diff --git a/.gitattributes b/.gitattributes
index 7e197f0f07db5b81d7589eb89ae2f342ba267e7b..d706b13e9faf4c4ca691ddcd28e4e7ff45f0c6c2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -8757,3 +8757,31 @@ data/UPB_00001375/plys/7.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001375/plys/8.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001375/plys/9.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001375/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/full_model/model.obj filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/10.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/11.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/12.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/13.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/14.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/15.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/16.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/17.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/18.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/19.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/20.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/21.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/22.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/23.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/24.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/25.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/26.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/7.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/8.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/9.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001376/plys/model.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/data/UPB_00001376/annotations/part_12.json b/data/UPB_00001376/annotations/part_12.json
new file mode 100644
index 0000000000000000000000000000000000000000..324c1df346f18f2c5f8f70f0ee9bd9c91141c79e
--- /dev/null
+++ b/data/UPB_00001376/annotations/part_12.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001376",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Central Right Arched Door",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Right leaf of the central pair, MDF with an arched inset, approx 50*190*2.5 cm.",
+        "functional_description": "Completes the closure of the central wardrobe bay.",
+        "movement_description": "Rotates outward about vertical hinges fixed to the carcass.",
+        "grasp_description": "Operated with handle Part 20."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.6,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                12,
+                20
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.43808260560035706,
+                    -0.29583513736724854,
+                    -1.4994929742329077e-08
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001376/annotations/part_13.json b/data/UPB_00001376/annotations/part_13.json
new file mode 100644
index 0000000000000000000000000000000000000000..74697c186488a8691910e25103999bfd3cba5ebd
--- /dev/null
+++ b/data/UPB_00001376/annotations/part_13.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001376",
+        "label": "13"
+    },
+    "part_level": {
+        "part_name": "Handle for Far-Left Tall Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Curved vertical pull handle, approx 18*2.5*2 cm, brushed stainless steel.",
+        "functional_description": "Provides leverage to open/close the far-left door.",
+        "movement_description": "Rigidly affixed to Door Part 5; no independent motion.",
+        "grasp_description": "Common pinch or wrap grasp; smooth edges for comfort."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193,
+        "hardness": 170,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001376/annotations/part_14.json b/data/UPB_00001376/annotations/part_14.json
new file mode 100644
index 0000000000000000000000000000000000000000..7aed16ebf83e4821c72ec6928b2aebeaa06aeb0e
--- /dev/null
+++ b/data/UPB_00001376/annotations/part_14.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001376",
+        "label": "14"
+    },
+    "part_level": {
+        "part_name": "Handle for Left-Inner Tall Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Stainless steel vertical pull, approx 18*2.5*2 cm.",
+        "functional_description": "User interface for Door Part 6.",
+        "movement_description": "Rigid to the door panel; it follows the door\u2019s rotation.",
+        "grasp_description": "Wrap grasp with one hand."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193,
+        "hardness": 170,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001376/annotations/part_15.json b/data/UPB_00001376/annotations/part_15.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5d807b1103b14058715a4f19574c010b0519325
--- /dev/null
+++ b/data/UPB_00001376/annotations/part_15.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001376",
+        "label": "15"
+    },
+    "part_level": {
+        "part_name": "Handle for Right-Inner Tall Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Vertical stainless steel handle, approx 18*2.5*2 cm.",
+        "functional_description": "Pull for Door Part 7.",
+        "movement_description": "Rigidly fixed to the door.",
+        "grasp_description": "Comfortable wrap or pinch grasp."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193,
+        "hardness": 170,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001376/annotations/part_16.json b/data/UPB_00001376/annotations/part_16.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6b1642bc3bbb0394e7f7e42e4ef1edc87156b2d
--- /dev/null
+++ b/data/UPB_00001376/annotations/part_16.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001376",
+        "label": "16"
+    },
+    "part_level": {
+        "part_name": "Handle for Far-Right Tall Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Curved stainless pull, approx 18*2.5*2 cm.",
+        "functional_description": "Interface to open Door Part 8.",
+        "movement_description": "Rigid attachment; moves with the door.",
+        "grasp_description": "Typical one-hand pull."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193,
+        "hardness": 170,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001376/annotations/part_17.json b/data/UPB_00001376/annotations/part_17.json
new file mode 100644
index 0000000000000000000000000000000000000000..c15bf22450016b778f71e5cc82c90c96c52ddab1
--- /dev/null
+++ b/data/UPB_00001376/annotations/part_17.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001376",
+        "label": "17"
+    },
+    "part_level": {
+        "part_name": "Handle for Upper Left Small Door",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Compact pull knob/handle, approx 12*2*2 cm.",
+        "functional_description": "Used to lift or pull open the overhead Door Part 9.",
+        "movement_description": "Rigid to the door face; follows the door\u2019s rotation.",
+        "grasp_description": "Pinch or hook grasp due to small size."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193,
+        "hardness": 165,
+        "poisson": 0.3,
+        "friction": 0.42
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001376/annotations/part_18.json b/data/UPB_00001376/annotations/part_18.json
new file mode 100644
index 0000000000000000000000000000000000000000..391237e99e2274daf6bc7dc8fcce6a6fc8952ddd
--- /dev/null
+++ b/data/UPB_00001376/annotations/part_18.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001376",
+        "label": "18"
+    },
+    "part_level": {
+        "part_name": "Handle for Upper Right Small Door",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Small stainless pull, approx 12*2*2 cm.",
+        "functional_description": "Interface for overhead Door Part 10.",
+        "movement_description": "No relative motion with its door.",
+        "grasp_description": "Pinch grasp."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193,
+        "hardness": 165,
+        "poisson": 0.3,
+        "friction": 0.42
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001376/annotations/part_19.json b/data/UPB_00001376/annotations/part_19.json
new file mode 100644
index 0000000000000000000000000000000000000000..e302c8ac3a8fc1dcb1a3f8cffd9162d990c38d0d
--- /dev/null
+++ b/data/UPB_00001376/annotations/part_19.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001376",
+        "label": "19"
+    },
+    "part_level": {
+        "part_name": "Handle for Central Left Arched Door",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Ergonomic vertical pull, approx 18*2.5*2 cm.",
+        "functional_description": "Primary user interface for central access via Door Part 11.",
+        "movement_description": "Rigid to the door; no relative motion.",
+        "grasp_description": "Frequent wrap grasp during daily use."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193,
+        "hardness": 170,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001376/annotations/part_2.json b/data/UPB_00001376/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1fb6d0d4fe414184ed67551ea621f4e0b1d8bfb
--- /dev/null
+++ b/data/UPB_00001376/annotations/part_2.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001376",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Second Drawer Box",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "MDF laminate drawer box matching the upper drawer, approx 80*45*12 cm.",
+        "functional_description": "General storage below the top drawer.",
+        "movement_description": "Translates on its slide rails relative to the carcass.",
+        "grasp_description": "Operated by its front pull (Part 22)."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.6,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.38
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                22
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.281436026096344,
+                    -0.7785722017288208
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001376/annotations/part_20.json b/data/UPB_00001376/annotations/part_20.json
new file mode 100644
index 0000000000000000000000000000000000000000..63b160ea6c0b366807109a41c918d92576cdfe88
--- /dev/null
+++ b/data/UPB_00001376/annotations/part_20.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001376",
+        "label": "20"
+    },
+    "part_level": {
+        "part_name": "Handle for Central Right Arched Door",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Matching vertical stainless handle, approx 18*2.5*2 cm.",
+        "functional_description": "Used constantly to open Door Part 12.",
+        "movement_description": "Fixed to Door Part 12.",
+        "grasp_description": "Firm wrap grasp with moderate friction."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193,
+        "hardness": 170,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001376/annotations/part_21.json b/data/UPB_00001376/annotations/part_21.json
new file mode 100644
index 0000000000000000000000000000000000000000..78b7232ebfea63f776b1644e33cf9a3c18d194e7
--- /dev/null
+++ b/data/UPB_00001376/annotations/part_21.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001376",
+        "label": "21"
+    },
+    "part_level": {
+        "part_name": "Handle for Top Drawer",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Curved drawer pull, approx 14*2*2 cm.",
+        "functional_description": "Allows the user to pull Drawer Part 1.",
+        "movement_description": "Rigid to the drawer face.",
+        "grasp_description": "Pinch or four-finger pull."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193,
+        "hardness": 165,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001376/annotations/part_22.json b/data/UPB_00001376/annotations/part_22.json
new file mode 100644
index 0000000000000000000000000000000000000000..92beac6d83a020b71040950084797b0ab4ef970b
--- /dev/null
+++ b/data/UPB_00001376/annotations/part_22.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001376",
+        "label": "22"
+    },
+    "part_level": {
+        "part_name": "Handle for Second Drawer",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Stainless drawer pull, approx 14*2*2 cm.",
+        "functional_description": "Interface to operate Drawer Part 2.",
+        "movement_description": "Rigidly secured to the drawer front.",
+        "grasp_description": "Typical finger pull."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193,
+        "hardness": 165,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001376/annotations/part_23.json b/data/UPB_00001376/annotations/part_23.json
new file mode 100644
index 0000000000000000000000000000000000000000..47195f6998d90a43e219a9e478688515c0d006a3
--- /dev/null
+++ b/data/UPB_00001376/annotations/part_23.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001376",
+        "label": "23"
+    },
+    "part_level": {
+        "part_name": "Handle for Third Drawer",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Curved metal drawer pull, approx 14*2*2 cm.",
+        "functional_description": "Allows extraction of Drawer Part 3.",
+        "movement_description": "No motion relative to the drawer.",
+        "grasp_description": "Used with a finger hook or pinch."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193,
+        "hardness": 165,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001376/annotations/part_24.json b/data/UPB_00001376/annotations/part_24.json
new file mode 100644
index 0000000000000000000000000000000000000000..a915ceae163855584559326a7882996176add69d
--- /dev/null
+++ b/data/UPB_00001376/annotations/part_24.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001376",
+        "label": "24"
+    },
+    "part_level": {
+        "part_name": "Handle for Bottom Drawer",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Sturdy drawer handle, approx 14*2*2 cm.",
+        "functional_description": "Facilitates opening of the heaviest drawer (Part 4).",
+        "movement_description": "Rigidly fastened to the drawer front.",
+        "grasp_description": "Two- or four-finger pull for heavier loads."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193,
+        "hardness": 165,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001376/annotations/part_25.json b/data/UPB_00001376/annotations/part_25.json
new file mode 100644
index 0000000000000000000000000000000000000000..174128b15ef5cd98055a58d7d641380c7c9ecf21
--- /dev/null
+++ b/data/UPB_00001376/annotations/part_25.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001376",
+        "label": "25"
+    },
+    "part_level": {
+        "part_name": "Hanging Rod",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Round stainless clothing rod spanning the central bay, approx 100*3*3 cm.",
+        "functional_description": "Supports garment hangers within the central compartment.",
+        "movement_description": "Fixed to the carcass via brackets; no intentional motion.",
+        "grasp_description": "Touched when placing or sliding hangers; also grasped lightly during organizing."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193,
+        "hardness": 160,
+        "poisson": 0.29,
+        "friction": 0.34
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001376/annotations/part_26.json b/data/UPB_00001376/annotations/part_26.json
new file mode 100644
index 0000000000000000000000000000000000000000..57651adc9e354d11b9b151752090cf35e8731727
--- /dev/null
+++ b/data/UPB_00001376/annotations/part_26.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001376",
+        "label": "26"
+    },
+    "part_level": {
+        "part_name": "Wardrobe Carcass and Internal Partitions",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "The main MDF laminate body with top cornice, side panels, shelves, partitions, and back panel; overall size equals the full wardrobe (260*60*240 cm).",
+        "functional_description": "Provides the load-bearing structure, houses compartments, and guides doors and drawers.",
+        "movement_description": "Static reference frame for all moving components; contains slide rails and hinge mounts.",
+        "grasp_description": "Not intended to be grasped except at edges during installation."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.6,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001376/annotations/part_3.json b/data/UPB_00001376/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b0ba5f16281482fcf85ab007dfda6a8541a30e2
--- /dev/null
+++ b/data/UPB_00001376/annotations/part_3.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001376",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Third Drawer Box",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Central stack MDF drawer, approx 80*45*12 cm.",
+        "functional_description": "Storage for folded clothing or accessories.",
+        "movement_description": "Slides outward along metal runners anchored to the carcass.",
+        "grasp_description": "Pulled via the attached handle (Part 23)."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.6,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.38
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                23
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.32369181513786316,
+                    -0.9681065678596497
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001376/annotations/part_4.json b/data/UPB_00001376/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..84c216662a34cf39dc0988e08a91512b5b89e33a
--- /dev/null
+++ b/data/UPB_00001376/annotations/part_4.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001376",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Bottom Drawer Box",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Lowest MDF laminate drawer with profiled front, approx 80*45*12 cm.",
+        "functional_description": "Deep storage for bulkier items.",
+        "movement_description": "Translates relative to the carcass using slides; slightly higher damping for the heavier load.",
+        "grasp_description": "Users pull the front handle (Part 24)."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.6,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.38
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                24
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.2501111328601837,
+                    0.0,
+                    -1.1479296684265137
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001376/annotations/part_5.json b/data/UPB_00001376/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..03b291f11ab0e7d84b0c96395c48ecaeaa20568c
--- /dev/null
+++ b/data/UPB_00001376/annotations/part_5.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001376",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Far-Left Tall Door",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Tall MDF raised-panel door, approx 45*200*2.2 cm, located at the far left bay.",
+        "functional_description": "Covers a vertical storage bay for hanging or shelving.",
+        "movement_description": "Swings about a vertical hinge line on the left side relative to the carcass.",
+        "grasp_description": "Pulled by the attached handle (Part 13); edges are rarely grasped."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.6,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                5,
+                13
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -1.3485206365585327,
+                    -0.2840192914009094,
+                    0.9142982959747314
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001376/annotations/part_6.json b/data/UPB_00001376/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..65c9da7306d26d433e159dac53dc86ad0a090146
--- /dev/null
+++ b/data/UPB_00001376/annotations/part_6.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001376",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Left-Inner Tall Door",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Tall MDF door next to the far-left door, approx 45*200*2.2 cm.",
+        "functional_description": "Encloses the second vertical bay.",
+        "movement_description": "Rotates about side hinges relative to the carcass.",
+        "grasp_description": "Operated with handle Part 14."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.6,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                6,
+                14
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    -0.4600104093551636,
+                    -0.26973018050193787,
+                    0.4006076157093048
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001376/annotations/part_7.json b/data/UPB_00001376/annotations/part_7.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f52970b7a286018d2b31849cfd00e85c39c5cd3
--- /dev/null
+++ b/data/UPB_00001376/annotations/part_7.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001376",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Right-Inner Tall Door",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Tall MDF door on the right side of the center, approx 45*200*2.2 cm.",
+        "functional_description": "Covers another vertical bay for shelving or hanging space.",
+        "movement_description": "Rotates open on hinges attached to the carcass.",
+        "grasp_description": "Pulled via handle Part 15."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.6,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                7,
+                15
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    1.3385272026062012,
+                    -0.29572415351867676,
+                    0.5569235682487488
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001376/annotations/part_8.json b/data/UPB_00001376/annotations/part_8.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8c086d9fb6e2048d815a48a907095072f87b6e4
--- /dev/null
+++ b/data/UPB_00001376/annotations/part_8.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001376",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Far-Right Tall Door",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Rightmost tall MDF door, approx 45*200*2.2 cm.",
+        "functional_description": "Protects the outer-right compartment.",
+        "movement_description": "Swings outward about a vertical hinge relative to the carcass.",
+        "grasp_description": "Used through handle Part 16."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.6,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                8,
+                16
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    0.45555374026298523,
+                    -0.27265962958335876,
+                    1.1964612007141113
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001376/annotations/part_9.json b/data/UPB_00001376/annotations/part_9.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3e2fb4940d7a541ce7a8472b9850c4bbdeafff0
--- /dev/null
+++ b/data/UPB_00001376/annotations/part_9.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001376",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Upper Small Door (Left of Center)",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Square raised-panel MDF door above the main doors, approx 45*45*2 cm.",
+        "functional_description": "Access to a shallow overhead cabinet.",
+        "movement_description": "Typically opens upward about a top hinge, limited by the frame.",
+        "grasp_description": "Pulled down/up using handle Part 17."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.75,
+        "young": 3.6,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.42
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                9,
+                17
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.4398970305919647,
+                    -0.28547754883766174,
+                    1.1591953039169312
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001376/full_model/material.mtl b/data/UPB_00001376/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001376/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_00001376/full_model/material_0.png b/data/UPB_00001376/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..85caefe44018afa18f8fd0b3de69fada74cf6ba5
--- /dev/null
+++ b/data/UPB_00001376/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80b2c00dbcb67697b8d96c8ec395f754d8aa461139292eccdfc050fdee79062e
+size 536071
diff --git a/data/UPB_00001376/full_model/model.obj b/data/UPB_00001376/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1aa9bfb8ea36d595b1d1e6db106935c200f7b50
--- /dev/null
+++ b/data/UPB_00001376/full_model/model.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fa64c617dcb19f45c25dba7d767c866f3415477b7b7dc09c06e8d51d7b78f2d
+size 16015979
diff --git a/data/UPB_00001376/meta_data.json b/data/UPB_00001376/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad5b9f8a6b06ba86ea76ddf1919820988fa87209
--- /dev/null
+++ b/data/UPB_00001376/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001376",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Six-Door Wardrobe with Central Drawers"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 26,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001376/model.urdf b/data/UPB_00001376/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f5bbe45ff8c4978e0e0b1e8e571e9fa1b0dac336
--- /dev/null
+++ b/data/UPB_00001376/model.urdf
@@ -0,0 +1,542 @@
+<?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="helper_link_11"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_14">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_15">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_16">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_17">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_18">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_18.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_18.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_19">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_19.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_19.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_20">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_20.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_20.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_21">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_21.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_21.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_22">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_22.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_22.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_23">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_23.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_23.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_24">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_24.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_24.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_25">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_25.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_25.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_26">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_26.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_26.obj" scale="0.898184 0.898184 0.898184"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_26"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.276379 -0.531432" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.26945529544905406" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.276379 0.531432" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_26"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 -0.252781 -0.699301" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.26945529544905406" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 0.252781 0.699301" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_26"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.000000 -0.290735 -0.869538" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.26945529544905406" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.000000 0.290735 0.869538" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="prismatic">
+    <parent link="link_26"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.224646 0.000000 -1.031052" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.26945529544905406" upper="0.0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="-0.224646 -0.000000 1.031052" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="revolute">
+    <parent link="link_26"/>
+    <child link="helper_link_4"/>
+    <origin xyz="-1.211220 -0.255102 0.821208" 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="1.211220 0.255102 -0.821208" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="revolute">
+    <parent link="link_26"/>
+    <child link="helper_link_5"/>
+    <origin xyz="-0.413174 -0.242267 0.359819" 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="0.413174 0.242267 -0.359819" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="revolute">
+    <parent link="link_26"/>
+    <child link="helper_link_6"/>
+    <origin xyz="1.202244 -0.265615 0.500220" 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="-1.202244 0.265615 -0.500220" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="revolute">
+    <parent link="link_26"/>
+    <child link="helper_link_7"/>
+    <origin xyz="0.409171 -0.244899 1.074643" 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="-0.409171 0.244899 -1.074643" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_16" type="revolute">
+    <parent link="link_26"/>
+    <child link="helper_link_8"/>
+    <origin xyz="-0.395109 -0.256411 1.041171" 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="0.395109 0.256411 -1.041171" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_18" type="revolute">
+    <parent link="link_26"/>
+    <child link="helper_link_9"/>
+    <origin xyz="0.400063 -0.250021 0.635431" 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="-0.400063 0.250021 -0.635431" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_20" type="revolute">
+    <parent link="link_26"/>
+    <child link="helper_link_10"/>
+    <origin xyz="-0.390596 -0.257590 0.265149" 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="0.390596 0.257590 -0.265149" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_22" type="revolute">
+    <parent link="link_26"/>
+    <child link="helper_link_11"/>
+    <origin xyz="0.393479 -0.265714 -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_23" type="fixed">
+    <parent link="helper_link_11"/>
+    <child link="link_12"/>
+    <origin xyz="-0.393479 0.265714 0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_24" type="fixed">
+    <parent link="link_5"/>
+    <child link="link_13"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_25" type="fixed">
+    <parent link="link_6"/>
+    <child link="link_14"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_26" type="fixed">
+    <parent link="link_7"/>
+    <child link="link_15"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_27" type="fixed">
+    <parent link="link_8"/>
+    <child link="link_16"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_28" type="fixed">
+    <parent link="link_9"/>
+    <child link="link_17"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_29" type="fixed">
+    <parent link="link_10"/>
+    <child link="link_18"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_30" type="fixed">
+    <parent link="link_11"/>
+    <child link="link_19"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_31" type="fixed">
+    <parent link="link_12"/>
+    <child link="link_20"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_32" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_21"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_33" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_22"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_34" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_23"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_35" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_24"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_36" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_25"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_37" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_26"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001376/parts/11.mtl b/data/UPB_00001376/parts/11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7e371f13938e2e39cdb079a9d640fe198027a692
--- /dev/null
+++ b/data/UPB_00001376/parts/11.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 11.png
diff --git a/data/UPB_00001376/parts/11.png b/data/UPB_00001376/parts/11.png
new file mode 100644
index 0000000000000000000000000000000000000000..8de4d2a1e33c3ee789c3626de2b19e26a81a0e64
--- /dev/null
+++ b/data/UPB_00001376/parts/11.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:890d62dda1d0099f57b415ca7a8fe7adfd4366d0da7127c1f54910f00fc6f820
+size 91
diff --git a/data/UPB_00001376/parts/12.mtl b/data/UPB_00001376/parts/12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d4ae65c6932ad7eb228aee942e90b5e6bf233496
--- /dev/null
+++ b/data/UPB_00001376/parts/12.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 12.png
diff --git a/data/UPB_00001376/parts/12.png b/data/UPB_00001376/parts/12.png
new file mode 100644
index 0000000000000000000000000000000000000000..8de4d2a1e33c3ee789c3626de2b19e26a81a0e64
--- /dev/null
+++ b/data/UPB_00001376/parts/12.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:890d62dda1d0099f57b415ca7a8fe7adfd4366d0da7127c1f54910f00fc6f820
+size 91
diff --git a/data/UPB_00001376/parts/T_696e75112c9c1c6b9214b0b0_color.jpg b/data/UPB_00001376/parts/T_696e75112c9c1c6b9214b0b0_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f5a68fe0d7a42390aa7e56ae36515550454307f8
--- /dev/null
+++ b/data/UPB_00001376/parts/T_696e75112c9c1c6b9214b0b0_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e87fef196bed93c23cf9a55fb2244aa733adbdfb694e6d99bd71ed12eb6bcbe8
+size 141629
diff --git a/data/UPB_00001376/parts/T_696e75112c9c1c6b9214b0b0_normal.jpg b/data/UPB_00001376/parts/T_696e75112c9c1c6b9214b0b0_normal.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5d6a011ecbd797f594b88a17fec7c3cf6141898c
--- /dev/null
+++ b/data/UPB_00001376/parts/T_696e75112c9c1c6b9214b0b0_normal.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:650fe2b4794d03863196d16082eb1177f174e1100cb9805fd34aeb00b198e552
+size 127809
diff --git a/data/UPB_00001376/parts/part_1.obj b/data/UPB_00001376/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ddff6f0d47c7fe025b68a88e732b03b3d8d5967
--- /dev/null
+++ b/data/UPB_00001376/parts/part_1.obj
@@ -0,0 +1,17885 @@
+mtllib wardrobe_YVIOQWRVALFRMPTULY888888_fWOAX.mtl
+v 0.373950124 -0.25987941 -0.639136612
+v -0.370561779 0.208965793 -0.639136612
+v -0.370561779 -0.25987941 -0.639136612
+v -0.370561779 0.208965793 -0.639136612
+v 0.373950124 -0.25987941 -0.639136612
+v 0.373950124 0.208965793 -0.639136612
+v 0.373950124 0.208965793 -0.654436648
+v -0.370561779 -0.25987941 -0.654436648
+v -0.370561779 0.208965793 -0.654436648
+v -0.370561779 -0.25987941 -0.654436648
+v 0.373950124 0.208965793 -0.654436648
+v 0.373950124 -0.25987941 -0.654436648
+v -0.370561779 0.208965793 -0.639136612
+v -0.370561779 -0.25987941 -0.654436648
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+v -0.370561779 -0.25987941 -0.654436648
+v -0.370561779 0.208965793 -0.639136612
+v -0.370561779 0.208965793 -0.654436648
+v 0.373950124 -0.25987941 -0.639136612
+v -0.370561779 -0.25987941 -0.654436648
+v 0.373950124 -0.25987941 -0.654436648
+v -0.370561779 -0.25987941 -0.654436648
+v 0.373950124 -0.25987941 -0.639136612
+v -0.370561779 -0.25987941 -0.639136612
+v 0.373950124 0.208965793 -0.654436648
+v 0.373950124 -0.25987941 -0.639136612
+v 0.373950124 -0.25987941 -0.654436648
+v 0.373950124 -0.25987941 -0.639136612
+v 0.373950124 0.208965793 -0.654436648
+v 0.373950124 0.208965793 -0.639136612
+v -0.370561779 0.208965793 -0.639136612
+v 0.373950124 0.208965793 -0.654436648
+v -0.370561779 0.208965793 -0.654436648
+v 0.373950124 0.208965793 -0.654436648
+v -0.370561779 0.208965793 -0.639136612
+v 0.373950124 0.208965793 -0.639136612
+v -0.36258164 -0.245883703 -0.656488717
+v -0.362011552 -0.245556295 -0.656136632
+v -0.362103462 -0.245957285 -0.656136632
+v -0.362011552 -0.245556295 -0.656136632
+v -0.36258164 -0.245883703 -0.656488717
+v -0.362506568 -0.245556295 -0.656488717
+v -0.362103462 -0.246420264 -0.655726612
+v -0.361700326 -0.246019304 -0.65528667
+v -0.362011552 -0.246450767 -0.65528667
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+v -0.362103462 -0.246420264 -0.655726612
+v -0.361802846 -0.246003523 -0.655726612
+v -0.363204807 -0.247052744 -0.655726612
+v -0.364011049 -0.247052744 -0.656136632
+v -0.363360405 -0.246897981 -0.656136632
+v -0.364011049 -0.247052744 -0.656136632
+v -0.363204807 -0.247052744 -0.655726612
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diff --git a/data/UPB_00001376/parts/part_10.obj b/data/UPB_00001376/parts/part_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38ab7cbfe365807c9d3fab26d97de34d88736ca6
--- /dev/null
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diff --git a/data/UPB_00001376/parts/part_11.obj b/data/UPB_00001376/parts/part_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..161b3472c2b73fb5ae2ae6708f36c413571482dd
--- /dev/null
+++ b/data/UPB_00001376/parts/part_11.obj
@@ -0,0 +1,16926 @@
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diff --git a/data/UPB_00001376/parts/part_12.obj b/data/UPB_00001376/parts/part_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fefcc478b75b3f22ffae00d027f1a573df36141a
--- /dev/null
+++ b/data/UPB_00001376/parts/part_12.obj
@@ -0,0 +1,16926 @@
+# https://github.com/mikedh/trimesh
+mtllib 12.mtl
+usemtl material_0
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diff --git a/data/UPB_00001376/parts/part_13.obj b/data/UPB_00001376/parts/part_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03f61d5a6238c64c08aa5671566648b6b2a112de
--- /dev/null
+++ b/data/UPB_00001376/parts/part_13.obj
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diff --git a/data/UPB_00001376/parts/part_14.obj b/data/UPB_00001376/parts/part_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67b93a8f6157fa3505a6b1cb64dea3f18cdf3a23
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diff --git a/data/UPB_00001376/parts/part_15.obj b/data/UPB_00001376/parts/part_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57eee4bc84a73d493b1879829d4449580c328fe0
--- /dev/null
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diff --git a/data/UPB_00001376/parts/part_16.obj b/data/UPB_00001376/parts/part_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db3a88567a14c95d660634bbe06e931ca935d1da
--- /dev/null
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diff --git a/data/UPB_00001376/parts/part_17.obj b/data/UPB_00001376/parts/part_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2831388b56f82a036da0ca4cb5483feaabf4ea06
--- /dev/null
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diff --git a/data/UPB_00001376/parts/part_19.obj b/data/UPB_00001376/parts/part_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..833258fd310167188e9d802390b376f5e099ec04
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..4bf4d0436cd6af33a565626801e57ffd9b97879b
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diff --git a/data/UPB_00001376/parts/part_20.obj b/data/UPB_00001376/parts/part_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a75631beb24eb6882c0dbfedaece6096f346da3
--- /dev/null
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diff --git a/data/UPB_00001376/parts/part_21.obj b/data/UPB_00001376/parts/part_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91e4ddcd6ad2f906b7da75854644a07c9102bdb1
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diff --git a/data/UPB_00001376/parts/part_22.obj b/data/UPB_00001376/parts/part_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4836c030e9657730bc5c77a8057349a1e9346c1d
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diff --git a/data/UPB_00001376/parts/part_23.obj b/data/UPB_00001376/parts/part_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..420560d92ccd383610cda8f9ce4518aec94ea091
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diff --git a/data/UPB_00001376/parts/part_24.obj b/data/UPB_00001376/parts/part_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e78e8cbe215c891ff5ad1789110e32fee7116e17
--- /dev/null
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diff --git a/data/UPB_00001376/parts/part_25.obj b/data/UPB_00001376/parts/part_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e90a98c9c93e8e5f7e37735575fd5d9273e79e2
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diff --git a/data/UPB_00001376/parts/part_26.obj b/data/UPB_00001376/parts/part_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deb73536bdf2ef02623c7a0e52b0e06fe5fdb190
--- /dev/null
+++ b/data/UPB_00001376/parts/part_26.obj
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diff --git a/data/UPB_00001376/parts/part_3.obj b/data/UPB_00001376/parts/part_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e469d73f7bc946f202b117918616ef13f0afa608
--- /dev/null
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diff --git a/data/UPB_00001376/parts/part_4.obj b/data/UPB_00001376/parts/part_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfaf3b3bbdbf4940a5a3522522266aaa00b73e85
--- /dev/null
+++ b/data/UPB_00001376/parts/part_4.obj
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diff --git a/data/UPB_00001376/parts/part_5.obj b/data/UPB_00001376/parts/part_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5ec63680c5c899cb86e3e20b1001ddd6d86b824
--- /dev/null
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diff --git a/data/UPB_00001376/parts/part_6.obj b/data/UPB_00001376/parts/part_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4c659a902b828193e16177e1975ecb3681b0379
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diff --git a/data/UPB_00001376/parts/part_7.obj b/data/UPB_00001376/parts/part_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..207cfaa457df2990615cccb0ffb7f3be3a4182d2
--- /dev/null
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diff --git a/data/UPB_00001376/parts/part_8.obj b/data/UPB_00001376/parts/part_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed39414e0ba982d0b83ec16f610b55e99b5d31db
--- /dev/null
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diff --git a/data/UPB_00001376/parts/wardrobe_YVIOQWRVALFRMPTULY888888_fWOAX.mtl b/data/UPB_00001376/parts/wardrobe_YVIOQWRVALFRMPTULY888888_fWOAX.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1b11e3881e86ba9d96bc9cbbf6bdc7c9db5d6f32
--- /dev/null
+++ b/data/UPB_00001376/parts/wardrobe_YVIOQWRVALFRMPTULY888888_fWOAX.mtl
@@ -0,0 +1,24 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
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diff --git a/data/UPB_00001377/annotations/object.json b/data/UPB_00001377/annotations/object.json
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+{
+    "object_name": "Built-in Study Wall Unit with Desk and Sliding Panel",
+    "category": "Furniture/StorageFurniture",
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+}
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diff --git a/data/UPB_00001377/annotations/part_1.json b/data/UPB_00001377/annotations/part_1.json
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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001377",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Desk Drawer",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "A shallow MDF drawer (approx. 60*40*10 cm) with white laminate finish.",
+        "functional_description": "Provides storage for stationery under the desk surface.",
+        "movement_description": "Slides in and out on runners relative to the main frame.",
+        "grasp_description": "Pulled via its knob; the drawer face itself is not typically grasped."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate_White",
+        "density": 0.7,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
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+}
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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001377",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Base Cabinet Door (below desk, right)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Small hinged MDF door (approx. 40*60*1.8 cm) under the desk area.",
+        "functional_description": "Access to a low cabinet or CPU bay.",
+        "movement_description": "Rotates on side hinges relative to the main frame.",
+        "grasp_description": "Pulled open with the small knob."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate_White",
+        "density": 0.7,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
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+            "C"
+        ],
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+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001377/annotations/part_11.json b/data/UPB_00001377/annotations/part_11.json
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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001377",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Knob for Upper Door Left",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Matte black ABS pull knob (approx. 4*4*2 cm).",
+        "functional_description": "Provides finger purchase to open/close the upper-left door.",
+        "movement_description": "No independent motion; rigid to door.",
+        "grasp_description": "Pinched or pulled by fingertips."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic_Black",
+        "density": 1.05,
+        "young": 2.1,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.55
+    },
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+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001377/annotations/part_12.json b/data/UPB_00001377/annotations/part_12.json
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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001377",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Knob for Upper Door Mid-Left",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "ABS knob for the mid-left upper door.",
+        "functional_description": "User handle for the door.",
+        "movement_description": "Rigid with the door.",
+        "grasp_description": "Held between fingers to pull the door."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic_Black",
+        "density": 1.05,
+        "young": 2.1,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.55
+    },
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+            "D"
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+        "motion_info": {}
+    }
+}
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diff --git a/data/UPB_00001377/annotations/part_13.json b/data/UPB_00001377/annotations/part_13.json
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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001377",
+        "label": "13"
+    },
+    "part_level": {
+        "part_name": "Knob for Upper Door Mid-Right",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "ABS knob attached to the mid-right upper door.",
+        "functional_description": "Handle for opening the door.",
+        "movement_description": "No relative motion to its door.",
+        "grasp_description": "Pinch grip to operate."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic_Black",
+        "density": 1.05,
+        "young": 2.1,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001377/annotations/part_14.json b/data/UPB_00001377/annotations/part_14.json
new file mode 100644
index 0000000000000000000000000000000000000000..88556341ff8f6ccef1d008947de1026bdec11041
--- /dev/null
+++ b/data/UPB_00001377/annotations/part_14.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001377",
+        "label": "14"
+    },
+    "part_level": {
+        "part_name": "Knob for Upper Door Narrow Right",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Small black ABS knob for the narrow right upper door.",
+        "functional_description": "Primary touchpoint to open the door.",
+        "movement_description": "Rigidly fastened with screw to door.",
+        "grasp_description": "Pulled with fingers."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic_Black",
+        "density": 1.05,
+        "young": 2.1,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001377/annotations/part_15.json b/data/UPB_00001377/annotations/part_15.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcfe0620fb38710bfe75d788f35613d864f138ff
--- /dev/null
+++ b/data/UPB_00001377/annotations/part_15.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001377",
+        "label": "15"
+    },
+    "part_level": {
+        "part_name": "Knob for Tall Door (left of column)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Ergonomic ABS knob located mid-height on the tall door.",
+        "functional_description": "Handle for the left tall cabinet door.",
+        "movement_description": "No motion relative to door.",
+        "grasp_description": "Power or pinch grip depending on load."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic_Black",
+        "density": 1.05,
+        "young": 2.1,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001377/annotations/part_16.json b/data/UPB_00001377/annotations/part_16.json
new file mode 100644
index 0000000000000000000000000000000000000000..28b50533358cd85951589f360fb8abadd4f6d51e
--- /dev/null
+++ b/data/UPB_00001377/annotations/part_16.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001377",
+        "label": "16"
+    },
+    "part_level": {
+        "part_name": "Knob for Tall Door (rightmost)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Matching ABS knob for the rightmost tall door.",
+        "functional_description": "User interface for opening the door.",
+        "movement_description": "Rigidly connected.",
+        "grasp_description": "Finger pull."
+    },
+    "basic_info": {
+        "material": "metal",
+        "density": 7.095321614455091,
+        "young": 162.66640479230088,
+        "hardness": 160.52450162034765,
+        "poisson": 0.3059805558283549,
+        "friction": 0.4258902091721515
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001377/annotations/part_17.json b/data/UPB_00001377/annotations/part_17.json
new file mode 100644
index 0000000000000000000000000000000000000000..0da7075806e3aa517847b5a98f1127a56c93a333
--- /dev/null
+++ b/data/UPB_00001377/annotations/part_17.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001377",
+        "label": "17"
+    },
+    "part_level": {
+        "part_name": "Knob for Left Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "ABS knob mounted on the left drawer front.",
+        "functional_description": "Provides grip to pull the drawer.",
+        "movement_description": "No relative movement to the drawer.",
+        "grasp_description": "Pinched and pulled outward."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic_Black",
+        "density": 1.05,
+        "young": 2.1,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001377/annotations/part_18.json b/data/UPB_00001377/annotations/part_18.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bb8592e8cb9f289694bc6ce29c5dee28f7e4c7b
--- /dev/null
+++ b/data/UPB_00001377/annotations/part_18.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001377",
+        "label": "18"
+    },
+    "part_level": {
+        "part_name": "Knob for Center Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "ABS knob for the center drawer front.",
+        "functional_description": "Primary touch point for opening the drawer.",
+        "movement_description": "Rigid connection to drawer.",
+        "grasp_description": "Pulled with fingers during operation."
+    },
+    "basic_info": {
+        "material": "metal",
+        "density": 7.095321614455091,
+        "young": 162.66640479230088,
+        "hardness": 160.52450162034765,
+        "poisson": 0.3059805558283549,
+        "friction": 0.4258902091721515
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001377/annotations/part_19.json b/data/UPB_00001377/annotations/part_19.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee22228b26c88b3d33e0563926bb5ac8cf232581
--- /dev/null
+++ b/data/UPB_00001377/annotations/part_19.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001377",
+        "label": "19"
+    },
+    "part_level": {
+        "part_name": "Knob for Right Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "ABS knob attached to the right desk drawer.",
+        "functional_description": "Allows user to pull the drawer out and push it closed.",
+        "movement_description": "No independent motion.",
+        "grasp_description": "Pinch or hook grip."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic_Black",
+        "density": 1.05,
+        "young": 2.1,
+        "hardness": 10,
+        "poisson": 0.35,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file