diff --git a/.gitattributes b/.gitattributes
index eab21b306da8317cfb62ae8f309a2f3d6a3d2eb6..d092946dcd9f8b108e988434158c31ad832778c8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -10169,3 +10169,23 @@ data/UPB_00001458/plys/6.ply filter=lfs diff=lfs merge=lfs -text
data/UPB_00001458/plys/7.ply filter=lfs diff=lfs merge=lfs -text
data/UPB_00001458/plys/8.ply filter=lfs diff=lfs merge=lfs -text
data/UPB_00001458/plys/9.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001458/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001459/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001459/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001459/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001459/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001459/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001459/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001460/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001460/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001460/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001460/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001460/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001460/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001460/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001461/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001461/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001461/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001461/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001461/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001461/plys/model.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/data/UPB_00001458/plys/model.ply b/data/UPB_00001458/plys/model.ply
new file mode 100644
index 0000000000000000000000000000000000000000..62383fb03f7d26cdec1415996779f0aac0419161
--- /dev/null
+++ b/data/UPB_00001458/plys/model.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fc74980d1421a09998a011469f4930aff2321b25b2a620e64856e9f89d4e4ea
+size 1600243
diff --git a/data/UPB_00001459/annotations/object.json b/data/UPB_00001459/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a67ddcb537d8d96b3372ce046cce827db77fda7
--- /dev/null
+++ b/data/UPB_00001459/annotations/object.json
@@ -0,0 +1,10 @@
+{
+ "object_name": "Tall Storage Cabinet with Four Doors",
+ "category": "Furniture/StorageFurniture",
+ "volume": [
+ 180.0,
+ 50.0,
+ 35.0
+ ],
+ "mass": 38.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001459/annotations/part_1.json b/data/UPB_00001459/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e97373bad52a69b60db506f334f66d2a05bc238
--- /dev/null
+++ b/data/UPB_00001459/annotations/part_1.json
@@ -0,0 +1,51 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001459",
+ "label": "1"
+ },
+ "part_level": {
+ "part_name": "Upper Left Door Panel",
+ "affordance": 2,
+ "graspable": true,
+ "basic_description": "Rectangular MDF laminate door panel, approx 25*1.8*100 cm, mounted at the upper-left front of the cabinet.",
+ "functional_description": "Provides access to the upper-left storage compartment; closes to conceal contents.",
+ "movement_description": "Rotates on side hinges relative to the cabinet body (part 6) with a typical opening range up to about 110 degrees.",
+ "grasp_description": "Grasped along the edge to pull open or push shut; contact is frequent during everyday use."
+ },
+ "basic_info": {
+ "material": "wood/MDF_Laminate",
+ "density": 0.75,
+ "young": 3.5,
+ "hardness": 25,
+ "poisson": 0.35,
+ "friction": 0.45
+ },
+ "kinematic_info": {
+ "motion_types": [
+ "C"
+ ],
+ "motion_info": {
+ "dependency": [
+ 1
+ ],
+ "C": {
+ "axis": [
+ 0.0,
+ 0.0,
+ -1.0
+ ],
+ "pos": [
+ -0.5835181474685669,
+ -0.3038152754306793,
+ 0.0
+ ],
+ "range": [
+ 0.0,
+ 1.9198621771937625
+ ],
+ "damping": 0.05
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001459/annotations/part_2.json b/data/UPB_00001459/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..48e0317890c55319a753ed6357d00f4b4928c286
--- /dev/null
+++ b/data/UPB_00001459/annotations/part_2.json
@@ -0,0 +1,51 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001459",
+ "label": "2"
+ },
+ "part_level": {
+ "part_name": "Upper Right Door Panel",
+ "affordance": 1,
+ "graspable": true,
+ "basic_description": "Rectangular MDF laminate door panel, approx 25*1.8*100 cm, mounted at the upper-right front.",
+ "functional_description": "Provides access to the upper-right storage compartment; serves as the primary frequently used door.",
+ "movement_description": "Hinged rotation relative to cabinet body (part 6); rigidly carries the glass overlay (part 5).",
+ "grasp_description": "Pulled open by edge grip; may be touched through the overlay surface for push-to-close."
+ },
+ "basic_info": {
+ "material": "wood/MDF_Laminate",
+ "density": 0.75,
+ "young": 3.5,
+ "hardness": 25,
+ "poisson": 0.35,
+ "friction": 0.45
+ },
+ "kinematic_info": {
+ "motion_types": [
+ "C"
+ ],
+ "motion_info": {
+ "dependency": [
+ 2
+ ],
+ "C": {
+ "axis": [
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "pos": [
+ 0.5830755233764648,
+ -0.3038152754306793,
+ 0.0
+ ],
+ "range": [
+ 0.0,
+ 1.9198621771937625
+ ],
+ "damping": 0.05
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001459/annotations/part_3.json b/data/UPB_00001459/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..49c075ed9ae520bed07f94c36aa042c9c4dfb852
--- /dev/null
+++ b/data/UPB_00001459/annotations/part_3.json
@@ -0,0 +1,51 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001459",
+ "label": "3"
+ },
+ "part_level": {
+ "part_name": "Lower Left Door Panel",
+ "affordance": 4,
+ "graspable": true,
+ "basic_description": "Rectangular MDF laminate door panel, approx 25*1.8*80 cm, located at the lower-left front.",
+ "functional_description": "Covers and provides access to the lower-left compartment, suitable for heavier items stored near the base.",
+ "movement_description": "Swings open on hinges attached to the cabinet body (part 6).",
+ "grasp_description": "Usually grasped at the vertical edge near the center seam for opening and closing."
+ },
+ "basic_info": {
+ "material": "wood/MDF_Laminate",
+ "density": 0.75,
+ "young": 3.5,
+ "hardness": 25,
+ "poisson": 0.35,
+ "friction": 0.5
+ },
+ "kinematic_info": {
+ "motion_types": [
+ "C"
+ ],
+ "motion_info": {
+ "dependency": [
+ 3
+ ],
+ "C": {
+ "axis": [
+ 0.0,
+ 0.0,
+ -1.0
+ ],
+ "pos": [
+ -0.5676169395446777,
+ -0.3038152754306793,
+ -0.8931870460510254
+ ],
+ "range": [
+ 0.0,
+ 1.9198621771937625
+ ],
+ "damping": 0.05
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001459/annotations/part_4.json b/data/UPB_00001459/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..e735c30d439a9dcfeffb2ed0c1d8f0ee6c9f0995
--- /dev/null
+++ b/data/UPB_00001459/annotations/part_4.json
@@ -0,0 +1,51 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001459",
+ "label": "4"
+ },
+ "part_level": {
+ "part_name": "Lower Right Door Panel",
+ "affordance": 3,
+ "graspable": true,
+ "basic_description": "Rectangular MDF laminate door panel, approx 25*1.8*80 cm, positioned at the lower-right front.",
+ "functional_description": "Provides access and closure for the lower-right storage space.",
+ "movement_description": "Rotates on hinges relative to the cabinet body (part 6); rigidly carries the right-side glass overlay (part 5).",
+ "grasp_description": "Gripped along the center seam or overlay edge to open and close."
+ },
+ "basic_info": {
+ "material": "wood/MDF_Laminate",
+ "density": 0.75,
+ "young": 3.5,
+ "hardness": 25,
+ "poisson": 0.35,
+ "friction": 0.5
+ },
+ "kinematic_info": {
+ "motion_types": [
+ "C"
+ ],
+ "motion_info": {
+ "dependency": [
+ 4
+ ],
+ "C": {
+ "axis": [
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "pos": [
+ 0.5812373161315918,
+ -0.3038152754306793,
+ -0.8836438655853271
+ ],
+ "range": [
+ 0.0,
+ 1.9198621771937625
+ ],
+ "damping": 0.05
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001459/annotations/part_6.json b/data/UPB_00001459/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd53ca6a055087c3179935ae6378aa94f77a7d13
--- /dev/null
+++ b/data/UPB_00001459/annotations/part_6.json
@@ -0,0 +1,30 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001459",
+ "label": "6"
+ },
+ "part_level": {
+ "part_name": "Cabinet Body (Frame and Shelves)",
+ "affordance": 8,
+ "graspable": false,
+ "basic_description": "Tall laminated particle-board carcass with internal vertical dividers and shelf structure; overall size approx 50*35*180 cm.",
+ "functional_description": "Provides structural support, compartments and mounting points for hinges and doors; carries the load of stored items.",
+ "movement_description": "Rigid and stationary; acts as the parent structure for all door rotations.",
+ "grasp_description": "Typically not grasped directly except during assembly or relocation."
+ },
+ "basic_info": {
+ "material": "wood/Particle_Board_Laminate",
+ "density": 0.65,
+ "young": 2.8,
+ "hardness": 18,
+ "poisson": 0.3,
+ "friction": 0.4
+ },
+ "kinematic_info": {
+ "motion_types": [
+ "D"
+ ],
+ "motion_info": {}
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001459/full_model/material.mtl b/data/UPB_00001459/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001459/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_00001459/full_model/material_0.png b/data/UPB_00001459/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f55239eaf98e54f7d895e885a7b78c29966d6eca
--- /dev/null
+++ b/data/UPB_00001459/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:681989f81ef2730deec9b0cd7dda9199dcd127d3b901343af05f1bf07c92c9aa
+size 2307966
diff --git a/data/UPB_00001459/full_model/model.obj b/data/UPB_00001459/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..381da98b23d260e2c5fa515af74a8b95f859f183
--- /dev/null
+++ b/data/UPB_00001459/full_model/model.obj
@@ -0,0 +1,620 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/data/UPB_00001459/meta_data.json b/data/UPB_00001459/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc7dcb370d6ad0221c445a6fb248e7079c82f4ea
--- /dev/null
+++ b/data/UPB_00001459/meta_data.json
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+{
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+ "source": [
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+ "organization": "Manycore Tech Inc.",
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+}
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diff --git a/data/UPB_00001459/model.urdf b/data/UPB_00001459/model.urdf
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diff --git a/data/UPB_00001459/parts/6.mtl b/data/UPB_00001459/parts/6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9bdd1db9ee7771e097f5aeb7f5c8894b845287d3
--- /dev/null
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diff --git a/data/UPB_00001459/parts/wardrobe_ZLT63LZVAIBF2PTUL4888888_WFXM3.mtl b/data/UPB_00001459/parts/wardrobe_ZLT63LZVAIBF2PTUL4888888_WFXM3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..023048d2b6cf93950b65880b7a33e243ed320adf
--- /dev/null
+++ b/data/UPB_00001459/parts/wardrobe_ZLT63LZVAIBF2PTUL4888888_WFXM3.mtl
@@ -0,0 +1,19 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_66d9779eada6f900012fa6d4
+Kd 1 1 1
+illum 1
+map_Kd ./T_66d9779eada6f900012fa6d4_color.jpg
+
+newmtl MI_66d9779ec049190001802d3e
+Kd 1 1 1
+illum 1
+map_Kd ./T_66d9779ec049190001802d3e_color.jpg
+bump ./T_66d9779ec049190001802d3e_normal.jpg
+map_bump ./T_66d9779ec049190001802d3e_normal.jpg
+
+newmtl MI_66d9779e97087a000197c9dc
+Kd 0.109800003 0.349000007 0.694100022
+illum 1
+
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new file mode 100644
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+++ b/data/UPB_00001459/plys/1.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 160242
diff --git a/data/UPB_00001459/plys/2.ply b/data/UPB_00001459/plys/2.ply
new file mode 100644
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+++ b/data/UPB_00001459/plys/2.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 160242
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+version https://git-lfs.github.com/spec/v1
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+size 160242
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+size 1203554
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00001460/annotations/object.json b/data/UPB_00001460/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad59651cd9d9c6cf7132c959993b75006ba2291a
--- /dev/null
+++ b/data/UPB_00001460/annotations/object.json
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+{
+ "object_name": "Two-door Wardrobe with Hanging Rod and Shoe Cubbies",
+ "category": "Furniture/StorageFurniture",
+ "volume": [
+ 100.0,
+ 50.0,
+ 190.0
+ ],
+ "mass": 55.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001460/annotations/part_1.json b/data/UPB_00001460/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..334b14f55e1031cced3b011a352783f035cb01e0
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+++ b/data/UPB_00001460/annotations/part_1.json
@@ -0,0 +1,51 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001460",
+ "label": "1"
+ },
+ "part_level": {
+ "part_name": "Left pull-out bin",
+ "affordance": 3,
+ "graspable": true,
+ "basic_description": "Small black open-top bin made from polypropylene plastic, sized to fit into the left lower cubby of the wardrobe.",
+ "functional_description": "Holds small items like accessories or socks and can be pulled out for access.",
+ "movement_description": "Slides in and out along the wardrobe depth within the left cubby compartment; minimal damping from plastic-on-wood contact.",
+ "grasp_description": "Users grasp the front lip of the bin to pull it out and push it back."
+ },
+ "basic_info": {
+ "material": "wood/Particle_Board_Laminate",
+ "density": 0.65,
+ "young": 3.0,
+ "hardness": 25,
+ "poisson": 0.3,
+ "friction": 0.45
+ },
+ "kinematic_info": {
+ "motion_types": [
+ "B"
+ ],
+ "motion_info": {
+ "dependency": [
+ 1
+ ],
+ "B": {
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+ 0.0,
+ 1.0,
+ 0.0
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+ ],
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+ 0.0
+ ],
+ "damping": 0.05
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001460/annotations/part_2.json b/data/UPB_00001460/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dc0fd4194e20192bab50850f12f12856e3ae33e
--- /dev/null
+++ b/data/UPB_00001460/annotations/part_2.json
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+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001460",
+ "label": "2"
+ },
+ "part_level": {
+ "part_name": "Right pull-out bin",
+ "affordance": 4,
+ "graspable": true,
+ "basic_description": "Right-side polypropylene storage bin matching the left bin, open-top with a lowered front edge.",
+ "functional_description": "Provides additional small-item storage inside the right cubby compartment.",
+ "movement_description": "Translates along the cabinet depth on smooth contact with the cubby surfaces.",
+ "grasp_description": "Pulled by hand at the front lip for access and stowed by pushing it back."
+ },
+ "basic_info": {
+ "material": "wood/Particle_Board_Laminate",
+ "density": 0.65,
+ "young": 3.0,
+ "hardness": 25,
+ "poisson": 0.3,
+ "friction": 0.45
+ },
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+ ],
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+ 0.0
+ ],
+ "damping": 0.05
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001460/annotations/part_3.json b/data/UPB_00001460/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..87f50a645787f5418dcb7d07d208f915127c8605
--- /dev/null
+++ b/data/UPB_00001460/annotations/part_3.json
@@ -0,0 +1,51 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001460",
+ "label": "3"
+ },
+ "part_level": {
+ "part_name": "Left door panel",
+ "affordance": 1,
+ "graspable": true,
+ "basic_description": "Tall MDF laminated door panel forming the left half of the wardrobe\u2019s front.",
+ "functional_description": "Covers and protects the wardrobe interior; provides privacy and dust protection.",
+ "movement_description": "Rotates about a vertical hinge line attached to the cabinet body; typical opening to roughly 110 degrees.",
+ "grasp_description": "Users grasp the door edge or handle area to swing the door open and closed."
+ },
+ "basic_info": {
+ "material": "wood/MDF_Laminate",
+ "density": 0.75,
+ "young": 3.5,
+ "hardness": 30,
+ "poisson": 0.3,
+ "friction": 0.45
+ },
+ "kinematic_info": {
+ "motion_types": [
+ "B"
+ ],
+ "motion_info": {
+ "dependency": [
+ 3
+ ],
+ "B": {
+ "axis": [
+ 1.0,
+ 0.0,
+ 0.0
+ ],
+ "pos": [
+ -0.32062509655952454,
+ 0.0,
+ 0.0
+ ],
+ "range": [
+ -0.0,
+ 0.6000000238418579
+ ],
+ "damping": 0.03
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001460/annotations/part_4.json b/data/UPB_00001460/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..4765b3aa12c32f9a632c7bd5d6e7aeccbeaca1a8
--- /dev/null
+++ b/data/UPB_00001460/annotations/part_4.json
@@ -0,0 +1,51 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001460",
+ "label": "4"
+ },
+ "part_level": {
+ "part_name": "Right door panel",
+ "affordance": 2,
+ "graspable": true,
+ "basic_description": "Right-side MDF laminated door panel matching the left door.",
+ "functional_description": "Completes the front closure and opens to access the interior fittings and storage.",
+ "movement_description": "Rotates on hinges fixed to the cabinet body, opening outward about a vertical axis.",
+ "grasp_description": "Grasped at the edge or handle zone to pull open and push closed."
+ },
+ "basic_info": {
+ "material": "wood/MDF_Laminate",
+ "density": 0.75,
+ "young": 3.5,
+ "hardness": 30,
+ "poisson": 0.3,
+ "friction": 0.45
+ },
+ "kinematic_info": {
+ "motion_types": [
+ "B"
+ ],
+ "motion_info": {
+ "dependency": [
+ 4
+ ],
+ "B": {
+ "axis": [
+ 1.0,
+ 0.0,
+ 0.0
+ ],
+ "pos": [
+ 0.3246024549007416,
+ 0.0,
+ 0.0
+ ],
+ "range": [
+ -0.6000000238418579,
+ 0.0
+ ],
+ "damping": 0.03
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001460/annotations/part_5.json b/data/UPB_00001460/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..a15c932488e33ae5e1d2a9f49dfdb507353e1579
--- /dev/null
+++ b/data/UPB_00001460/annotations/part_5.json
@@ -0,0 +1,30 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001460",
+ "label": "5"
+ },
+ "part_level": {
+ "part_name": "Interior fittings (hanging rod + bottom cubby assembly)",
+ "affordance": 5,
+ "graspable": true,
+ "basic_description": "Composite interior module comprising a laminated particle-board shoe/utility cubby at the bottom and a powder-coated steel hanging rod spanning the upper section; modeled as one rigid assembly.",
+ "functional_description": "Provides primary storage surfaces: the rod supports hanging garments, while the cubby holds shoes or bins.",
+ "movement_description": "Rigidly fixed to the cabinet body; the two plastic bins translate within the cubby compartments.",
+ "grasp_description": "Users grasp the hanging rod to place or remove hangers and may support themselves lightly while arranging clothing."
+ },
+ "basic_info": {
+ "material": "wood/Particle_Board_Laminate",
+ "density": 0.65,
+ "young": 3.0,
+ "hardness": 20,
+ "poisson": 0.3,
+ "friction": 0.45
+ },
+ "kinematic_info": {
+ "motion_types": [
+ "D"
+ ],
+ "motion_info": {}
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001460/annotations/part_6.json b/data/UPB_00001460/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..b395f2c0f389dff746d5341847f60105c48dd7d1
--- /dev/null
+++ b/data/UPB_00001460/annotations/part_6.json
@@ -0,0 +1,30 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001460",
+ "label": "6"
+ },
+ "part_level": {
+ "part_name": "Cabinet body (carcass)",
+ "affordance": 6,
+ "graspable": false,
+ "basic_description": "Main wardrobe carcass made from laminated particle board with sides, top, base, and back panel.",
+ "functional_description": "Provides structural support and enclosure for doors and interior fittings, transferring loads to the floor.",
+ "movement_description": "Stationary reference frame for all other parts; doors rotate relative to it and interior fittings are rigidly attached.",
+ "grasp_description": "Not generally grasped during normal use, except occasionally at the outer edges when moving the furniture."
+ },
+ "basic_info": {
+ "material": "wood/Particle_Board_Laminate",
+ "density": 0.65,
+ "young": 3.0,
+ "hardness": 25,
+ "poisson": 0.3,
+ "friction": 0.45
+ },
+ "kinematic_info": {
+ "motion_types": [
+ "D"
+ ],
+ "motion_info": {}
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001460/full_model/material.mtl b/data/UPB_00001460/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001460/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_00001460/full_model/material_0.png b/data/UPB_00001460/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1161ba9a677ad9c710b7deb6837dfa9464eb4d76
--- /dev/null
+++ b/data/UPB_00001460/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebd589c71bf556f707d0dcc44a8e6d9b6dfbd1003e5cd49bd897d32706687b20
+size 1279427
diff --git a/data/UPB_00001460/full_model/model.obj b/data/UPB_00001460/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ed283dc725a3c68290ee80c379f3bc166c8dcc3
--- /dev/null
+++ b/data/UPB_00001460/full_model/model.obj
@@ -0,0 +1,2256 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.05200006 0.26800054 -0.59999901
+v 0.04000006 0.28000051 -0.59999901
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+
diff --git a/data/UPB_00001460/meta_data.json b/data/UPB_00001460/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..27819600c404e28116bfed9cb8a22810fcee26a2
--- /dev/null
+++ b/data/UPB_00001460/meta_data.json
@@ -0,0 +1,22 @@
+{
+ "id": "UPB_00001460",
+ "source": [
+ {
+ "dataset": "UniPhys-Bench",
+ "organization": "Manycore Tech Inc.",
+ "license_ref": "UniPhys-Bench"
+ }
+ ],
+ "object": {
+ "category": "Furniture/StorageFurniture",
+ "object_name": "Two-door Wardrobe with Hanging Rod and Shoe Cubbies"
+ },
+ "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_00001460/model.urdf b/data/UPB_00001460/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fdccc786d2c54c3432adad2da40a1a2d6fc0f350
--- /dev/null
+++ b/data/UPB_00001460/model.urdf
@@ -0,0 +1,138 @@
+
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\ No newline at end of file
diff --git a/data/UPB_00001460/parts/3.mtl b/data/UPB_00001460/parts/3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f1811c7dbfb695f993b629aa8fa52a2d2fc419b1
--- /dev/null
+++ b/data/UPB_00001460/parts/3.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/data/UPB_00001460/parts/part_3.obj b/data/UPB_00001460/parts/part_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43919f36369dc5c617b8f4656b81a56c0466c321
--- /dev/null
+++ b/data/UPB_00001460/parts/part_3.obj
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diff --git a/data/UPB_00001460/parts/part_4.obj b/data/UPB_00001460/parts/part_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c697a919c24f7a454a3777f1514ec608b6a373ac
--- /dev/null
+++ b/data/UPB_00001460/parts/part_4.obj
@@ -0,0 +1,192 @@
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diff --git a/data/UPB_00001460/parts/wardrobe_ZLWCYUBVAII5QPTUJQ888888_iof7a.mtl b/data/UPB_00001460/parts/wardrobe_ZLWCYUBVAII5QPTUJQ888888_iof7a.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2681de15c31edf0cdd175a3fbd95482d70772c54
--- /dev/null
+++ b/data/UPB_00001460/parts/wardrobe_ZLWCYUBVAII5QPTUJQ888888_iof7a.mtl
@@ -0,0 +1,25 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_66d2b910ada6f900012ec28c
+Kd 0.0379715003 0.0379715003 0.0379715003
+illum 1
+
+newmtl MI_66d2b9104750b40001486791
+Kd 0.0286250003 0.0286250003 0.0286250003
+illum 1
+
+newmtl MI_66d2b91029274f0001db1504
+Kd 1 1 1
+d 0.062211547
+illum 1
+
+newmtl MI_66d2b9109a439700012aded1
+Kd 1 1 1
+illum 1
+map_Kd ./T_66d2b9109a439700012aded1_color_front.jpg
+
+newmtl MI_66d2b91060cf470001adc726
+Kd 0.0379715003 0.0379715003 0.0379715003
+illum 1
+
diff --git a/data/UPB_00001460/plys/1.ply b/data/UPB_00001460/plys/1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..90f39cc35eacd9ed3f87066c762cec7e42bc9f45
--- /dev/null
+++ b/data/UPB_00001460/plys/1.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd9d45f815e3cc4cc849a86e21ced8e8a42cb0ac592e0deba8ef84b94700a38b
+size 160242
diff --git a/data/UPB_00001460/plys/2.ply b/data/UPB_00001460/plys/2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e5f0582850d475e0f11c338563972f21a6865e32
--- /dev/null
+++ b/data/UPB_00001460/plys/2.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc16f658aba6f6ef5835ef50b0eff702988fe1bb4d61c7533ac321b149277d13
+size 160242
diff --git a/data/UPB_00001460/plys/3.ply b/data/UPB_00001460/plys/3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5754b48015f96718d24d6986b45c69053516c015
--- /dev/null
+++ b/data/UPB_00001460/plys/3.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:241c110f9b488ec599947b11c163c5a9f91268b26cea96440607246ec6fe2cc8
+size 160242
diff --git a/data/UPB_00001460/plys/4.ply b/data/UPB_00001460/plys/4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..aa99a9bcf37246caaa0aa7d41c869cee0e4d2b1d
--- /dev/null
+++ b/data/UPB_00001460/plys/4.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb50fdea506f3a0f75504e9cd6ea67102ee610e5b31b8c643bb364cec9dffe59
+size 160242
diff --git a/data/UPB_00001460/plys/5.ply b/data/UPB_00001460/plys/5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b98c432e3fa0b95501158e0226e865e79bf287dd
--- /dev/null
+++ b/data/UPB_00001460/plys/5.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b261a91e9e80387936a2e89b0d089c47dabd5e545d61348bb0db12028bbff9d
+size 317378
diff --git a/data/UPB_00001460/plys/6.ply b/data/UPB_00001460/plys/6.ply
new file mode 100644
index 0000000000000000000000000000000000000000..56e9aaddafb33b40e215bbbbecfad7af43279dad
--- /dev/null
+++ b/data/UPB_00001460/plys/6.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5520023fa7feb07b31223bdef9516d79ca3a6d66c0f3d0fd3c6e41c0252a0e4b
+size 861458
diff --git a/data/UPB_00001460/plys/model.ply b/data/UPB_00001460/plys/model.ply
new file mode 100644
index 0000000000000000000000000000000000000000..002a319ab69d6327515ab029552bdd419aa119d7
--- /dev/null
+++ b/data/UPB_00001460/plys/model.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82a0703e51999f207462aa6844f16f1620ab41d329f86c27298d57816e0ef226
+size 1600243
diff --git a/data/UPB_00001461/annotations/object.json b/data/UPB_00001461/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..1eefdc17571321ce2f132f4fe8b4df6923987c75
--- /dev/null
+++ b/data/UPB_00001461/annotations/object.json
@@ -0,0 +1,10 @@
+{
+ "object_name": "Two-door Wardrobe Cabinet",
+ "category": "Furniture/StorageFurniture",
+ "volume": [
+ 80.0,
+ 50.0,
+ 180.0
+ ],
+ "mass": 52.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001461/annotations/part_1.json b/data/UPB_00001461/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..65000ea462609ee6d10bda6913f26a26bc483668
--- /dev/null
+++ b/data/UPB_00001461/annotations/part_1.json
@@ -0,0 +1,52 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001461",
+ "label": "1"
+ },
+ "part_level": {
+ "part_name": "Left Door Panel",
+ "affordance": 3,
+ "graspable": true,
+ "basic_description": "Tall rectangular laminated particle-board panel roughly 175*38*1.8 cm acting as the left door of the cabinet.",
+ "functional_description": "Covers the left half of the wardrobe opening; provides privacy and dust protection.",
+ "movement_description": "Rotates about vertical hinges fixed to the cabinet body, opening outward up to roughly 115 degrees with light hinge friction.",
+ "grasp_description": "Usually pulled by the left knob, but the door edge can also be grasped to open/close."
+ },
+ "basic_info": {
+ "material": "wood/Particle_Board_Laminate",
+ "density": 0.65,
+ "young": 3.2,
+ "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": [
+ -0.5135900974273682,
+ -0.2385856658220291,
+ 0.0
+ ],
+ "range": [
+ 0.0,
+ 1.9198621771937625
+ ],
+ "damping": 0.035
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001461/annotations/part_2.json b/data/UPB_00001461/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..73e202e1129ed8dd1471f49637db2587eb1bca67
--- /dev/null
+++ b/data/UPB_00001461/annotations/part_2.json
@@ -0,0 +1,52 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001461",
+ "label": "2"
+ },
+ "part_level": {
+ "part_name": "Right Door Panel",
+ "affordance": 4,
+ "graspable": true,
+ "basic_description": "Tall laminated particle-board panel roughly 175*38*1.8 cm forming the right door of the cabinet.",
+ "functional_description": "Covers the right half of the wardrobe opening and mates to the left door at the center seam.",
+ "movement_description": "Rotates on its own hinge set on the opposite side of the carcass, opening outward up to about 115 degrees.",
+ "grasp_description": "Pulled or pushed via the right knob for daily access."
+ },
+ "basic_info": {
+ "material": "wood/Particle_Board_Laminate",
+ "density": 0.65,
+ "young": 3.2,
+ "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": [
+ 0.5131288170814514,
+ -0.2385856658220291,
+ 0.0
+ ],
+ "range": [
+ 0.0,
+ 1.9198621771937625
+ ],
+ "damping": 0.035
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001461/annotations/part_3.json b/data/UPB_00001461/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..c166f2fc72dcb5cb45504f0d748afc38018019a1
--- /dev/null
+++ b/data/UPB_00001461/annotations/part_3.json
@@ -0,0 +1,30 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001461",
+ "label": "3"
+ },
+ "part_level": {
+ "part_name": "Left Door Knob",
+ "affordance": 1,
+ "graspable": true,
+ "basic_description": "Small colored ABS round knob, about \u00d83.5 cm and 3 cm projection, fixed to the left door.",
+ "functional_description": "Provides a comfortable handle to pull the left door open or push it closed.",
+ "movement_description": "No independent motion; rigidly fastened to the left door panel.",
+ "grasp_description": "Commonly grasped between fingers or pulled with the whole hand when opening the cabinet."
+ },
+ "basic_info": {
+ "material": "plastic/ABS_Plastic",
+ "density": 1.05,
+ "young": 2.1,
+ "hardness": 12,
+ "poisson": 0.37,
+ "friction": 0.5
+ },
+ "kinematic_info": {
+ "motion_types": [
+ "D"
+ ],
+ "motion_info": {}
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001461/annotations/part_4.json b/data/UPB_00001461/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..405411d5f0bd7199a3d107507a013806a6dd53a9
--- /dev/null
+++ b/data/UPB_00001461/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001461",
+ "label": "4"
+ },
+ "part_level": {
+ "part_name": "Right Door Knob",
+ "affordance": 2,
+ "graspable": true,
+ "basic_description": "Brass round knob, approximately \u00d83.5 cm and 3 cm projection, mounted to the right door.",
+ "functional_description": "Acts as the main touchpoint for opening/closing the right door; adds durability and weight.",
+ "movement_description": "Rigidly attached to the right door without relative motion.",
+ "grasp_description": "Frequently grasped and pulled; the smooth metal surface offers low friction but solid feel."
+ },
+ "basic_info": {
+ "material": "plastic/ABS_Plastic",
+ "density": 1.05,
+ "young": 2.1,
+ "hardness": 12,
+ "poisson": 0.37,
+ "friction": 0.5
+ },
+ "kinematic_info": {
+ "motion_types": [
+ "D"
+ ],
+ "motion_info": {}
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001461/annotations/part_5.json b/data/UPB_00001461/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d3bc63a4bbe01109b0ad32876101df89caf5b91
--- /dev/null
+++ b/data/UPB_00001461/annotations/part_5.json
@@ -0,0 +1,30 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001461",
+ "label": "5"
+ },
+ "part_level": {
+ "part_name": "Cabinet Carcass",
+ "affordance": 5,
+ "graspable": false,
+ "basic_description": "Main body of the wardrobe (top, bottom, sides, and back) made of laminated particle board; approx 80*50*180 cm overall.",
+ "functional_description": "Provides structural support, houses the interior storage space, and bears hinge attachments for both doors.",
+ "movement_description": "Stationary reference frame; doors rotate relative to this body around vertical hinge axes.",
+ "grasp_description": "Not typically grasped during normal use except when moving the entire furniture."
+ },
+ "basic_info": {
+ "material": "wood/Particle_Board_Laminate",
+ "density": 0.65,
+ "young": 3.5,
+ "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_00001461/full_model/material.mtl b/data/UPB_00001461/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001461/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_00001461/full_model/material_0.png b/data/UPB_00001461/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c25f3c5cae3950d804adfec08fdbb05213cecbc
--- /dev/null
+++ b/data/UPB_00001461/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a5e8e66157e23f95aa48891567a3192d821b374c4f5eed6c22f492a6fa5773e
+size 110
diff --git a/data/UPB_00001461/full_model/model.obj b/data/UPB_00001461/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e731da69df15485e960e6eee016cbb3c8884c868
--- /dev/null
+++ b/data/UPB_00001461/full_model/model.obj
@@ -0,0 +1,2820 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.50902420 -0.23903204 -1.33500051
+v -0.51400000 -0.23403203 -1.34000063
+v 0.00000000 -0.23403203 -1.34000039
+v -0.51400000 -0.21903247 1.34499907
+v -0.51400000 -0.21903203 -1.34000063
+v -0.51400000 -0.23403203 -1.34000063
+v 0.00000000 -0.23403247 1.34499907
+v -0.00497577 -0.23903248 1.33999896
+v -0.00497577 -0.23903204 -1.33500051
+v 0.00000000 -0.23403203 -1.34000039
+v 0.00000000 -0.23403247 1.34499907
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diff --git a/data/UPB_00001461/parts/part_4.obj b/data/UPB_00001461/parts/part_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b006fd8b24423def9bbb170c7bffd48fafe561e
--- /dev/null
+++ b/data/UPB_00001461/parts/part_4.obj
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diff --git a/data/UPB_00001461/parts/part_5.obj b/data/UPB_00001461/parts/part_5.obj
new file mode 100644
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diff --git a/data/UPB_00001461/parts/wardrobe_ZLZRN3RVAJ5JIPTULY888888_dTus9.mtl b/data/UPB_00001461/parts/wardrobe_ZLZRN3RVAJ5JIPTULY888888_dTus9.mtl
new file mode 100644
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--- /dev/null
+++ b/data/UPB_00001461/parts/wardrobe_ZLZRN3RVAJ5JIPTULY888888_dTus9.mtl
@@ -0,0 +1,17 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
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+map_bump ./T_66cd8e2a43abbf00015c9c61_normal.jpg
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+illum 1
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diff --git a/data/UPB_00001461/plys/1.ply b/data/UPB_00001461/plys/1.ply
new file mode 100644
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--- /dev/null
+++ b/data/UPB_00001461/plys/1.ply
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+version https://git-lfs.github.com/spec/v1
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+size 212594
diff --git a/data/UPB_00001461/plys/2.ply b/data/UPB_00001461/plys/2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..95caeb5b819682eb60a22c4347503085a5670dd5
--- /dev/null
+++ b/data/UPB_00001461/plys/2.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 212594
diff --git a/data/UPB_00001461/plys/3.ply b/data/UPB_00001461/plys/3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1c0c3529007e1e803dc781bf14a0d048a14f544d
--- /dev/null
+++ b/data/UPB_00001461/plys/3.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 160242
diff --git a/data/UPB_00001461/plys/4.ply b/data/UPB_00001461/plys/4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6286da868e30bd3a6fa1fc4ef1415f66492ccf81
--- /dev/null
+++ b/data/UPB_00001461/plys/4.ply
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+version https://git-lfs.github.com/spec/v1
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+size 160242
diff --git a/data/UPB_00001461/plys/5.ply b/data/UPB_00001461/plys/5.ply
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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+size 1171746
diff --git a/data/UPB_00001461/plys/model.ply b/data/UPB_00001461/plys/model.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1c5a38b27839a915e2721511d0726ea1ae7307d2
--- /dev/null
+++ b/data/UPB_00001461/plys/model.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1600243
diff --git a/data/UPB_00001462/annotations/object.json b/data/UPB_00001462/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5c616a3ee75075ba22e14cb3e135be2de6b9e65
--- /dev/null
+++ b/data/UPB_00001462/annotations/object.json
@@ -0,0 +1,10 @@
+{
+ "object_name": "Triple-bay Arched Cabinet",
+ "category": "Furniture/StorageFurniture",
+ "volume": [
+ 150.0,
+ 35.0,
+ 140.0
+ ],
+ "mass": 55.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001462/annotations/part_1.json b/data/UPB_00001462/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1b362a918311190b2c30e6f3bee54c0fc243b9a
--- /dev/null
+++ b/data/UPB_00001462/annotations/part_1.json
@@ -0,0 +1,52 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001462",
+ "label": "1"
+ },
+ "part_level": {
+ "part_name": "Left Bay - Left Door",
+ "affordance": 2,
+ "graspable": true,
+ "basic_description": "Painted MDF arched door panel, approx 25x130x1.6 cm, forming the left half of the left cabinet\u2019s door set.",
+ "functional_description": "Provides access to the left bay; mates with the adjacent door to close the compartment.",
+ "movement_description": "Swings about a vertical hinge axis on the cabinet frame; soft closing friction through the hinge.",
+ "grasp_description": "Usually pulled via the semicircular wooden handle attached to its front."
+ },
+ "basic_info": {
+ "material": "wood/MDF_Painted",
+ "density": 0.75,
+ "young": 3.0,
+ "hardness": 25,
+ "poisson": 0.3,
+ "friction": 0.45
+ },
+ "kinematic_info": {
+ "motion_types": [
+ "C"
+ ],
+ "motion_info": {
+ "dependency": [
+ 1,
+ 7
+ ],
+ "C": {
+ "axis": [
+ 0.0,
+ 0.0,
+ -1.0
+ ],
+ "pos": [
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+ -0.11905274540185928,
+ 0.0
+ ],
+ "range": [
+ 0.0,
+ 1.9198621771937625
+ ],
+ "damping": 0.035
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001462/annotations/part_10.json b/data/UPB_00001462/annotations/part_10.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6c33594af42af37e015830a009584297f6b31cc
--- /dev/null
+++ b/data/UPB_00001462/annotations/part_10.json
@@ -0,0 +1,30 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001462",
+ "label": "10"
+ },
+ "part_level": {
+ "part_name": "Center Bay - Right Handle (semicircle)",
+ "affordance": 1,
+ "graspable": true,
+ "basic_description": "Maple semicircular handle fixed to Door 4.",
+ "functional_description": "Right half of the central circular pull.",
+ "movement_description": "Rigid with Door 4.",
+ "grasp_description": "Used to operate the right half of the center bay."
+ },
+ "basic_info": {
+ "material": "wood/Hardwood_Maple",
+ "density": 0.72,
+ "young": 12.0,
+ "hardness": 35,
+ "poisson": 0.33,
+ "friction": 0.55
+ },
+ "kinematic_info": {
+ "motion_types": [
+ "D"
+ ],
+ "motion_info": {}
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001462/annotations/part_11.json b/data/UPB_00001462/annotations/part_11.json
new file mode 100644
index 0000000000000000000000000000000000000000..49ac77e4b959e31d56c7e53f249e837a6de02418
--- /dev/null
+++ b/data/UPB_00001462/annotations/part_11.json
@@ -0,0 +1,30 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001462",
+ "label": "11"
+ },
+ "part_level": {
+ "part_name": "Right Bay - Left Handle (semicircle)",
+ "affordance": 1,
+ "graspable": true,
+ "basic_description": "Maple semicircular handle fixed to Door 5.",
+ "functional_description": "Left half of the right bay circular pull.",
+ "movement_description": "Rigidly fixed; follows Door 5 motion.",
+ "grasp_description": "Pinch or wrap grip to open the left half of the right bay."
+ },
+ "basic_info": {
+ "material": "wood/Hardwood_Maple",
+ "density": 0.72,
+ "young": 12.0,
+ "hardness": 35,
+ "poisson": 0.33,
+ "friction": 0.55
+ },
+ "kinematic_info": {
+ "motion_types": [
+ "D"
+ ],
+ "motion_info": {}
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001462/annotations/part_12.json b/data/UPB_00001462/annotations/part_12.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d6595efef325a1b65b6db6663ac3507a93c5845
--- /dev/null
+++ b/data/UPB_00001462/annotations/part_12.json
@@ -0,0 +1,30 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001462",
+ "label": "12"
+ },
+ "part_level": {
+ "part_name": "Right Bay - Right Handle (semicircle)",
+ "affordance": 1,
+ "graspable": true,
+ "basic_description": "Maple semicircular handle fixed to Door 6.",
+ "functional_description": "Right half of the right bay circular pull.",
+ "movement_description": "No independent motion; rigid with Door 6.",
+ "grasp_description": "Used to pull open the right-hand door."
+ },
+ "basic_info": {
+ "material": "wood/Hardwood_Maple",
+ "density": 0.72,
+ "young": 12.0,
+ "hardness": 35,
+ "poisson": 0.33,
+ "friction": 0.55
+ },
+ "kinematic_info": {
+ "motion_types": [
+ "D"
+ ],
+ "motion_info": {}
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001462/annotations/part_13.json b/data/UPB_00001462/annotations/part_13.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd18793c6dd549ff5e0cafc8362eb050b032433c
--- /dev/null
+++ b/data/UPB_00001462/annotations/part_13.json
@@ -0,0 +1,30 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001462",
+ "label": "13"
+ },
+ "part_level": {
+ "part_name": "Cabinet Carcass (3-bay frame)",
+ "affordance": 7,
+ "graspable": false,
+ "basic_description": "Three-bay plywood cabinet frame with staggered heights, approx 150 cm long, 35 cm deep, and up to 140 cm tall; internal shelves and side panels ~15\u201318 mm thick.",
+ "functional_description": "Provides structure, houses shelves and hinges, and supports doors, handles, and legs.",
+ "movement_description": "Static structural member; acts as the parent for all six rotating doors and is rigidly fixed to the legs.",
+ "grasp_description": "Not typically grasped directly in use except when moving the furniture."
+ },
+ "basic_info": {
+ "material": "wood/Plywood_Laminated",
+ "density": 0.6,
+ "young": 8.0,
+ "hardness": 30,
+ "poisson": 0.3,
+ "friction": 0.45
+ },
+ "kinematic_info": {
+ "motion_types": [
+ "D"
+ ],
+ "motion_info": {}
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001462/annotations/part_14.json b/data/UPB_00001462/annotations/part_14.json
new file mode 100644
index 0000000000000000000000000000000000000000..bba1e73ef7958e9161ae282b94b74aef8606631a
--- /dev/null
+++ b/data/UPB_00001462/annotations/part_14.json
@@ -0,0 +1,30 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001462",
+ "label": "14"
+ },
+ "part_level": {
+ "part_name": "Leg Set",
+ "affordance": 9,
+ "graspable": false,
+ "basic_description": "Set of short tapered hardwood legs (approximately 8\u201310 pieces), ~10 cm high each, fixed beneath the carcass.",
+ "functional_description": "Elevate the cabinet, distribute load to the floor, and provide clearance for cleaning.",
+ "movement_description": "Rigidly fixed to the cabinet carcass; no relative motion.",
+ "grasp_description": "Not intended for handling; occasionally touched when relocating the cabinet."
+ },
+ "basic_info": {
+ "material": "wood/Hardwood_Beech",
+ "density": 0.72,
+ "young": 12.0,
+ "hardness": 38,
+ "poisson": 0.32,
+ "friction": 0.5
+ },
+ "kinematic_info": {
+ "motion_types": [
+ "D"
+ ],
+ "motion_info": {}
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001462/annotations/part_2.json b/data/UPB_00001462/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7a75365158ba2d4819168dc507cb8b64832d2fd
--- /dev/null
+++ b/data/UPB_00001462/annotations/part_2.json
@@ -0,0 +1,52 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001462",
+ "label": "2"
+ },
+ "part_level": {
+ "part_name": "Left Bay - Right Door",
+ "affordance": 2,
+ "graspable": true,
+ "basic_description": "Painted MDF arched door panel, approx 25x130x1.6 cm, right half of the left cabinet\u2019s door set.",
+ "functional_description": "Closes the left bay together with Door 1; supports a semicircular handle that completes a circle when doors meet.",
+ "movement_description": "Rotates around a vertical hinge on the cabinet frame.",
+ "grasp_description": "Pulled by its wooden semicircular handle."
+ },
+ "basic_info": {
+ "material": "wood/MDF_Painted",
+ "density": 0.75,
+ "young": 3.0,
+ "hardness": 25,
+ "poisson": 0.3,
+ "friction": 0.45
+ },
+ "kinematic_info": {
+ "motion_types": [
+ "C"
+ ],
+ "motion_info": {
+ "dependency": [
+ 2,
+ 8
+ ],
+ "C": {
+ "axis": [
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "pos": [
+ -0.27944451570510864,
+ -0.11905274540185928,
+ 0.0
+ ],
+ "range": [
+ 0.0,
+ 1.9198621771937625
+ ],
+ "damping": 0.035
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001462/annotations/part_3.json b/data/UPB_00001462/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5f1cd00a4d5d42a02223364955183540cb53f71
--- /dev/null
+++ b/data/UPB_00001462/annotations/part_3.json
@@ -0,0 +1,52 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001462",
+ "label": "3"
+ },
+ "part_level": {
+ "part_name": "Center Bay - Left Door",
+ "affordance": 2,
+ "graspable": true,
+ "basic_description": "Painted MDF arched door panel, approx 25x140x1.6 cm, left half of the center cabinet.",
+ "functional_description": "Provides access to the central storage bay; mates with Door 4.",
+ "movement_description": "Hinged rotation on the frame with moderate damping.",
+ "grasp_description": "Typically grasped at the wooden handle."
+ },
+ "basic_info": {
+ "material": "wood/MDF_Painted",
+ "density": 0.75,
+ "young": 3.2,
+ "hardness": 25,
+ "poisson": 0.3,
+ "friction": 0.45
+ },
+ "kinematic_info": {
+ "motion_types": [
+ "C"
+ ],
+ "motion_info": {
+ "dependency": [
+ 3,
+ 9
+ ],
+ "C": {
+ "axis": [
+ 0.0,
+ 0.0,
+ -1.0
+ ],
+ "pos": [
+ -0.2734833359718323,
+ -0.11905274540185928,
+ 0.0
+ ],
+ "range": [
+ 0.0,
+ 1.9198621771937625
+ ],
+ "damping": 0.04
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001462/annotations/part_4.json b/data/UPB_00001462/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..e30bcb42de5c8525592e5c80117d98f7e6650de6
--- /dev/null
+++ b/data/UPB_00001462/annotations/part_4.json
@@ -0,0 +1,52 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001462",
+ "label": "4"
+ },
+ "part_level": {
+ "part_name": "Center Bay - Right Door",
+ "affordance": 2,
+ "graspable": true,
+ "basic_description": "Painted MDF arched door panel, approx 25x140x1.6 cm, right half of the center cabinet.",
+ "functional_description": "Closes the central bay with Door 3; carries a semicircular pull.",
+ "movement_description": "Swings about a vertical hinge at the frame.",
+ "grasp_description": "Pulled by the handle to open."
+ },
+ "basic_info": {
+ "material": "wood/MDF_Painted",
+ "density": 0.75,
+ "young": 3.2,
+ "hardness": 25,
+ "poisson": 0.3,
+ "friction": 0.45
+ },
+ "kinematic_info": {
+ "motion_types": [
+ "C"
+ ],
+ "motion_info": {
+ "dependency": [
+ 4,
+ 10
+ ],
+ "C": {
+ "axis": [
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "pos": [
+ 0.2739144265651703,
+ -0.11905274540185928,
+ 0.0
+ ],
+ "range": [
+ 0.0,
+ 1.9198621771937625
+ ],
+ "damping": 0.04
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001462/annotations/part_5.json b/data/UPB_00001462/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..38ff98a94ddf9319703ee1e81ea1889302a16548
--- /dev/null
+++ b/data/UPB_00001462/annotations/part_5.json
@@ -0,0 +1,52 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001462",
+ "label": "5"
+ },
+ "part_level": {
+ "part_name": "Right Bay - Left Door",
+ "affordance": 2,
+ "graspable": true,
+ "basic_description": "Painted MDF arched door panel, approx 25x120x1.6 cm, left half of the right cabinet.",
+ "functional_description": "Access panel for the right bay; meets Door 6 when closed.",
+ "movement_description": "Rotates on vertical hinges attached to the carcass.",
+ "grasp_description": "Opened by pulling its semicircular handle."
+ },
+ "basic_info": {
+ "material": "wood/MDF_Painted",
+ "density": 0.75,
+ "young": 3.0,
+ "hardness": 25,
+ "poisson": 0.3,
+ "friction": 0.45
+ },
+ "kinematic_info": {
+ "motion_types": [
+ "C"
+ ],
+ "motion_info": {
+ "dependency": [
+ 5,
+ 11
+ ],
+ "C": {
+ "axis": [
+ 0.0,
+ 0.0,
+ -1.0
+ ],
+ "pos": [
+ 0.2814803421497345,
+ -0.11905274540185928,
+ 0.0
+ ],
+ "range": [
+ 0.0,
+ 1.9198621771937625
+ ],
+ "damping": 0.035
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001462/annotations/part_6.json b/data/UPB_00001462/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..89a4880a176fcc721779c9c5ed59e65bb17ec671
--- /dev/null
+++ b/data/UPB_00001462/annotations/part_6.json
@@ -0,0 +1,52 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001462",
+ "label": "6"
+ },
+ "part_level": {
+ "part_name": "Right Bay - Right Door",
+ "affordance": 2,
+ "graspable": true,
+ "basic_description": "Painted MDF arched door panel, approx 25x120x1.6 cm, right half of the right cabinet.",
+ "functional_description": "Completes the closure of the right bay; carries a wooden pull.",
+ "movement_description": "Hinged rotation relative to the frame.",
+ "grasp_description": "Grasp the handle and pull to open."
+ },
+ "basic_info": {
+ "material": "wood/MDF_Painted",
+ "density": 0.75,
+ "young": 3.0,
+ "hardness": 25,
+ "poisson": 0.3,
+ "friction": 0.45
+ },
+ "kinematic_info": {
+ "motion_types": [
+ "C"
+ ],
+ "motion_info": {
+ "dependency": [
+ 6,
+ 12
+ ],
+ "C": {
+ "axis": [
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "pos": [
+ 0.8306602239608765,
+ -0.11905274540185928,
+ 0.0
+ ],
+ "range": [
+ 0.0,
+ 1.9198621771937625
+ ],
+ "damping": 0.035
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001462/annotations/part_7.json b/data/UPB_00001462/annotations/part_7.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ee7b51aa2634b7d31c52c23bc71dc5e3af1d4c5
--- /dev/null
+++ b/data/UPB_00001462/annotations/part_7.json
@@ -0,0 +1,30 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001462",
+ "label": "7"
+ },
+ "part_level": {
+ "part_name": "Left Bay - Left Handle (semicircle)",
+ "affordance": 1,
+ "graspable": true,
+ "basic_description": "Maple semicircular pull, ~14 cm diameter, ~2 cm thick, mounted on Door 1.",
+ "functional_description": "Provides a high-friction grip; pairs with Handle 8 to form a full circle when doors are closed.",
+ "movement_description": "No independent motion; moves rigidly with Door 1.",
+ "grasp_description": "Pinch or wrap grip to pull the door open."
+ },
+ "basic_info": {
+ "material": "wood/Hardwood_Maple",
+ "density": 0.72,
+ "young": 12.0,
+ "hardness": 35,
+ "poisson": 0.33,
+ "friction": 0.55
+ },
+ "kinematic_info": {
+ "motion_types": [
+ "D"
+ ],
+ "motion_info": {}
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001462/annotations/part_8.json b/data/UPB_00001462/annotations/part_8.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c49f95354019611dca775af757900b541e0b68e
--- /dev/null
+++ b/data/UPB_00001462/annotations/part_8.json
@@ -0,0 +1,30 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001462",
+ "label": "8"
+ },
+ "part_level": {
+ "part_name": "Left Bay - Right Handle (semicircle)",
+ "affordance": 1,
+ "graspable": true,
+ "basic_description": "Maple semicircular pull mounted on Door 2; ~14 cm diameter.",
+ "functional_description": "Completes the circular pull motif on the left bay.",
+ "movement_description": "Rigid with Door 2.",
+ "grasp_description": "Used to pull the right half of the left bay."
+ },
+ "basic_info": {
+ "material": "wood/Hardwood_Maple",
+ "density": 0.72,
+ "young": 12.0,
+ "hardness": 35,
+ "poisson": 0.33,
+ "friction": 0.55
+ },
+ "kinematic_info": {
+ "motion_types": [
+ "D"
+ ],
+ "motion_info": {}
+ }
+}
\ No newline at end of file
diff --git a/data/UPB_00001462/annotations/part_9.json b/data/UPB_00001462/annotations/part_9.json
new file mode 100644
index 0000000000000000000000000000000000000000..6952aa4bd684d575e78c963639060863ac4380d1
--- /dev/null
+++ b/data/UPB_00001462/annotations/part_9.json
@@ -0,0 +1,30 @@
+{
+ "index": {
+ "type_name": "default",
+ "entity": "UPB_00001462",
+ "label": "9"
+ },
+ "part_level": {
+ "part_name": "Center Bay - Left Handle (semicircle)",
+ "affordance": 1,
+ "graspable": true,
+ "basic_description": "Maple semicircular handle fixed to Door 3 (~14 cm diameter, 2 cm thick).",
+ "functional_description": "Left half of the central circular pull.",
+ "movement_description": "No independent movement; follows Door 3.",
+ "grasp_description": "Pulled by hand to open the left half of the center bay."
+ },
+ "basic_info": {
+ "material": "wood/Hardwood_Maple",
+ "density": 0.72,
+ "young": 12.0,
+ "hardness": 35,
+ "poisson": 0.33,
+ "friction": 0.55
+ },
+ "kinematic_info": {
+ "motion_types": [
+ "D"
+ ],
+ "motion_info": {}
+ }
+}
\ No newline at end of file