diff --git a/.gitattributes b/.gitattributes
index 5ccf27ee7ff06736f870e6560573ffa4be878a82..f18cced32bcc32add3f09e9433c789443cb69e7d 100644
--- a/.gitattributes
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new file mode 100644
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diff --git a/data/UPB_00001493/parts/part_4.obj b/data/UPB_00001493/parts/part_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..990da5fe9230d41a90e66e6ee0f05efc4195e8bd
--- /dev/null
+++ b/data/UPB_00001493/parts/part_4.obj
@@ -0,0 +1,3478 @@
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diff --git a/data/UPB_00001493/parts/part_5.obj b/data/UPB_00001493/parts/part_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f21e7ee48fb90ec1f89f192884152aa9c7d96a90
--- /dev/null
+++ b/data/UPB_00001493/parts/part_5.obj
@@ -0,0 +1,62 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..0ccd16a6851d47014da8718de28d9e95cdde45af
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diff --git a/data/UPB_00001493/parts/part_7.obj b/data/UPB_00001493/parts/part_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81493d16c7f60d33b41fb306d123996b198e9e53
--- /dev/null
+++ b/data/UPB_00001493/parts/part_7.obj
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diff --git a/data/UPB_00001493/parts/part_8.obj b/data/UPB_00001493/parts/part_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe66d20eaeb59b485dd643c3d02e34fc719a859a
--- /dev/null
+++ b/data/UPB_00001493/parts/part_8.obj
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diff --git a/data/UPB_00001493/parts/washing_machine_YRNL6BJVAJAQ6PTULA888888_k8MPs.mtl b/data/UPB_00001493/parts/washing_machine_YRNL6BJVAJAQ6PTULA888888_k8MPs.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9f03adce7c0da5e1cb36caea91c7f651af157189
--- /dev/null
+++ b/data/UPB_00001493/parts/washing_machine_YRNL6BJVAJAQ6PTULA888888_k8MPs.mtl
@@ -0,0 +1,38 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_686425615dbf690001432686
+Kd 0.0414445996 0.0414445996 0.0414445996
+illum 1
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+newmtl MI_6864256102475e0001c77d94
+Kd 0.451309234 0.451309234 0.451309234
+illum 1
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+newmtl MI_68642561752d5f0001a23ccd
+Kd 0.203899994 0.203899994 0.203899994
+illum 1
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+newmtl MI_68642561fe61da0001795f25
+Kd 0.0873871073 0.0873871073 0.0873871073
+illum 1
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+newmtl MI_68642561d31fd0000165e25e
+Kd 0.806723833 0.806723833 0.806723833
+illum 1
+
+newmtl MI_68642561ff742900015f65bb
+Kd 1 1 1
+illum 1
+map_Kd ./T_68642561ff742900015f65bb_color.jpg
+
+newmtl MI_68642561a9908800015d0338
+Kd 0.0556060001 0.0591237992 0.0661593974
+illum 1
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+newmtl MI_686425618d3fa4000197c4e0
+Kd 1 1 1
+Ks 0.100000001 0.100000001 0.100000001
+d 1
+illum 1
+
diff --git a/data/UPB_00001493/plys/1.ply b/data/UPB_00001493/plys/1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..659e164b5ad0e08081c14cdc7bfd7fb2747fb586
--- /dev/null
+++ b/data/UPB_00001493/plys/1.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 214674
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new file mode 100644
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--- /dev/null
+++ b/data/UPB_00001493/plys/2.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:385dc337053f98aab8a96863ae8097ae6163a159bc97b450fbae801aaab713f5
+size 160242
diff --git a/data/UPB_00001493/plys/3.ply b/data/UPB_00001493/plys/3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..45449750a6bcafdb7f606dc30717610214095a86
--- /dev/null
+++ b/data/UPB_00001493/plys/3.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d02d8dc69dfe6bdc01db56bf8a5a848410dd7733eec6c0b83631e0f0af2aca0
+size 956034
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new file mode 100644
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--- /dev/null
+++ b/data/UPB_00001493/plys/4.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4112e5723c75677b29fb9819a7b21ccca28ba7370cde3b4c22c5b41ad2ca4477
+size 222610
diff --git a/data/UPB_00001493/plys/5.ply b/data/UPB_00001493/plys/5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c3b39666513c80945ce5bdf8a1599a8e4816d800
--- /dev/null
+++ b/data/UPB_00001493/plys/5.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:544c793a8b4fa4e1f89f93f0d8f623de29f668dffb7dd3c607ca690ffec74825
+size 160242
diff --git a/data/UPB_00001493/plys/6.ply b/data/UPB_00001493/plys/6.ply
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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+size 160242
diff --git a/data/UPB_00001493/plys/7.ply b/data/UPB_00001493/plys/7.ply
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
+oid sha256:a943b036e7deff066994be1ca5a114358d0410352c60501bfed0944e5efdcce4
+size 160242
diff --git a/data/UPB_00001493/plys/8.ply b/data/UPB_00001493/plys/8.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a9aa2d463befd622e2656fe3da2601761c8b534b
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 160242
diff --git a/data/UPB_00001493/plys/model.ply b/data/UPB_00001493/plys/model.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d3ee759421926b1ae17248f93f0ce3b6547cf49e
--- /dev/null
+++ b/data/UPB_00001493/plys/model.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cad3fe4acb8a07b41544274f7790c35523d85b4d7ea720b623cab9b43cd08236
+size 1600243
diff --git a/data/UPB_00001494/annotations/object.json b/data/UPB_00001494/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dc260356b4e74d0d0e0bb50e085bf582bcd1b82
--- /dev/null
+++ b/data/UPB_00001494/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Three-way Loudspeaker Cabinet",
+    "category": "ElectronicsDevices/AudioEquipment",
+    "volume": [
+        27.0,
+        30.0,
+        50.0
+    ],
+    "mass": 10.5
+}
\ No newline at end of file
diff --git a/data/UPB_00001494/annotations/part_1.json b/data/UPB_00001494/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..a66c9a5263514169ade7a6b02c7d4327ad3b076c
--- /dev/null
+++ b/data/UPB_00001494/annotations/part_1.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001494",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Tweeter Driver",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Small circular high-frequency driver assembly (~5 cm diameter) with a dark dome and surround; primarily steel frame with polymer cone and magnet.",
+        "functional_description": "Produces high-frequency audio content; part of the speaker\u2019s 3-way system.",
+        "movement_description": "Rigidly mounted to the front baffle; only the internal diaphragm vibrates during operation, no joint motion relative to the cabinet.",
+        "grasp_description": "Not intended to be touched; normally left covered or exposed for listening only."
+    },
+    "basic_info": {
+        "material": "metal/Steel_LowCarbon",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 160,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.2369508594274521,
+                    -0.22927545011043549,
+                    0.281024694442749
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001494/annotations/part_2.json b/data/UPB_00001494/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0f66d89d1287837bf79236a823dd31f69e0f8ea
--- /dev/null
+++ b/data/UPB_00001494/annotations/part_2.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001494",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Right Midrange Driver",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Medium circular driver assembly (~10 cm diameter) with black cone; steel basket and magnet dominate mass.",
+        "functional_description": "Handles mid-frequency audio reproduction, blending between tweeter and woofer.",
+        "movement_description": "Rigidly fixed to the cabinet; only the cone vibrates acoustically.",
+        "grasp_description": "Not handled directly; can be serviced with tools if removed."
+    },
+    "basic_info": {
+        "material": "metal/Steel_LowCarbon",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 160,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    0.029351497069001198,
+                    -0.22688357532024384,
+                    0.2792513966560364
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001494/annotations/part_3.json b/data/UPB_00001494/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9c445ef004fce639d50b852008f31037df44d7f
--- /dev/null
+++ b/data/UPB_00001494/annotations/part_3.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001494",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Woofer Driver",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Large circular low-frequency driver (~20 cm diameter) with dark cone and surround; steel frame with heavy magnet.",
+        "functional_description": "Generates bass and low-mid frequencies; the main acoustic radiator of the system.",
+        "movement_description": "Rigidly secured to the baffle with screws; no relative motion to the cabinet aside from internal cone excursion.",
+        "grasp_description": "Users do not grasp this part; technicians may handle edges during replacement."
+    },
+    "basic_info": {
+        "material": "metal/Steel_LowCarbon",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 160,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                3
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.21497605741024017,
+                    -0.2282891869544983,
+                    -0.07022687047719955
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001494/annotations/part_4.json b/data/UPB_00001494/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..9402ec963b666f1f210708b6ce8af52805018a74
--- /dev/null
+++ b/data/UPB_00001494/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001494",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Front Badge/Nameplate",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Small rectangular anodized aluminum plate (~8*2*0.2 cm) mounted near the top of the baffle.",
+        "functional_description": "Carries branding/labeling; also covers its shallow recess for a clean finish.",
+        "movement_description": "Fixed to the cabinet via adhesive or tiny pins; no motion.",
+        "grasp_description": "Rarely touched; may be pressed during cleaning."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_6061_Anodized",
+        "density": 2.7,
+        "young": 69,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001494/annotations/part_5.json b/data/UPB_00001494/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..d754e674565c3748626eeec49a2267571657efff
--- /dev/null
+++ b/data/UPB_00001494/annotations/part_5.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001494",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Driver Trim Bezels (3)",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Three thin circular/oval ABS rings sized to outline the tweeter, midrange, and woofer openings.",
+        "functional_description": "Provide cosmetic finishing around driver edges, help hide fasteners and slightly damp edge diffraction.",
+        "movement_description": "Snapped or screwed to the baffle; rigid, no movement relative to the cabinet.",
+        "grasp_description": "Occasionally pried off during service, otherwise untouched."
+    },
+    "basic_info": {
+        "material": "rubber",
+        "density": 1.0696206283343204,
+        "young": 0.02131831653823384,
+        "hardness": 7.315411973918199,
+        "poisson": 0.48963841138115743,
+        "friction": 0.6991997628927132
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001494/annotations/part_6.json b/data/UPB_00001494/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..c64238dad08ff4f1660ce4e780eee5dd3d5a99d1
--- /dev/null
+++ b/data/UPB_00001494/annotations/part_6.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001494",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Front Fasteners Set",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Set of small black screws located on the front panel corners/around drivers.",
+        "functional_description": "Secure drivers/trim to the front baffle and maintain structural integrity.",
+        "movement_description": "Threaded into inserts or MDF; no movement once tightened.",
+        "grasp_description": "Interacted with using a screwdriver during assembly or repair."
+    },
+    "basic_info": {
+        "material": "metal/Steel_BlackOxide",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 200,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001494/annotations/part_7.json b/data/UPB_00001494/annotations/part_7.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc3766aea9550d60e9ba078801b1bdbc78e63296
--- /dev/null
+++ b/data/UPB_00001494/annotations/part_7.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001494",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Speaker Enclosure (Cabinet)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Rectangular MDF loudspeaker enclosure with a front baffle, a small rectangular recess near the top (for nameplate) and a round bass-reflex port near the lower front.",
+        "functional_description": "Provides the acoustic volume and structural support for the drivers; shapes frequency response and reduces vibrations and air leaks.",
+        "movement_description": "Static structure; all other parts are rigidly fixed to it. No hinges or sliders present.",
+        "grasp_description": "Users grasp the cabinet sides or the upper recess/handle area when lifting or positioning the speaker."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Lacquered",
+        "density": 0.75,
+        "young": 4.0,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001494/full_model/material.mtl b/data/UPB_00001494/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001494/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_00001494/full_model/material_0.png b/data/UPB_00001494/full_model/material_0.png
new file mode 100644
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diff --git a/data/UPB_00001494/meta_data.json b/data/UPB_00001494/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..52eb79a806a49413f273c8ab0c404c989fa87a6c
--- /dev/null
+++ b/data/UPB_00001494/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001494",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "ElectronicsDevices/AudioEquipment",
+        "object_name": "Three-way Loudspeaker Cabinet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 7,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001494/model.urdf b/data/UPB_00001494/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3cd239f38e0662ac45ce80be46f1ebacfda6d112
--- /dev/null
+++ b/data/UPB_00001494/model.urdf
@@ -0,0 +1,147 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
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+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.635851 0.635851 0.635851"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.635851 0.635851 0.635851"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.635851 0.635851 0.635851"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.635851 0.635851 0.635851"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.635851 0.635851 0.635851"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.635851 0.635851 0.635851"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.635851 0.635851 0.635851"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.635851 0.635851 0.635851"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.635851 0.635851 0.635851"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.635851 0.635851 0.635851"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.635851 0.635851 0.635851"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.635851 0.635851 0.635851"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.635851 0.635851 0.635851"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.635851 0.635851 0.635851"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="base_link"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.150665 -0.145785 0.178690" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.150665 0.145785 -0.178690" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="base_link"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.018663 -0.144264 0.177562" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.018663 0.144264 -0.177562" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="base_link"/>
+    <child link="helper_link_2"/>
+    <origin xyz="-0.136693 -0.145158 -0.044654" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
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+    <origin xyz="0.136693 0.145158 0.044654" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001494/parts/T_6864256102475e0001c77d93_color.jpg b/data/UPB_00001494/parts/T_6864256102475e0001c77d93_color.jpg
new file mode 100644
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--- /dev/null
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diff --git a/data/UPB_00001494/parts/T_68642561c0309d0001f409cf_color.jpg b/data/UPB_00001494/parts/T_68642561c0309d0001f409cf_color.jpg
new file mode 100644
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new file mode 100644
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diff --git a/data/UPB_00001494/parts/part_2.obj b/data/UPB_00001494/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76bda11e92131b71bb7db5a480512c08de0c5c11
--- /dev/null
+++ b/data/UPB_00001494/parts/part_2.obj
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diff --git a/data/UPB_00001494/parts/part_3.obj b/data/UPB_00001494/parts/part_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0229f7198882e3a6dea3c21170e2ee5052b2cee5
--- /dev/null
+++ b/data/UPB_00001494/parts/part_3.obj
@@ -0,0 +1,14888 @@
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diff --git a/data/UPB_00001494/parts/part_6.obj b/data/UPB_00001494/parts/part_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e5e43985b3ca7db16d8f63d22990f1067a5e8b8
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diff --git a/data/UPB_00001494/parts/part_7.obj b/data/UPB_00001494/parts/part_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdc72a60d31abea9c8e49b364b08f76e71e1d375
--- /dev/null
+++ b/data/UPB_00001494/parts/part_7.obj
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diff --git a/data/UPB_00001494/parts/washing_machine_YRNL7FBVAJXOAPTULY888888_dZj7G.mtl b/data/UPB_00001494/parts/washing_machine_YRNL7FBVAJXOAPTULY888888_dZj7G.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac9fc2070a49a219072d86d2352e6d5613add70e
--- /dev/null
+++ b/data/UPB_00001494/parts/washing_machine_YRNL7FBVAJXOAPTULY888888_dZj7G.mtl
@@ -0,0 +1,25 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_68642561cba0170001523cf7
+Kd 0.760800004 0.760800004 0.760800004
+illum 1
+
+newmtl MI_6864256102475e0001c77d93
+Kd 1 1 1
+illum 1
+map_Kd ./T_6864256102475e0001c77d93_color.jpg
+
+newmtl MI_6864256104064800016bd428
+Kd 0.282400012 0.282400012 0.282400012
+illum 1
+
+newmtl MI_68642561752d5f0001a23ccc
+Kd 0.0588000007 0.0588000007 0.0588000007
+illum 1
+
+newmtl MI_68642561c0309d0001f409cf
+Kd 1 1 1
+illum 1
+map_Kd ./T_68642561c0309d0001f409cf_color.jpg
+
diff --git a/data/UPB_00001494/plys/1.ply b/data/UPB_00001494/plys/1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f557f1278a7ff7218a6507b56bc60d554afb33bf
--- /dev/null
+++ b/data/UPB_00001494/plys/1.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b10404c75249dfc6ec2150a792bbd7b38ac7b439b7ef986a6ab64cbf0e69f2c9
+size 160242
diff --git a/data/UPB_00001494/plys/2.ply b/data/UPB_00001494/plys/2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f12f3462315fcb4ff8c08e8815ce94865261f5e5
--- /dev/null
+++ b/data/UPB_00001494/plys/2.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fdd1f496fb8a74229bb215545d2f836f48f2b1cbd93940975bb67e1023502a0
+size 160242
diff --git a/data/UPB_00001494/plys/3.ply b/data/UPB_00001494/plys/3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b7819a60f75e86b554287f3f681dc12b1a6876e5
--- /dev/null
+++ b/data/UPB_00001494/plys/3.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b1f1e5cba484f42eda855c60e4c4caf3c3ceef9f7475183ffee20b0e25701db
+size 160242
diff --git a/data/UPB_00001494/plys/4.ply b/data/UPB_00001494/plys/4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6adfa9373a2186825e39645760bc56e0e0467bee
--- /dev/null
+++ b/data/UPB_00001494/plys/4.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26c571fcbdf0f73a35cc24236c62ae489546695b103b04304cbdf105523c1424
+size 160242
diff --git a/data/UPB_00001494/plys/5.ply b/data/UPB_00001494/plys/5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2f2929a1f756c7e38f892de760b1d97346ac4241
--- /dev/null
+++ b/data/UPB_00001494/plys/5.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3633c1fb814ce5fd9a98e66ccdeeea40dc4ee83d46b8f07ced7fa2659798472d
+size 160242
diff --git a/data/UPB_00001494/plys/6.ply b/data/UPB_00001494/plys/6.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ca480ee51af80f0c0638f1707c2a35db17c00417
--- /dev/null
+++ b/data/UPB_00001494/plys/6.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:619ab864a98bcff00901562043445e252fbc60eeb4aa180e6cb766544eef0b89
+size 160242
diff --git a/data/UPB_00001494/plys/7.ply b/data/UPB_00001494/plys/7.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c267e1e5795b6958e26b219807e1bd21b5834d7b
--- /dev/null
+++ b/data/UPB_00001494/plys/7.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6880d0ad00c38a31627b4f9b281822ade4bdbedbba6e602194360072d80919d3
+size 1349554
diff --git a/data/UPB_00001494/plys/model.ply b/data/UPB_00001494/plys/model.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b5270026202b80d89c4af2c0528d6a96521d0b19
--- /dev/null
+++ b/data/UPB_00001494/plys/model.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:954c30c0de55a4de3c47903862bcf55a230c07c18b3261eb02da6b8680045f34
+size 1600243
diff --git a/data/UPB_00001495/annotations/object.json b/data/UPB_00001495/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..95b3e12f2dc5637febc466b3255ce00154e31821
--- /dev/null
+++ b/data/UPB_00001495/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Front-Loading Washing Machine",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        60.0,
+        60.0,
+        85.0
+    ],
+    "mass": 65.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001495/annotations/part_1.json b/data/UPB_00001495/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..1692dc6968c79b39e5d82000db84de7c12c8a335
--- /dev/null
+++ b/data/UPB_00001495/annotations/part_1.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001495",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Door Window Assembly",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Circular tempered glass window with a molded rim, approx. \u00d840 cm and 2 cm thick, located on the front lower area of the cabinet.",
+        "functional_description": "Provides a transparent, pressure-resistant viewing and sealing surface for the drum door; users grasp the rim to open/close the door.",
+        "movement_description": "Rotates about a side hinge relative to the cabinet for loading/unloading; a latch and gasket (not shown) provide sealing.",
+        "grasp_description": "Gripped by hand on the rim to swing the door open and closed."
+    },
+    "basic_info": {
+        "material": "glass/Tempered_Glass",
+        "density": 2.5,
+        "young": 70,
+        "hardness": 550,
+        "poisson": 0.22,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.2412845343351364,
+                    -0.23948943614959717,
+                    -0.09163281321525574
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001495/annotations/part_2.json b/data/UPB_00001495/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd366defccfcdba72e53a586199f25c11104a364
--- /dev/null
+++ b/data/UPB_00001495/annotations/part_2.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001495",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Selector Dial with Display (Left)",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Circular ABS control knob with an integrated display face, approx. \u00d812 cm, mounted near the upper-left of the front panel.",
+        "functional_description": "Primary program selector; turning the dial changes wash cycles and parameters shown on the display.",
+        "movement_description": "Rotates about its center axis relative to the cabinet with light detents and internal damping.",
+        "grasp_description": "Users grasp and turn the dial to choose modes; surface offers moderate grip."
+    },
+    "basic_info": {
+        "material": "glass/Soda_Lime_Glass",
+        "density": 2.5,
+        "young": 70,
+        "hardness": 550,
+        "poisson": 0.22,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.24904584884643555,
+                    -0.23989322781562805,
+                    0.2599598169326782
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001495/annotations/part_3.json b/data/UPB_00001495/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a701d5c556b5e1797b5ffebadc89d28bf2e2661
--- /dev/null
+++ b/data/UPB_00001495/annotations/part_3.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001495",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Touch Control Panel (Right)",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Glossy circular glass-covered touch interface, approx. \u00d812 cm, positioned near the upper-right of the front panel.",
+        "functional_description": "Provides start/pause and option selection via capacitive touch buttons and digital readout.",
+        "movement_description": "Rigidly fixed to the cabinet; no mechanical motion relative to the body.",
+        "grasp_description": "Operated by fingertip taps; not intended for gripping."
+    },
+    "basic_info": {
+        "material": "glass/Soda_Lime_Glass",
+        "density": 2.5,
+        "young": 70,
+        "hardness": 550,
+        "poisson": 0.22,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                3
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    0.027107037603855133,
+                    -0.24057355523109436,
+                    0.2567351758480072
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001495/annotations/part_4.json b/data/UPB_00001495/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..f71157e0338a1875835639a0c228ab1857a59d2e
--- /dev/null
+++ b/data/UPB_00001495/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001495",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Brand Logo Badge",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Thin PET decal/badge with printed brand mark, approx. 7*2 cm, adhered near the top center of the front panel.",
+        "functional_description": "Provides manufacturer branding and basic product identification.",
+        "movement_description": "Bonded to the cabinet; no relative motion.",
+        "grasp_description": "Not interacted with during normal use."
+    },
+    "basic_info": {
+        "material": "plastic/PET_Plastic_Film",
+        "density": 1.38,
+        "young": 2.8,
+        "hardness": 5,
+        "poisson": 0.38,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001495/annotations/part_5.json b/data/UPB_00001495/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdaac5119725be327bbef80ce6b621efef9cccf1
--- /dev/null
+++ b/data/UPB_00001495/annotations/part_5.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001495",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Cabinet Body",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Rectangular galvanized steel cabinet, painted, providing structural enclosure for internal components; approx. 60*60*85 cm.",
+        "functional_description": "Supports and houses the drum, motor, electronics, and interfaces; provides mounting points for door, controls, badge, and feet.",
+        "movement_description": "Rigid reference structure; other parts attach or move relative to it.",
+        "grasp_description": "Typically touched when moving the appliance, but not designed for gripping during operation."
+    },
+    "basic_info": {
+        "material": "plastic/PET_Plastic_Film",
+        "density": 1.38,
+        "young": 2.8,
+        "hardness": 5,
+        "poisson": 0.38,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001495/annotations/part_6.json b/data/UPB_00001495/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..eddd43710d913cd212561a00ea6edcea6cb93875
--- /dev/null
+++ b/data/UPB_00001495/annotations/part_6.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001495",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Adjustable Feet and Fastener Set",
+        "affordance": 7,
+        "graspable": true,
+        "basic_description": "Small rubberized feet and pads (and associated fasteners) located at the base corners; typical pad \u00d84 cm.",
+        "functional_description": "Provide vibration damping, floor grip, and leveling; fasteners secure components to the cabinet.",
+        "movement_description": "Rigidly attached to the cabinet; may be threaded for height adjustment but remain fixed during normal operation.",
+        "grasp_description": "Adjusted by hand or tool when leveling the machine; otherwise not handled."
+    },
+    "basic_info": {
+        "material": "rubber/SBR_Rubber",
+        "density": 0.95,
+        "young": 0.01,
+        "hardness": 10,
+        "poisson": 0.49,
+        "friction": 0.75
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001495/full_model/material.mtl b/data/UPB_00001495/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001495/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_00001495/full_model/material_0.png b/data/UPB_00001495/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2dba9108f16619982911d41c740756adb6cf61c0
--- /dev/null
+++ b/data/UPB_00001495/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d332a263e8c16c2a4c14fc4511793522dd4edea076c5a472ded5148cd55520db
+size 786970
diff --git a/data/UPB_00001495/full_model/model.obj b/data/UPB_00001495/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..821653f03026c2a9b0e0581a16cb5dec08024f17
--- /dev/null
+++ b/data/UPB_00001495/full_model/model.obj
@@ -0,0 +1,225328 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.08216202 -0.23720130 -0.29310745
+v -0.08236111 -0.23718250 -0.29361558
+v -0.09356360 -0.23718274 -0.28967208
+v -0.09333743 -0.23720130 -0.28917342
+v -0.08193200 -0.23726782 -0.29252034
+v -0.09307620 -0.23726794 -0.28859723
+v -0.07058902 -0.23726782 -0.29593712
+v -0.07078723 -0.23720117 -0.29653388
+v -0.07095877 -0.23718250 -0.29705012
+v -0.08167785 -0.23738366 -0.29187161
+v -0.09278750 -0.23738378 -0.28796065
+v -0.08140628 -0.23754956 -0.29117829
+v -0.09247903 -0.23754980 -0.28728056
+v -0.07013598 -0.23754944 -0.29457319
+v -0.07036999 -0.23738354 -0.29527777
+v -0.05924151 -0.23720105 -0.29944748
+v -0.05938513 -0.23718236 -0.29997075
+v -0.05907559 -0.23726770 -0.29884255
+v -0.04742020 -0.23726746 -0.30123138
+v -0.04755341 -0.23720093 -0.30184299
+v -0.04766867 -0.23718250 -0.30237210
+v -0.05889224 -0.23738331 -0.29817414
+v -0.05869641 -0.23754932 -0.29745996
+v -0.04711575 -0.23754944 -0.29983372
+v -0.04727295 -0.23738331 -0.30055565
+v -0.08055511 -0.23835486 -0.28900605
+v -0.08083810 -0.23803478 -0.28972828
+v -0.09183352 -0.23803490 -0.28585756
+v -0.09151214 -0.23835486 -0.28514886
+v -0.08028198 -0.23872668 -0.28830880
+v -0.09120190 -0.23872668 -0.28446466
+v -0.06916723 -0.23872668 -0.29165673
+v -0.06940265 -0.23835486 -0.29236543
+v -0.06964651 -0.23803478 -0.29309952
+v -0.05808258 -0.23835486 -0.29522204
+v -0.05828671 -0.23803478 -0.29596615
+v -0.05788549 -0.23872668 -0.29450381
+v -0.04646460 -0.23872668 -0.29684454
+v -0.04662283 -0.23835486 -0.29757082
+v -0.04678671 -0.23803478 -0.29832327
+v -0.08112408 -0.23776647 -0.29045814
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+f 63212/63212 63213/63213 63214/63214
+f 63210/63210 63212/63212 63214/63214
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+f 63210/63210 63214/63214 63218/63218
+f 63218/63218 63219/63219 63220/63220
+f 63220/63220 63221/63221 63222/63222
+f 63218/63218 63220/63220 63222/63222
+f 63222/63222 63223/63223 63224/63224
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+f 63222/63222 63224/63224 63226/63226
+f 63218/63218 63222/63222 63226/63226
+f 63210/63210 63218/63218 63226/63226
+f 63202/63202 63210/63210 63226/63226
+f 63226/63226 63227/63227 63228/63228
+f 63202/63202 63226/63226 63228/63228
+f 63200/63200 63202/63202 63228/63228
+f 63229/63229 63200/63200 63228/63228
+
diff --git a/data/UPB_00001495/meta_data.json b/data/UPB_00001495/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..8221ed91d4627a201426e6e2576189daa9d6b601
--- /dev/null
+++ b/data/UPB_00001495/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001495",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Front-Loading Washing Machine"
+    },
+    "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_00001495/model.urdf b/data/UPB_00001495/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..261c816c14778d0d62922098510ac56d88a0e436
--- /dev/null
+++ b/data/UPB_00001495/model.urdf
@@ -0,0 +1,130 @@
+<?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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.977012 0.977012 0.977012"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.977012 0.977012 0.977012"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.977012 0.977012 0.977012"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.977012 0.977012 0.977012"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.977012 0.977012 0.977012"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.977012 0.977012 0.977012"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.977012 0.977012 0.977012"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.977012 0.977012 0.977012"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.977012 0.977012 0.977012"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.977012 0.977012 0.977012"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.977012 0.977012 0.977012"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.977012 0.977012 0.977012"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_5"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.235738 -0.233984 -0.089526" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.235738 0.233984 0.089526" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_5"/>
+    <child link="helper_link_1"/>
+    <origin xyz="-0.243321 -0.234378 0.253984" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0.243321 0.234378 -0.253984" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="base_link"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.026484 -0.235043 0.250833" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.026484 0.235043 -0.250833" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001495/parts/1.mtl b/data/UPB_00001495/parts/1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc
--- /dev/null
+++ b/data/UPB_00001495/parts/1.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 1.png
diff --git a/data/UPB_00001495/parts/1.png b/data/UPB_00001495/parts/1.png
new file mode 100644
index 0000000000000000000000000000000000000000..59a2d90d53adf0e66924a415bfcf5dd15a14e101
--- /dev/null
+++ b/data/UPB_00001495/parts/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d1d3b9d896a6fe51654e32f44dbde4ab2535198f765e8491c2bde5fb0cd4275
+size 155948
diff --git a/data/UPB_00001495/parts/2.mtl b/data/UPB_00001495/parts/2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..57a1c04a7f3f0f8866abca464506627fead239e6
--- /dev/null
+++ b/data/UPB_00001495/parts/2.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 2.png
diff --git a/data/UPB_00001495/parts/2.png b/data/UPB_00001495/parts/2.png
new file mode 100644
index 0000000000000000000000000000000000000000..609ff876b3570207acdffbd2eb116f4a85dbfe0c
--- /dev/null
+++ b/data/UPB_00001495/parts/2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5f01bc5a105f02ce41ddde153a09209a6e1c072414c2a1a914b6cefb6590298
+size 176795
diff --git a/data/UPB_00001495/parts/3.mtl b/data/UPB_00001495/parts/3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f1811c7dbfb695f993b629aa8fa52a2d2fc419b1
--- /dev/null
+++ b/data/UPB_00001495/parts/3.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 3.png
diff --git a/data/UPB_00001495/parts/3.png b/data/UPB_00001495/parts/3.png
new file mode 100644
index 0000000000000000000000000000000000000000..609ff876b3570207acdffbd2eb116f4a85dbfe0c
--- /dev/null
+++ b/data/UPB_00001495/parts/3.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5f01bc5a105f02ce41ddde153a09209a6e1c072414c2a1a914b6cefb6590298
+size 176795
diff --git a/data/UPB_00001495/parts/T_68b3391f1d9e2c0001ad29e2_color.jpg b/data/UPB_00001495/parts/T_68b3391f1d9e2c0001ad29e2_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d5324c4eb513f5650cce34ab0401aadcec7248f3
--- /dev/null
+++ b/data/UPB_00001495/parts/T_68b3391f1d9e2c0001ad29e2_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3ae0d0226b7543ee1b9d841ed1ef8884bceb7d6eb1cb882dcb5d7a27331592d
+size 44405
diff --git a/data/UPB_00001495/parts/T_68b3391f5f6f6300010926e3_color.jpg b/data/UPB_00001495/parts/T_68b3391f5f6f6300010926e3_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3b8b3683819e15ff006972a7864f230b99894285
--- /dev/null
+++ b/data/UPB_00001495/parts/T_68b3391f5f6f6300010926e3_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:998dcd0d1f7658be5dd9e05f5a4820b12459ccf68fab869766a898066f120109
+size 101218
diff --git a/data/UPB_00001495/parts/T_68b3391f5f6f6300010926e3_metallic.jpg b/data/UPB_00001495/parts/T_68b3391f5f6f6300010926e3_metallic.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3ecd0bca8bad2ef4e4b6bf99e953b3016c09db47
--- /dev/null
+++ b/data/UPB_00001495/parts/T_68b3391f5f6f6300010926e3_metallic.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5098cb2f5e69ac335846db56c2b81e2fd72e44f6ebc7ac645db1ca87e70b3c69
+size 137601
diff --git a/data/UPB_00001495/parts/T_68b3391f5f6f6300010926e3_roughness.jpg b/data/UPB_00001495/parts/T_68b3391f5f6f6300010926e3_roughness.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1fe770d8ea9dcc28faae0c21ced97ec99b240548
--- /dev/null
+++ b/data/UPB_00001495/parts/T_68b3391f5f6f6300010926e3_roughness.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c5bbd6a498ebe166314b477d3b70da918c1265103521edc479e3c15f2b38346
+size 131777
diff --git a/data/UPB_00001495/parts/T_68b3391fc638450001be0058_color.jpg b/data/UPB_00001495/parts/T_68b3391fc638450001be0058_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3b8b3683819e15ff006972a7864f230b99894285
--- /dev/null
+++ b/data/UPB_00001495/parts/T_68b3391fc638450001be0058_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:998dcd0d1f7658be5dd9e05f5a4820b12459ccf68fab869766a898066f120109
+size 101218
diff --git a/data/UPB_00001495/parts/T_68b3391fc638450001be0058_metallic.jpg b/data/UPB_00001495/parts/T_68b3391fc638450001be0058_metallic.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3ecd0bca8bad2ef4e4b6bf99e953b3016c09db47
--- /dev/null
+++ b/data/UPB_00001495/parts/T_68b3391fc638450001be0058_metallic.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5098cb2f5e69ac335846db56c2b81e2fd72e44f6ebc7ac645db1ca87e70b3c69
+size 137601
diff --git a/data/UPB_00001495/parts/T_68b3391fc638450001be0058_roughness.jpg b/data/UPB_00001495/parts/T_68b3391fc638450001be0058_roughness.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1fe770d8ea9dcc28faae0c21ced97ec99b240548
--- /dev/null
+++ b/data/UPB_00001495/parts/T_68b3391fc638450001be0058_roughness.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c5bbd6a498ebe166314b477d3b70da918c1265103521edc479e3c15f2b38346
+size 131777
diff --git a/data/UPB_00001495/parts/T_68b3391fddcf760001b6b0ec_color.jpg b/data/UPB_00001495/parts/T_68b3391fddcf760001b6b0ec_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6533354d566ae9cde8ee4248b2b8d5f2c2961f73
--- /dev/null
+++ b/data/UPB_00001495/parts/T_68b3391fddcf760001b6b0ec_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36e2715a82824b538499d808766086366da0a5e14742ac1d9151a9ffc32be0db
+size 37594
diff --git a/data/UPB_00001495/parts/part_1.obj b/data/UPB_00001495/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d24449d50ec0781383e825b8dfd082b2220c1401
--- /dev/null
+++ b/data/UPB_00001495/parts/part_1.obj
@@ -0,0 +1,56358 @@
+# https://github.com/mikedh/trimesh
+mtllib 1.mtl
+usemtl material_0
+v -0.08216202 -0.23720130 -0.29310745
+v -0.08236111 -0.23718250 -0.29361558
+v -0.09356360 -0.23718274 -0.28967208
+v -0.09333743 -0.23720130 -0.28917342
+v -0.08193200 -0.23726782 -0.29252034
+v -0.09307620 -0.23726794 -0.28859723
+v -0.07058902 -0.23726782 -0.29593712
+v -0.07078723 -0.23720117 -0.29653388
+v -0.07095877 -0.23718250 -0.29705012
+v -0.08167785 -0.23738366 -0.29187161
+v -0.09278750 -0.23738378 -0.28796065
+v -0.08140628 -0.23754956 -0.29117829
+v -0.09247903 -0.23754980 -0.28728056
+v -0.07013598 -0.23754944 -0.29457319
+v -0.07036999 -0.23738354 -0.29527777
+v -0.05924151 -0.23720105 -0.29944748
+v -0.05938513 -0.23718236 -0.29997075
+v -0.05907559 -0.23726770 -0.29884255
+v -0.04742020 -0.23726746 -0.30123138
+v -0.04755341 -0.23720093 -0.30184299
+v -0.04766867 -0.23718250 -0.30237210
+v -0.05889224 -0.23738331 -0.29817414
+v -0.05869641 -0.23754932 -0.29745996
+v -0.04711575 -0.23754944 -0.29983372
+v -0.04727295 -0.23738331 -0.30055565
+v -0.08055511 -0.23835486 -0.28900605
+v -0.08083810 -0.23803478 -0.28972828
+v -0.09183352 -0.23803490 -0.28585756
+v -0.09151214 -0.23835486 -0.28514886
+v -0.08028198 -0.23872668 -0.28830880
+v -0.09120190 -0.23872668 -0.28446466
+v -0.06916723 -0.23872668 -0.29165673
+v -0.06940265 -0.23835486 -0.29236543
+v -0.06964651 -0.23803478 -0.29309952
+v -0.05808258 -0.23835486 -0.29522204
+v -0.05828671 -0.23803478 -0.29596615
+v -0.05788549 -0.23872668 -0.29450381
+v -0.04646460 -0.23872668 -0.29684454
+v -0.04662283 -0.23835486 -0.29757082
+v -0.04678671 -0.23803478 -0.29832327
+v -0.08112408 -0.23776647 -0.29045814
+v -0.09215841 -0.23776659 -0.28657383
+v -0.06989288 -0.23776636 -0.29384124
+v -0.05849292 -0.23776636 -0.29671806
+v -0.04695233 -0.23776636 -0.29908347
+v -0.01168525 -0.23835498 -0.30151933
+v -0.01164543 -0.23872668 -0.30077970
+v 0.00005371 -0.23872668 -0.30104542
+v 0.00005367 -0.23835498 -0.30178589
+v -0.01172647 -0.23803490 -0.30228543
+v 0.00005364 -0.23803490 -0.30255300
+v -0.02347858 -0.23803490 -0.30148786
+v -0.02339624 -0.23835486 -0.30072451
+v -0.02331677 -0.23872668 -0.29998756
+v -0.01176809 -0.23776647 -0.30305970
+v 0.00005367 -0.23776647 -0.30332828
+v -0.01180920 -0.23754944 -0.30382377
+v 0.00005367 -0.23754956 -0.30409312
+v -0.02364389 -0.23754944 -0.30302066
+v -0.02356176 -0.23776647 -0.30225927
+v -0.03505145 -0.23835486 -0.29940665
+v -0.03493240 -0.23872668 -0.29867423
+v -0.03517471 -0.23803478 -0.30016547
+v -0.03529925 -0.23776636 -0.30093229
+v -0.03542215 -0.23754944 -0.30168891
+v -0.01191951 -0.23720080 -0.30587006
+v -0.01188598 -0.23726746 -0.30524725
+v 0.00005345 -0.23726733 -0.30551845
+v 0.00005342 -0.23720080 -0.30614185
+v -0.01194848 -0.23718236 -0.30640894
+v 0.00005342 -0.23718201 -0.30668157
+v -0.02392184 -0.23718225 -0.30559641
+v -0.02386395 -0.23720080 -0.30505943
+v -0.02379706 -0.23726733 -0.30443889
+v -0.03575140 -0.23720080 -0.30371541
+v -0.03565121 -0.23726746 -0.30309862
+v -0.03583807 -0.23718250 -0.30424905
+v -0.01184886 -0.23738343 -0.30455905
+v 0.00005356 -0.23738343 -0.30482942
+v -0.02372299 -0.23738343 -0.30375326
+v -0.03554047 -0.23738343 -0.30241710
+v -0.16383380 -0.23720142 -0.24839187
+v -0.16423059 -0.23718297 -0.24879171
+v -0.17292827 -0.23718297 -0.24123244
+v -0.17251047 -0.23720142 -0.24085085
+v -0.16337530 -0.23726794 -0.24792983
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+v -0.15432724 -0.23726807 -0.25505161
+v -0.15476035 -0.23720154 -0.25553358
+v -0.15513510 -0.23718309 -0.25595063
+v -0.16286862 -0.23738404 -0.24741927
+v -0.17149417 -0.23738392 -0.23992275
+v -0.16232730 -0.23755017 -0.24687380
+v -0.17092413 -0.23754993 -0.23940211
+v -0.15333720 -0.23755017 -0.25394964
+v -0.15384860 -0.23738416 -0.25451893
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diff --git a/data/UPB_00001495/parts/part_2.obj b/data/UPB_00001495/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27d0bde38baf35604000bab2ec48c32433e3f7c2
--- /dev/null
+++ b/data/UPB_00001495/parts/part_2.obj
@@ -0,0 +1,56358 @@
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