy opening of upper door 3.",
+        "movement_description": "Rigidly fixed to the door panel.",
+        "grasp_description": "Commonly grasped by two or three fingers."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 100,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001358/annotations/part_11.json b/data/UPB_00001358/annotations/part_11.json
new file mode 100644
index 0000000000000000000000000000000000000000..b858e26354fad176bc54ae32bc9aff1a6b0c32f5
--- /dev/null
+++ b/data/UPB_00001358/annotations/part_11.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001358",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Upper Door Handle 4 (for Door 4)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Brass pull handle, about 10*1.2*2 cm.",
+        "functional_description": "Grip hardware for upper door 4.",
+        "movement_description": "No relative motion; rigid with the door.",
+        "grasp_description": "Pulled with fingertips; smooth, low-friction finish."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 100,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001358/annotations/part_12.json b/data/UPB_00001358/annotations/part_12.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee680bab83dba79cc636d71fa0e009ecbe4a5412
--- /dev/null
+++ b/data/UPB_00001358/annotations/part_12.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001358",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Upper Door Handle 5 (for Door 5)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Brass pull handle, about 10*1.2*2 cm.",
+        "functional_description": "Primary grasp point for the far-right upper door.",
+        "movement_description": "Rigidly attached to Door 5.",
+        "grasp_description": "Provides a firm small-bar grip for opening and closing."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 100,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001358/annotations/part_13.json b/data/UPB_00001358/annotations/part_13.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5f575a339847a7cabdccf470858691ef142df71
--- /dev/null
+++ b/data/UPB_00001358/annotations/part_13.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001358",
+        "label": "13"
+    },
+    "part_level": {
+        "part_name": "Cabinet Carcass/Frame",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "L-shaped storage cabinet carcass built from laminated particle board, overall 180*40*220 cm with one tall bay and a row of small upper bays.",
+        "functional_description": "Provides structural support, shelves, and hinge mounting locations for all doors and hardware.",
+        "movement_description": "Rigid, stationary base; other parts rotate relative to it on hinges.",
+        "grasp_description": "Normally not grasped directly except during relocation."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminated",
+        "density": 0.65,
+        "young": 2.2,
+        "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_00001358/annotations/part_2.json b/data/UPB_00001358/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..59d61a957a26e88153e5a0def839f86d687f8880
--- /dev/null
+++ b/data/UPB_00001358/annotations/part_2.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001358",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Upper Cabinet Door 2",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Square painted MDF door, about 35*2*35 cm.",
+        "functional_description": "Closes the second upper compartment.",
+        "movement_description": "Side-hinged rotation relative to the carcass.",
+        "grasp_description": "Pulled by its handle to open."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                9
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.5992116332054138,
+                    -0.29272279143333435,
+                    0.9350216388702393
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001358/annotations/part_3.json b/data/UPB_00001358/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..a25ed117fa106f89c5e3df484fe0f072d6810d5a
--- /dev/null
+++ b/data/UPB_00001358/annotations/part_3.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001358",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Upper Cabinet Door 3",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Square painted MDF door, about 35*2*35 cm.",
+        "functional_description": "Covers the middle top compartment.",
+        "movement_description": "Rotates on hinges about a vertical axis attached to the carcass.",
+        "grasp_description": "Opened and closed via the rigidly attached handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                10
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.19822028279304504,
+                    -0.29272279143333435,
+                    0.9350216388702393
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001358/annotations/part_4.json b/data/UPB_00001358/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e492136295cd0d23728ae7da4db4fcde0765833
--- /dev/null
+++ b/data/UPB_00001358/annotations/part_4.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001358",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Upper Cabinet Door 4",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Square painted MDF door, about 35*2*35 cm.",
+        "functional_description": "Covers the fourth upper cabinet opening.",
+        "movement_description": "Side-hinged rotation with typical soft-close damping.",
+        "grasp_description": "User pulls the handle to swing the door open."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                11
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    0.20299369096755981,
+                    -0.29272279143333435,
+                    0.9350216388702393
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001358/annotations/part_5.json b/data/UPB_00001358/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..563c6d3c967aad48ada39d415958026b3f40abc9
--- /dev/null
+++ b/data/UPB_00001358/annotations/part_5.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001358",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Upper Cabinet Door 5 (far right)",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Square painted MDF door, about 35*2*35 cm.",
+        "functional_description": "Closes the far-right top storage bay.",
+        "movement_description": "Rotates on vertical hinges fixed to the carcass.",
+        "grasp_description": "Hand pulls the metal handle to open/close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                5,
+                12
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.9981503486633301,
+                    -0.29272279143333435,
+                    0.9350216388702393
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001358/annotations/part_6.json b/data/UPB_00001358/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..4917cb97ea393c9b4d448192aa27be8136b566e4
--- /dev/null
+++ b/data/UPB_00001358/annotations/part_6.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001358",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Tall Wardrobe Door (left leaf)",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Long painted MDF door panel about 45*2*195 cm for the tall compartment.",
+        "functional_description": "Provides access to the main wardrobe cavity; pairs with door 7.",
+        "movement_description": "Swings on vertical hinges mounted to the carcass; typical opening up to ~120 degrees.",
+        "grasp_description": "Generally operated using an attached handle or edge pull (not modeled here)."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                6
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.9989380836486816,
+                    -0.29272279143333435,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001358/annotations/part_7.json b/data/UPB_00001358/annotations/part_7.json
new file mode 100644
index 0000000000000000000000000000000000000000..09d0b47b7a68df4deaa387695309838ade19c3ed
--- /dev/null
+++ b/data/UPB_00001358/annotations/part_7.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001358",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Tall Wardrobe Door (right leaf)",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Long painted MDF door panel about 45*2*195 cm for the tall compartment.",
+        "functional_description": "Works with door 6 to close the tall wardrobe opening.",
+        "movement_description": "Hinged rotation about a vertical axis relative to the carcass.",
+        "grasp_description": "Typically pulled at its edge or hardware (not shown)."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                7
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    -0.0066566928289830685,
+                    -0.29272279143333435,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001358/annotations/part_8.json b/data/UPB_00001358/annotations/part_8.json
new file mode 100644
index 0000000000000000000000000000000000000000..86f40dcf335ace5738457cf973ed25e89002bf62
--- /dev/null
+++ b/data/UPB_00001358/annotations/part_8.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001358",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Upper Door Handle 1 (for Door 1)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Small brass pull handle roughly 10*1.2*2 cm, smooth finish.",
+        "functional_description": "Provides a solid grip to actuate upper door 1.",
+        "movement_description": "No independent motion; rigidly fixed to Door 1.",
+        "grasp_description": "Pinch or wrap fingers around the bar to pull the door open."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 100,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001358/annotations/part_9.json b/data/UPB_00001358/annotations/part_9.json
new file mode 100644
index 0000000000000000000000000000000000000000..13e0490495ad8ce69e4b8536d65e24fe0e9ce28d
--- /dev/null
+++ b/data/UPB_00001358/annotations/part_9.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001358",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Upper Door Handle 2 (for Door 2)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Brass pull handle, about 10*1.2*2 cm.",
+        "functional_description": "Grip point for operating upper door 2.",
+        "movement_description": "Rigid connection to Door 2.",
+        "grasp_description": "Finger pinch or hook grip for pulling."
+    },
+    "basic_info": {
+        "material": "metal/Brass_Alloy",
+        "density": 8.5,
+        "young": 100.0,
+        "hardness": 100,
+        "poisson": 0.34,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001358/full_model/material.mtl b/data/UPB_00001358/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001358/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_00001358/full_model/material_0.png b/data/UPB_00001358/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e189c984e15731fc7fb62f152d056d103d0f1114
--- /dev/null
+++ b/data/UPB_00001358/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55ce8939cd5ba239dea29a0954b351ed1869f775d3fa5e039995ec77eb98f94d
+size 122
diff --git a/data/UPB_00001358/full_model/model.obj b/data/UPB_00001358/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1394c25a0cff389199025dafeb24e9a1a6d44bf
--- /dev/null
+++ b/data/UPB_00001358/full_model/model.obj
@@ -0,0 +1,3442 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.99900001 -0.29228899 1.37450004
+v -0.99900001 -0.29228801 0.87250000
+v -0.60270000 -0.29228899 0.87250000
+v -0.60270000 -0.29228899 1.37450004
+v -0.64604998 -0.29228801 0.91654199
+v -0.95867401 -0.29228801 0.91654199
+v -0.65104997 -0.29228801 0.92154199
+v -0.95367402 -0.29228801 0.92154199
+v -0.64604998 -0.29428801 0.91654199
+v -0.65105099 -0.29228899 1.32290995
+v -0.95367402 -0.29228899 1.32290995
+v -0.95867401 -0.29228899 1.32790995
+v -0.95867401 -0.29428801 0.91654199
+v -0.95867401 -0.29428899 1.32790995
+v -0.65105099 -0.29428899 1.32290995
+v -0.95367402 -0.29428899 1.32290995
+v -0.64605099 -0.29228899 1.32790995
+v -0.64605099 -0.29428899 1.32790995
+v -0.95367402 -0.29428801 0.92154199
+v -0.65104997 -0.29428801 0.92154199
+v -0.15714800 -0.30223501 1.07855999
+v -0.15817800 -0.30309999 1.07855999
+v -0.15885100 -0.30426401 1.07855999
+v -0.15714800 -0.30223501 0.95777202
+v -0.15714800 -0.29335999 0.95777202
+v -0.15588400 -0.29335999 0.95777202
+v -0.15714800 -0.30223501 1.07855999
+v -0.15714800 -0.29335999 1.07855999
+v -0.15714800 -0.29335999 0.95777202
+v -0.15327600 -0.30223501 1.07855999
+v -0.15327600 -0.29335999 1.07855999
+v -0.15454000 -0.29335999 1.07855999
+v -0.15714800 -0.30223501 0.95777202
+v -0.15588400 -0.29335999 0.95777202
+v -0.15588400 -0.29335999 1.07855999
+v -0.15454000 -0.29335999 1.07855999
+v -0.15157300 -0.30691299 0.95777202
+v -0.15224600 -0.30807799 0.95777202
+v -0.15327600 -0.30894199 0.95777202
+v -0.15454000 -0.30940199 1.07855999
+v -0.15327600 -0.30894199 1.07855999
+v -0.15224600 -0.30807799 1.07855999
+v -0.15327600 -0.30894199 0.95777202
+v -0.15327600 -0.30894199 1.07855999
+v -0.15454000 -0.30940199 1.07855999
+v -0.15454000 -0.30940199 0.95777202
+v -0.15588400 -0.30940199 1.07855999
+v -0.15908401 -0.30558899 0.95777202
+v -0.15817800 -0.30309999 0.95777202
+v -0.15588400 -0.30940199 0.95777202
+v -0.15454000 -0.30940199 0.95777202
+v -0.15588400 -0.30940199 0.95777202
+v -0.15714800 -0.30223501 1.07855999
+v -0.15714800 -0.30223501 0.95777202
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+v -0.15714800 -0.30894199 1.07855999
+v -0.15224600 -0.30309999 1.07855999
+v -0.15817800 -0.30309999 1.07855999
+v -0.15885100 -0.30426401 0.95777202
+v -0.15588400 -0.30940199 1.07855999
+v -0.15714800 -0.30894199 1.07855999
+v -0.15714800 -0.30894199 0.95777202
+v -0.15454000 -0.30177501 0.95777202
+v -0.15454000 -0.29335999 0.95777202
+v -0.15327600 -0.29335999 0.95777202
+v -0.15327600 -0.30223501 0.95777202
+v -0.15885100 -0.30691299 1.07855999
+v -0.15908401 -0.30558899 1.07855999
+v -0.15454000 -0.29335999 0.95777202
+v -0.15817800 -0.30807799 1.07855999
+v -0.15885100 -0.30426401 1.07855999
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+v -0.15908401 -0.30558899 0.95777202
+v -0.15908401 -0.30558899 1.07855999
+v -0.15327600 -0.29335999 1.07855999
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+v -0.15454000 -0.29335999 0.95777202
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+v -0.15157300 -0.30426401 1.07855999
+v -0.15224600 -0.30807799 0.95777202
+v -0.15224600 -0.30807799 1.07855999
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+v -0.15588400 -0.30177501 1.07855999
+v -0.15157300 -0.30691299 0.95777202
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+v -0.15588400 -0.29335999 1.07855999
+v -0.15454000 -0.30177501 1.07855999
+v -0.15327600 -0.29335999 1.07855999
+v -0.15327600 -0.30223501 1.07855999
+v -0.15327600 -0.30223501 0.95777202
+v -0.15157300 -0.30426401 0.95777202
+v -0.15133999 -0.30558899 1.07855999
+v -0.15133999 -0.30558899 0.95777202
+v -0.15327600 -0.29335999 0.95777202
+v -0.15157300 -0.30691299 1.07855999
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diff --git a/data/UPB_00001358/meta_data.json b/data/UPB_00001358/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd84319601be8e0a71062c934cd8bc0d2bcdb0e2
--- /dev/null
+++ b/data/UPB_00001358/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001358",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Wardrobe Cabinet Unit"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 13,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001358/model.urdf b/data/UPB_00001358/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3f29d75cbfa0e7607c5d29df293f0623d617b9a1
--- /dev/null
+++ b/data/UPB_00001358/model.urdf
@@ -0,0 +1,281 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="helper_link_2"/>
+  <link name="helper_link_3"/>
+  <link name="helper_link_4"/>
+  <link name="helper_link_5"/>
+  <link name="helper_link_6"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.781528 0.781528 0.781528"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.781528 0.781528 0.781528"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.781528 0.781528 0.781528"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.781528 0.781528 0.781528"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.781528 0.781528 0.781528"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.781528 0.781528 0.781528"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.781528 0.781528 0.781528"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.781528 0.781528 0.781528"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.781528 0.781528 0.781528"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.781528 0.781528 0.781528"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.781528 0.781528 0.781528"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.781528 0.781528 0.781528"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.781528 0.781528 0.781528"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.781528 0.781528 0.781528"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.781528 0.781528 0.781528"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.781528 0.781528 0.781528"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.781528 0.781528 0.781528"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.781528 0.781528 0.781528"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.781528 0.781528 0.781528"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.781528 0.781528 0.781528"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.781528 0.781528 0.781528"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.781528 0.781528 0.781528"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.781528 0.781528 0.781528"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.781528 0.781528 0.781528"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.781528 0.781528 0.781528"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.781528 0.781528 0.781528"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_13"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.780153 -0.228771 0.730745" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.780153 0.228771 -0.730745" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_13"/>
+    <child link="helper_link_1"/>
+    <origin xyz="-0.468300 -0.228771 0.730745" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0.468300 0.228771 -0.730745" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="link_13"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.154915 -0.228771 0.730745" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.154915 0.228771 -0.730745" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="revolute">
+    <parent link="link_13"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.158645 -0.228771 0.730745" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="-0.158645 0.228771 -0.730745" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="revolute">
+    <parent link="link_13"/>
+    <child link="helper_link_4"/>
+    <origin xyz="0.780082 -0.228771 0.730745" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_5"/>
+    <origin xyz="-0.780082 0.228771 -0.730745" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="revolute">
+    <parent link="link_13"/>
+    <child link="helper_link_5"/>
+    <origin xyz="-0.780698 -0.228771 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="helper_link_5"/>
+    <child link="link_6"/>
+    <origin xyz="0.780698 0.228771 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="revolute">
+    <parent link="link_13"/>
+    <child link="helper_link_6"/>
+    <origin xyz="-0.005202 -0.228771 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="helper_link_6"/>
+    <child link="link_7"/>
+    <origin xyz="0.005202 0.228771 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_16" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_17" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_18" type="fixed">
+    <parent link="link_5"/>
+    <child link="link_12"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_19" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_13"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001358/parts/1.mtl b/data/UPB_00001358/parts/1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc
--- /dev/null
+++ b/data/UPB_00001358/parts/1.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 1.png
diff --git a/data/UPB_00001358/parts/1.png b/data/UPB_00001358/parts/1.png
new file mode 100644
index 0000000000000000000000000000000000000000..5436bdeea58e05704b404947a9a608c9981b99e3
--- /dev/null
+++ b/data/UPB_00001358/parts/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33705462ce7ff667a3aa2ab7020f1e833ec6050ce2507ea88a4a39aa8ca28fae
+size 98
diff --git a/data/UPB_00001358/parts/2.mtl b/data/UPB_00001358/parts/2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..57a1c04a7f3f0f8866abca464506627fead239e6
--- /dev/null
+++ b/data/UPB_00001358/parts/2.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 2.png
diff --git a/data/UPB_00001358/parts/2.png b/data/UPB_00001358/parts/2.png
new file mode 100644
index 0000000000000000000000000000000000000000..5436bdeea58e05704b404947a9a608c9981b99e3
--- /dev/null
+++ b/data/UPB_00001358/parts/2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33705462ce7ff667a3aa2ab7020f1e833ec6050ce2507ea88a4a39aa8ca28fae
+size 98
diff --git a/data/UPB_00001358/parts/3.mtl b/data/UPB_00001358/parts/3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f1811c7dbfb695f993b629aa8fa52a2d2fc419b1
--- /dev/null
+++ b/data/UPB_00001358/parts/3.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 3.png
diff --git a/data/UPB_00001358/parts/3.png b/data/UPB_00001358/parts/3.png
new file mode 100644
index 0000000000000000000000000000000000000000..5436bdeea58e05704b404947a9a608c9981b99e3
--- /dev/null
+++ b/data/UPB_00001358/parts/3.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33705462ce7ff667a3aa2ab7020f1e833ec6050ce2507ea88a4a39aa8ca28fae
+size 98
diff --git a/data/UPB_00001358/parts/4.mtl b/data/UPB_00001358/parts/4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..09452450b9e8e9282ad1a92706e3e1f6ac239875
--- /dev/null
+++ b/data/UPB_00001358/parts/4.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 4.png
diff --git a/data/UPB_00001358/parts/4.png b/data/UPB_00001358/parts/4.png
new file mode 100644
index 0000000000000000000000000000000000000000..5436bdeea58e05704b404947a9a608c9981b99e3
--- /dev/null
+++ b/data/UPB_00001358/parts/4.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33705462ce7ff667a3aa2ab7020f1e833ec6050ce2507ea88a4a39aa8ca28fae
+size 98
diff --git a/data/UPB_00001358/parts/5.mtl b/data/UPB_00001358/parts/5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d43c57b3f0e98a3e40743b896155cc3aa93ebe6e
--- /dev/null
+++ b/data/UPB_00001358/parts/5.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 5.png
diff --git a/data/UPB_00001358/parts/5.png b/data/UPB_00001358/parts/5.png
new file mode 100644
index 0000000000000000000000000000000000000000..5436bdeea58e05704b404947a9a608c9981b99e3
--- /dev/null
+++ b/data/UPB_00001358/parts/5.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33705462ce7ff667a3aa2ab7020f1e833ec6050ce2507ea88a4a39aa8ca28fae
+size 98
diff --git a/data/UPB_00001358/parts/6.mtl b/data/UPB_00001358/parts/6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9bdd1db9ee7771e097f5aeb7f5c8894b845287d3
--- /dev/null
+++ b/data/UPB_00001358/parts/6.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 6.png
diff --git a/data/UPB_00001358/parts/6.png b/data/UPB_00001358/parts/6.png
new file mode 100644
index 0000000000000000000000000000000000000000..5436bdeea58e05704b404947a9a608c9981b99e3
--- /dev/null
+++ b/data/UPB_00001358/parts/6.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33705462ce7ff667a3aa2ab7020f1e833ec6050ce2507ea88a4a39aa8ca28fae
+size 98
diff --git a/data/UPB_00001358/parts/7.mtl b/data/UPB_00001358/parts/7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dff8f6f0b5634871fcba48e53c20d8bd728090f2
--- /dev/null
+++ b/data/UPB_00001358/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_00001358/parts/7.png b/data/UPB_00001358/parts/7.png
new file mode 100644
index 0000000000000000000000000000000000000000..5436bdeea58e05704b404947a9a608c9981b99e3
--- /dev/null
+++ b/data/UPB_00001358/parts/7.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33705462ce7ff667a3aa2ab7020f1e833ec6050ce2507ea88a4a39aa8ca28fae
+size 98
diff --git a/data/UPB_00001358/parts/part_1.obj b/data/UPB_00001358/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7a57dacd567773ab4a35e06fe3d17e7f09accc2
--- /dev/null
+++ b/data/UPB_00001358/parts/part_1.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+mtllib 1.mtl
+usemtl material_0
+v -0.99900001 -0.29228899 1.37450004
+v -0.99900001 -0.29228801 0.87250000
+v -0.60270000 -0.29228899 0.87250000
+v -0.60270000 -0.29228899 1.37450004
+v -0.64604998 -0.29228801 0.91654199
+v -0.95867401 -0.29228801 0.91654199
+v -0.65104997 -0.29228801 0.92154199
+v -0.95367402 -0.29228801 0.92154199
+v -0.95867401 -0.29228801 0.91654199
+v -0.64604998 -0.29228801 0.91654199
+v -0.64604998 -0.29428801 0.91654199
+v -0.65105099 -0.29228899 1.32290995
+v -0.95367402 -0.29228899 1.32290995
+v -0.95867401 -0.29228899 1.32790995
+v -0.95867401 -0.29428801 0.91654199
+v -0.95867401 -0.29428899 1.32790995
+v -0.95867401 -0.29228899 1.32790995
+v -0.65105099 -0.29428899 1.32290995
+v -0.95867401 -0.29428899 1.32790995
+v -0.95367402 -0.29428899 1.32290995
+v -0.64605099 -0.29228899 1.32790995
+v -0.65105099 -0.29428899 1.32290995
+v -0.95367402 -0.29428899 1.32290995
+v -0.95367402 -0.29228899 1.32290995
+v -0.95867401 -0.29428899 1.32790995
+v -0.64605099 -0.29428899 1.32790995
+v -0.64605099 -0.29228899 1.32790995
+v -0.64605099 -0.29428899 1.32790995
+v -0.95367402 -0.29228801 0.92154199
+v -0.95367402 -0.29228899 1.32290995
+v -0.95367402 -0.29428899 1.32290995
+v -0.95367402 -0.29428801 0.92154199
+v -0.65104997 -0.29428801 0.92154199
+v -0.65104997 -0.29228801 0.92154199
+v -0.95367402 -0.29228801 0.92154199
+v -0.95367402 -0.29428801 0.92154199
+v -0.65104997 -0.29428801 0.92154199
+v -0.65105099 -0.29228899 1.32290995
+v -0.65104997 -0.29228801 0.92154199
+v -0.65104997 -0.29428801 0.92154199
+v -0.65105099 -0.29428899 1.32290995
+v -0.65105099 -0.29228899 1.32290995
+v -0.95867401 -0.29228899 1.32790995
+v -0.95367402 -0.29428801 0.92154199
+v -0.95867401 -0.29428801 0.91654199
+v -0.64605099 -0.29428899 1.32790995
+v -0.64604998 -0.29428801 0.91654199
+v -0.64604998 -0.29228801 0.91654199
+v -0.64605099 -0.29228899 1.32790995
+v -0.64604998 -0.29428801 0.91654199
+v -0.95867401 -0.29228801 0.91654199
+v -0.95867401 -0.29428801 0.91654199
+vt 0.54895833 0.37946429
+vt 0.54895833 0.31696429
+vt 0.57933477 0.31696429
+vt 0.57933477 0.37946429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+vt 0.14895833 0.31696429
+f 1/1 2/2 3/3
+f 3/3 4/4 1/1
+f 5/5 6/6 7/7
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diff --git a/data/UPB_00001358/parts/part_2.obj b/data/UPB_00001358/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..282bcf7d1cc4ada3cad6860b3f0484ebc8f44126
--- /dev/null
+++ b/data/UPB_00001358/parts/part_2.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/UPB_00001358/parts/part_3.obj b/data/UPB_00001358/parts/part_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..320335f403ea0588f33471cc0826dc8d7ef5de37
--- /dev/null
+++ b/data/UPB_00001358/parts/part_3.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/UPB_00001358/parts/part_4.obj b/data/UPB_00001358/parts/part_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85d073e8130d7b59ee514ad51df5243f773a6107
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..fc84ec4e9bd1fda50c4d14bee383164523f3e231
--- /dev/null
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diff --git a/data/UPB_00001358/parts/part_6.obj b/data/UPB_00001358/parts/part_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9a89a5c2fb65d6a3b6291662ec952a05b952a99
--- /dev/null
+++ b/data/UPB_00001358/parts/part_6.obj
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diff --git a/data/UPB_00001358/parts/part_7.obj b/data/UPB_00001358/parts/part_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..342e3e9aaf5b80f9c1861e7051ca72038e85c0ac
--- /dev/null
+++ b/data/UPB_00001358/parts/part_7.obj
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