diff --git a/.gitattributes b/.gitattributes
index 8cb286b819a52dc4abb6ec86bbf0ca7a6382a78d..03257ca4346df9c8324f35e91867ef0fca49f2a6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3296,3 +3296,33 @@ data/UPB_00000799/plys/2.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00000799/plys/3.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00000799/plys/4.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00000799/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000800/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000800/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000800/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000800/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000800/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000801/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000801/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000801/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000801/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000801/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000802/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000802/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000802/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000802/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000802/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000803/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000803/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000803/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000803/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000803/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000804/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000804/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000804/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000804/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000804/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000804/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000804/plys/7.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000804/plys/8.ply filter=lfs diff=lfs merge=lfs -text
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diff --git a/data/UPB_00000800/annotations/part_4.json b/data/UPB_00000800/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..558f14f77a279e741c9fb1ed77df36877ef7ce6f
--- /dev/null
+++ b/data/UPB_00000800/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000800",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Internal Hinge & Pedal Bracket Assembly",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Metal ring/hinge at the rim and a base plate near the bottom that mounts the pedal pivot; forms the fixed mechanism carrier.",
+        "functional_description": "Transfers pedal motion to the lid through a hinge linkage while remaining fixed to the body.",
+        "movement_description": "Rigidly attached to the body; provides pivot axes for the pedal and lid\u2014allowing their controlled rotation.",
+        "grasp_description": "Not accessed during normal use; only handled during maintenance or assembly."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.95,
+        "young": 193.0,
+        "hardness": 180,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000800/full_model/material.mtl b/data/UPB_00000800/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00000800/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_00000800/full_model/material_0.png b/data/UPB_00000800/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ce693cb4822ff0f0896a727f777a792fdce47e6
--- /dev/null
+++ b/data/UPB_00000800/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:918ecfebb1a5326083ad3aab6a1c6b741caf2eeb3f975db3e2ca665c945be64c
+size 97
diff --git a/data/UPB_00000800/full_model/model.obj b/data/UPB_00000800/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d7e48d2eb30dbdb360ecce7d22fa6cc94aeaa09
--- /dev/null
+++ b/data/UPB_00000800/full_model/model.obj
@@ -0,0 +1,41566 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/data/UPB_00000800/meta_data.json b/data/UPB_00000800/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..36a55a9156ff1a5b36ae1607954fa89f4f19f595
--- /dev/null
+++ b/data/UPB_00000800/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00000800",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "ContainersStorage/WasteRecyclingContainer",
+        "object_name": "Pedal Trash Can"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 4,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000800/model.urdf b/data/UPB_00000800/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..165a71996fd34f81ad5fb7ff3bfe67ef9cf60b71
--- /dev/null
+++ b/data/UPB_00000800/model.urdf
@@ -0,0 +1,88 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.956572 0.956572 0.956572"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.956572 0.956572 0.956572"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.956572 0.956572 0.956572"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.956572 0.956572 0.956572"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.956572 0.956572 0.956572"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.956572 0.956572 0.956572"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.956572 0.956572 0.956572"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.956572 0.956572 0.956572"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.074090 -0.100201" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="0.0" upper="0.2617993877991494"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.074090 0.100201" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 0.095839 0.115701" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
+    <limit lower="0.0" upper="2.6179938779914944"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 -0.095839 -0.115701" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00000800/parts/TrashCan_6PYHPIBVAJYE6PTULI888888_SGMrj.mtl b/data/UPB_00000800/parts/TrashCan_6PYHPIBVAJYE6PTULI888888_SGMrj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef63f35631c33b9b93ce61e7c0800bb9cdc49f7b
--- /dev/null
+++ b/data/UPB_00000800/parts/TrashCan_6PYHPIBVAJYE6PTULI888888_SGMrj.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5fcef16c00e3a30001acf3c0
+Kd 0.718400002 0.718400002 0.718400002
+illum 1
+
+newmtl MI_5fcef16c5974ed0001950c82
+Kd 0.209500998 0.209500998 0.211879998
+illum 1
+
diff --git a/data/UPB_00000800/parts/part_1.obj b/data/UPB_00000800/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33029acae8a70714c5b186a6316b9f73e3b7b306
--- /dev/null
+++ b/data/UPB_00000800/parts/part_1.obj
@@ -0,0 +1,30668 @@
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diff --git a/data/UPB_00000800/parts/part_2.obj b/data/UPB_00000800/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad71628e638a8cd8741a048da259c0766245ec67
--- /dev/null
+++ b/data/UPB_00000800/parts/part_2.obj
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diff --git a/data/UPB_00000800/parts/part_3.obj b/data/UPB_00000800/parts/part_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f5591942fca43d4fbb903d0a865a09a6645b224
--- /dev/null
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diff --git a/data/UPB_00000800/parts/part_4.obj b/data/UPB_00000800/parts/part_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14d288d3d4a65ed9a76d0c7d15b06b5365c5a63f
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diff --git a/data/UPB_00000800/plys/1.ply b/data/UPB_00000800/plys/1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..eeb75ca0ac1e9060172596a45d36dd2fa77f6802
--- /dev/null
+++ b/data/UPB_00000800/plys/1.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d306630f254c2f4ea3ab1cb9ee82e13f79d39a8af31bbe7cfe19bb5cf9317d86
+size 160242
diff --git a/data/UPB_00000800/plys/2.ply b/data/UPB_00000800/plys/2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..65d501cc85c328981811a7e052d44daa6ffd1ee3
--- /dev/null
+++ b/data/UPB_00000800/plys/2.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ea8b4dc2f066fceed5d59c34f1fef3cccbe903087fd913180e366bcad60e0d4
+size 279394
diff --git a/data/UPB_00000800/plys/3.ply b/data/UPB_00000800/plys/3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..bdb76dff8d27654b32b23a5bbd8f43e4eb67c60d
--- /dev/null
+++ b/data/UPB_00000800/plys/3.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d8cf19fca62191762f00dea5f6a6d6a51c22180d25d4f59168ffa02429aeca7
+size 940050
diff --git a/data/UPB_00000800/plys/4.ply b/data/UPB_00000800/plys/4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2638af2a17650773cbef93cc9fea89074b312159
--- /dev/null
+++ b/data/UPB_00000800/plys/4.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa2c2dfddf1f39ebb86ad9d1052742fbdced64b71b0d55929f1d3d6d95bd911e
+size 321794
diff --git a/data/UPB_00000800/plys/model.ply b/data/UPB_00000800/plys/model.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6f6f058079fbbe5200776de96e37904e54de3aab
--- /dev/null
+++ b/data/UPB_00000800/plys/model.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75371c8d817255c7c6a94aaa7b205af477e805e0e6e9921a41318c3f2e14b19e
+size 1600243
diff --git a/data/UPB_00000801/annotations/object.json b/data/UPB_00000801/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..366c9b6b663e8a74b3184bf38bda3f4ef8c0b99f
--- /dev/null
+++ b/data/UPB_00000801/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Pedal Trash Can",
+    "category": "ContainersStorage/WasteRecyclingContainer",
+    "volume": [
+        24.0,
+        24.0,
+        34.0
+    ],
+    "mass": 2.2
+}
\ No newline at end of file
diff --git a/data/UPB_00000801/annotations/part_1.json b/data/UPB_00000801/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..884cb4c658844578a7f203021f49e44d7da55e6a
--- /dev/null
+++ b/data/UPB_00000801/annotations/part_1.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000801",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Foot Pedal",
+        "affordance": 1,
+        "graspable": false,
+        "basic_description": "Textured ABS plastic pedal, approx 8*4*1.5 cm, mounted at the lower front opening of the bin.",
+        "functional_description": "Primary human interface pressed by foot to open the lid via the internal mechanism.",
+        "movement_description": "Rotates slightly about a horizontal axle fixed to the body; motion is damped by the return spring/mechanism inside.",
+        "grasp_description": "Operated by stepping; rarely grasped by hand except during cleaning or repositioning."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 12,
+        "poisson": 0.35,
+        "friction": 0.65
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.10134213417768478,
+                    -0.13653956353664398
+                ],
+                "range": [
+                    0.0,
+                    0.2617993877991494
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000801/annotations/part_2.json b/data/UPB_00000801/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..0aec67b22c86f6930852d8dae8492b1f91519d32
--- /dev/null
+++ b/data/UPB_00000801/annotations/part_2.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000801",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Lid",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Round stainless-steel lid, ~22 cm diameter, ~1.5 cm thick, covering the top opening.",
+        "functional_description": "Seals odors and hides contents; opens when the pedal-actuated mechanism lifts it.",
+        "movement_description": "Rotates about a rear hinge axis relative to the body. Soft closing is aided by internal damping in many bins.",
+        "grasp_description": "Can be lifted by hand when cleaning or when pedal not used; touched on the rim or small tab."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "hardness": 170,
+        "poisson": 0.29,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "C": {
+                "axis": [
+                    -1.0,
+                    0.0,
+                    -1.2246468525851679e-16
+                ],
+                "pos": [
+                    0.0,
+                    0.1303219348192215,
+                    0.15837828814983368
+                ],
+                "range": [
+                    0.0,
+                    2.6179938779914944
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000801/annotations/part_3.json b/data/UPB_00000801/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..05a745f2a2cf034b222f42ed233821a8b8ba8e4a
--- /dev/null
+++ b/data/UPB_00000801/annotations/part_3.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000801",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Inner Retainer Ring and Base Plate (liner assembly)",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Lightweight polypropylene inner components: a thin bag-retaining ring at the rim and a circular floor plate (~21 cm diameter ring, ~20 cm diameter base).",
+        "functional_description": "Supports and retains the trash bag at the top while providing a smooth inner base; removable for cleaning.",
+        "movement_description": "No motion during normal operation; it is seated rigidly within the body but can be lifted out as one assembly for service.",
+        "grasp_description": "Users may grasp the ring to remove/replace the liner or to secure the trash bag edge."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "hardness": 170,
+        "poisson": 0.29,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000801/annotations/part_4.json b/data/UPB_00000801/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2ed42ad5f3a5d12f988bde90168841be1456744
--- /dev/null
+++ b/data/UPB_00000801/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000801",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Outer Body (Canister)",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Cylindrical stainless-steel housing with front pedal slot; approx 22 cm diameter and 30 cm tall.",
+        "functional_description": "Provides structural support for the hinge, pedal, and liner; contains the refuse and protects the mechanism.",
+        "movement_description": "Static reference frame for all joints. Hinge and pedal axles are fixed to this body.",
+        "grasp_description": "Users grasp the body to lift or reposition the bin; edges can be held while replacing bags."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "hardness": 170,
+        "poisson": 0.29,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000801/full_model/material.mtl b/data/UPB_00000801/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00000801/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_00000801/full_model/material_0.png b/data/UPB_00000801/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6338d84f7c805dd25f25cc4672d70d91aaa4986a
--- /dev/null
+++ b/data/UPB_00000801/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0f8401342d05e47c5c59af1531b543c3fc1b1e7e117d0798c52ce896f21e7bb
+size 96
diff --git a/data/UPB_00000801/full_model/model.obj b/data/UPB_00000801/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b56d1b6ea0fd89ee2a14f3048357d851ffb55e9
--- /dev/null
+++ b/data/UPB_00000801/full_model/model.obj
@@ -0,0 +1,164674 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.01372980 -0.15010521 -0.14214189
+v 0.01414360 -0.15019061 -0.14215660
+v 0.01414230 -0.15031300 -0.14148080
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diff --git a/data/UPB_00000801/meta_data.json b/data/UPB_00000801/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..9320c6573309a9c434b83903dad4617520c76197
--- /dev/null
+++ b/data/UPB_00000801/meta_data.json
@@ -0,0 +1,22 @@
+{
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+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "ContainersStorage/WasteRecyclingContainer",
+        "object_name": "Pedal Trash Can"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 4,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000801/model.urdf b/data/UPB_00000801/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..08a188d8cd6b6172bcad002a79944edec3d8807f
--- /dev/null
+++ b/data/UPB_00000801/model.urdf
@@ -0,0 +1,88 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.893502 0.893502 0.893502"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.893502 0.893502 0.893502"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.893502 0.893502 0.893502"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.893502 0.893502 0.893502"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.893502 0.893502 0.893502"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.893502 0.893502 0.893502"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.893502 0.893502 0.893502"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.893502 0.893502 0.893502"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.090549 -0.121998" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="0.0" upper="0.2617993877991494"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.090549 0.121998" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 0.116443 0.141511" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
+    <limit lower="0.0" upper="2.6179938779914944"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 -0.116443 -0.141511" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00000801/parts/TrashCan_SIL5RZ6O7DXBU34BJU888888_RymLJ.mtl b/data/UPB_00000801/parts/TrashCan_SIL5RZ6O7DXBU34BJU888888_RymLJ.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b4ab187ca03fd9706ffce7fb05133611641815b9
--- /dev/null
+++ b/data/UPB_00000801/parts/TrashCan_SIL5RZ6O7DXBU34BJU888888_RymLJ.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_5b7434c7b532763878b75dd9
+Kd 0.132080004 0.132080004 0.132080004
+illum 1
+
+newmtl MI_5b7434c7b532763878b75dd8
+Kd 0.163947999 0.163947999 0.163947999
+illum 1
+
diff --git a/data/UPB_00000801/parts/part_1.obj b/data/UPB_00000801/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06c6bdc58772bb5d55857ba2ba88d346e5b39ff3
--- /dev/null
+++ b/data/UPB_00000801/parts/part_1.obj
@@ -0,0 +1,117518 @@
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diff --git a/data/UPB_00000801/parts/part_2.obj b/data/UPB_00000801/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13aff1bcb7b7e48822bf5b6e4b2ed469506762a3
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diff --git a/data/UPB_00000801/parts/part_4.obj b/data/UPB_00000801/parts/part_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ec54416f1c89afe83c113a6121180822fedd47e
--- /dev/null
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diff --git a/data/UPB_00000801/plys/1.ply b/data/UPB_00000801/plys/1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..29f42d10ac7e00f4958cd33cb731b26489cb75f4
--- /dev/null
+++ b/data/UPB_00000801/plys/1.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d66098042f703f3e6dc079fbf3d3ef2457886bbb5879b882a701671b8c5b9b9
+size 160242
diff --git a/data/UPB_00000801/plys/2.ply b/data/UPB_00000801/plys/2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e5b2b111c5d38a3c77216e71c6a26abc12a076b9
--- /dev/null
+++ b/data/UPB_00000801/plys/2.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93b5c88822123a32840b53258c9e55c506e2dacdecc7b31ab8cef5c6d5ebeadc
+size 279250
diff --git a/data/UPB_00000801/plys/3.ply b/data/UPB_00000801/plys/3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e0e42deca1656b0c9a18d0697cd1c84ba24585f3
--- /dev/null
+++ b/data/UPB_00000801/plys/3.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ceb26801fc2e82d1d21c4e363bef4fb7ebf499e4a199fe82be437223ac28c111
+size 322402
diff --git a/data/UPB_00000801/plys/4.ply b/data/UPB_00000801/plys/4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..81ad10b90e613f76321de066447a450134ed449b
--- /dev/null
+++ b/data/UPB_00000801/plys/4.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd7c591e4d51fc31246ee1a7a1d61fb57bdd62fd6e1c5c7a3f5f60f87c427201
+size 941090
diff --git a/data/UPB_00000801/plys/model.ply b/data/UPB_00000801/plys/model.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e5b382b8c65792ba8da4a1d6578dfb4f9eb28c5c
--- /dev/null
+++ b/data/UPB_00000801/plys/model.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ec774afc50ba9025c733fc63e9bca2d90928cb31431c91d5c6406de3bd916f5
+size 1600243
diff --git a/data/UPB_00000802/annotations/object.json b/data/UPB_00000802/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2aec4711b61f55763a454d0ed8320e72c08dcac
--- /dev/null
+++ b/data/UPB_00000802/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Pedal Trash Can",
+    "category": "ContainersStorage/WasteRecyclingContainer",
+    "volume": [
+        24.0,
+        24.0,
+        35.0
+    ],
+    "mass": 1.9
+}
\ No newline at end of file
diff --git a/data/UPB_00000802/annotations/part_1.json b/data/UPB_00000802/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..e44fbbf1077eaa04ecdb89a02e043632dde1ab1c
--- /dev/null
+++ b/data/UPB_00000802/annotations/part_1.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000802",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Foot Pedal",
+        "affordance": 1,
+        "graspable": false,
+        "basic_description": "ABS plastic curved pedal pad mounted at the bin\u2019s base front; approx. 9 cm wide, 4 cm deep, 2 cm thick.",
+        "functional_description": "Users press this pad with the foot to actuate the opening of the lid without using hands.",
+        "movement_description": "Rotates downward about a hinge on the base/hinge bracket assembly (part 4); pedal returns by spring and light damping.",
+        "grasp_description": "Not held by hand; pressed by shoe."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.6
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.15471197664737701,
+                    -0.19507379829883575
+                ],
+                "range": [
+                    0.0,
+                    0.24434609527920614
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000802/annotations/part_2.json b/data/UPB_00000802/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ce526f2c8114f899933e0300e12f07b5f42d2b5
--- /dev/null
+++ b/data/UPB_00000802/annotations/part_2.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000802",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Lid",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Circular stainless-steel lid, ~23.5 cm diameter and ~1.5 cm thick at the rim.",
+        "functional_description": "Covers the opening to contain odors and hide waste; opens via pedal actuation or by hand.",
+        "movement_description": "Rotates about the rear hinge bracket (part 4). A linkage from the pedal lifts it; it falls closed under gravity and spring return with mild damping.",
+        "grasp_description": "Usually touched at the rim when opening/closing manually or for cleaning."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.6
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "C": {
+                "axis": [
+                    -1.0,
+                    0.0,
+                    -1.2246468525851679e-16
+                ],
+                "pos": [
+                    0.0,
+                    0.15110187232494354,
+                    0.1982612907886505
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000802/annotations/part_3.json b/data/UPB_00000802/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..5449c2c851579718184ef02b253a1acc259d439f
--- /dev/null
+++ b/data/UPB_00000802/annotations/part_3.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000802",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Outer Body (Shell)",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Cylindrical stainless-steel body, ~24 cm diameter and ~32 cm tall; serves as the main container.",
+        "functional_description": "Provides structure, houses the waste liner or bag, and supports the hinge/base assembly.",
+        "movement_description": "Stationary component; rigidly connected to the base/hinge assembly and held by screws.",
+        "grasp_description": "Gripped at the sides when moving or cleaning the bin."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "hardness": 170,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000802/annotations/part_4.json b/data/UPB_00000802/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..d92443910887929f6c80fe5bec9e302ce9d586eb
--- /dev/null
+++ b/data/UPB_00000802/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000802",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Base, Hinge Bracket and Bag Ring Assembly",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Black powder-coated steel set including: a circular base plate (~24 cm dia.), a rear vertical hinge bracket (~10 cm tall), and a thin round bag-retaining ring (~3 mm wire) near the rim.",
+        "functional_description": "The base supports the bin and houses the pedal pivot; the rear bracket provides the hinge for the lid; the ring holds a trash bag around the rim.",
+        "movement_description": "Acts as the parent frame for pedal and lid rotations; rigidly fixed to the body by screws.",
+        "grasp_description": "Bag ring is grasped when fitting or removing a liner; base and bracket are usually not touched during normal use."
+    },
+    "basic_info": {
+        "material": "metal/Steel_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 140,
+        "poisson": 0.29,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000802/full_model/material.mtl b/data/UPB_00000802/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00000802/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_00000802/full_model/material_0.png b/data/UPB_00000802/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fcec71814ac4a960adb1b23f6e850644f6b35bc2
--- /dev/null
+++ b/data/UPB_00000802/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c80e718af08b773ba6d986d11f44aaaa008f3bffc205e7638272587731698b99
+size 226686
diff --git a/data/UPB_00000802/full_model/model.obj b/data/UPB_00000802/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42dc5059d2c04f1d034346dd2dba992b6e7b668e
--- /dev/null
+++ b/data/UPB_00000802/full_model/model.obj
@@ -0,0 +1,21440 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.01607510 -0.15890600 -0.20308900
+v -0.02333300 -0.15803100 -0.20310700
+v -0.02333300 -0.15794800 -0.20889400
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+v -0.00819345 -0.15956099 -0.19874500
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+
diff --git a/data/UPB_00000802/meta_data.json b/data/UPB_00000802/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..bad16cf0e08e3b0608437521114af0dac7bb3f3e
--- /dev/null
+++ b/data/UPB_00000802/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00000802",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "ContainersStorage/WasteRecyclingContainer",
+        "object_name": "Pedal Trash Can"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 4,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000802/model.urdf b/data/UPB_00000802/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..627757f335cd10daba0306137c76e50e5a0c9391
--- /dev/null
+++ b/data/UPB_00000802/model.urdf
@@ -0,0 +1,88 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.769329 0.769329 0.769329"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.769329 0.769329 0.769329"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.769329 0.769329 0.769329"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.769329 0.769329 0.769329"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.769329 0.769329 0.769329"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.769329 0.769329 0.769329"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.769329 0.769329 0.769329"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.769329 0.769329 0.769329"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.119024 -0.150076" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="0.0" upper="0.24434609527920614"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.119024 0.150076" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 0.116247 0.152528" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
+    <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="-0.000000 -0.116247 -0.152528" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00000802/parts/1.mtl b/data/UPB_00000802/parts/1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc
--- /dev/null
+++ b/data/UPB_00000802/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_00000802/parts/1.png b/data/UPB_00000802/parts/1.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd796db5bddecb8effadfcc9a681651df6b2930e
--- /dev/null
+++ b/data/UPB_00000802/parts/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c68c91dd36cff8dd1aeef602ac60ce9d56b5226ea03cb28b6f9446b33e64e20a
+size 59719
diff --git a/data/UPB_00000802/parts/4.mtl b/data/UPB_00000802/parts/4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..09452450b9e8e9282ad1a92706e3e1f6ac239875
--- /dev/null
+++ b/data/UPB_00000802/parts/4.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 4.png
diff --git a/data/UPB_00000802/parts/4.png b/data/UPB_00000802/parts/4.png
new file mode 100644
index 0000000000000000000000000000000000000000..6be94aa0722dd9f6fee320801f2a372607805365
--- /dev/null
+++ b/data/UPB_00000802/parts/4.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de7a5ec391fcb981ee4c6101e4250cb316d8602180da670264d10ce5e016a961
+size 59752
diff --git a/data/UPB_00000802/parts/T_6374990bad49080001a729be_color.jpg b/data/UPB_00000802/parts/T_6374990bad49080001a729be_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..90759fffe3a9a7387f9259f8ed59f1092cce16cb
--- /dev/null
+++ b/data/UPB_00000802/parts/T_6374990bad49080001a729be_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31b97ebb7b760aa4b5459a2141cf2d7c51d360821b54abf151e4d3b6b7f08532
+size 37098
diff --git a/data/UPB_00000802/parts/T_6374990bcd8ef200016b1f4b_color.jpg b/data/UPB_00000802/parts/T_6374990bcd8ef200016b1f4b_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..90759fffe3a9a7387f9259f8ed59f1092cce16cb
--- /dev/null
+++ b/data/UPB_00000802/parts/T_6374990bcd8ef200016b1f4b_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31b97ebb7b760aa4b5459a2141cf2d7c51d360821b54abf151e4d3b6b7f08532
+size 37098
diff --git a/data/UPB_00000802/parts/TrashCan_Z5FAZKBVAJYA2PTUKU888888_HiDm0.mtl b/data/UPB_00000802/parts/TrashCan_Z5FAZKBVAJYA2PTUKU888888_HiDm0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a6e78bb8f2be007ba719fff771929ae1ae68efe8
--- /dev/null
+++ b/data/UPB_00000802/parts/TrashCan_Z5FAZKBVAJYA2PTUKU888888_HiDm0.mtl
@@ -0,0 +1,17 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_6374990bad49080001a729be
+Kd 1 1 1
+illum 1
+map_Kd ./T_6374990bad49080001a729be_color.jpg
+
+newmtl MI_6374990bcd8ef200016b1f4b
+Kd 1 1 1
+illum 1
+map_Kd ./T_6374990bcd8ef200016b1f4b_color.jpg
+
+newmtl MI_6374990bcf808b0001e1fba9
+Kd 0.312873989 0.231481999 0.146653995
+illum 1
+
diff --git a/data/UPB_00000802/parts/part_1.obj b/data/UPB_00000802/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a510b97a1908946af83d42937a03462da824462d
--- /dev/null
+++ b/data/UPB_00000802/parts/part_1.obj
@@ -0,0 +1,3166 @@
+# https://github.com/mikedh/trimesh
+mtllib 1.mtl
+usemtl material_0
+v -0.01607510 -0.15890600 -0.20308900
+v -0.02333300 -0.15803100 -0.20310700
+v -0.02333300 -0.15794800 -0.20889400
+v -0.01607510 -0.15885399 -0.20885900
+v -0.00819345 -0.15956099 -0.19874500
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diff --git a/data/UPB_00000802/parts/part_2.obj b/data/UPB_00000802/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffbeba783c4b5aff5ec3e639910d52d3be97231a
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diff --git a/data/UPB_00000802/parts/part_3.obj b/data/UPB_00000802/parts/part_3.obj
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diff --git a/data/UPB_00000802/parts/part_4.obj b/data/UPB_00000802/parts/part_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b08074813dceaa68693d6f337fcbf59ae176f8d3
--- /dev/null
+++ b/data/UPB_00000802/parts/part_4.obj
@@ -0,0 +1,12208 @@
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@@ -0,0 +1,10 @@
+{
+    "object_name": "Pedal Trash Can",
+    "category": "ContainersStorage/WasteRecyclingContainer",
+    "volume": [
+        23.0,
+        23.0,
+        32.0
+    ],
+    "mass": 1.6
+}
\ No newline at end of file
diff --git a/data/UPB_00000803/annotations/part_1.json b/data/UPB_00000803/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..084a6eb3218c122078ab894e182f60dcb9e67b43
--- /dev/null
+++ b/data/UPB_00000803/annotations/part_1.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000803",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Foot Pedal Pad",
+        "affordance": 1,
+        "graspable": false,
+        "basic_description": "Textured ABS plastic pedal pad, about 7*4*1 cm, attached near the base of the bin.",
+        "functional_description": "Provides a high-friction surface for the foot to actuate the opening mechanism.",
+        "movement_description": "Rotates slightly around a bottom hinge relative to the body; moves rigidly with the internal linkage.",
+        "grasp_description": "Operated by foot; rarely grasped by hand."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 12,
+        "poisson": 0.37,
+        "friction": 0.65
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.08283180743455887,
+                    -0.1143304631114006
+                ],
+                "range": [
+                    0.0,
+                    0.17453292519943295
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000803/annotations/part_2.json b/data/UPB_00000803/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..69c33326f6272cc4fb53e79e2f3dcf828a52d471
--- /dev/null
+++ b/data/UPB_00000803/annotations/part_2.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000803",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Lid",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Round stainless-steel lid, approx. 22 cm diameter and 2 cm thick.",
+        "functional_description": "Covers the opening to contain waste and odors; opens when the pedal-linkage actuates.",
+        "movement_description": "Rotates about a rear hinge bracket attached to the linkage assembly; rests against the body rim when closed.",
+        "grasp_description": "Can be lifted by hand if needed; otherwise opens automatically via the foot pedal."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "hardness": 190,
+        "poisson": 0.29,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "C": {
+                "axis": [
+                    -1.0,
+                    0.0,
+                    -1.2246468525851679e-16
+                ],
+                "pos": [
+                    0.0,
+                    0.10396602004766464,
+                    0.14034661650657654
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000803/annotations/part_3.json b/data/UPB_00000803/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..018202cb4ce947bbc78f6b8335aab57f4853c0dc
--- /dev/null
+++ b/data/UPB_00000803/annotations/part_3.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000803",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Pedal Linkage and Hinge Bracket",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Internal stainless-steel lever and rim-mounted hinge bracket; includes a bottom lever plate and a top ring/bracket near the rim.",
+        "functional_description": "Transmits motion from the foot pedal to the lid, converting small pedal rotation into lid opening.",
+        "movement_description": "Rotates slightly about a low axis relative to the body; the upper hinge bracket drives the lid\u2019s rotation.",
+        "grasp_description": "Not user-accessible; remains inside the body."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "hardness": 200,
+        "poisson": 0.29,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000803/annotations/part_4.json b/data/UPB_00000803/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3cf5c35d4d58ad374f498278c47354c2b39f05d
--- /dev/null
+++ b/data/UPB_00000803/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000803",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Outer Body (Canister)",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Cylindrical stainless-steel shell, roughly 23 cm diameter, 30 cm tall, thin-walled with a slot for pedal linkage.",
+        "functional_description": "Houses the waste volume and supports all mechanisms and the lid.",
+        "movement_description": "Stationary reference for pedal and linkage rotations; provides the rim that the lid seats against.",
+        "grasp_description": "Users grasp the body when relocating or emptying the bin."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_430",
+        "density": 7.7,
+        "young": 200.0,
+        "hardness": 170,
+        "poisson": 0.29,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000803/full_model/material.mtl b/data/UPB_00000803/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00000803/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_00000803/full_model/material_0.png b/data/UPB_00000803/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..154a3e39cad0c0d03845ab00cc661831d25521ad
--- /dev/null
+++ b/data/UPB_00000803/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57a26158c3fe5bfac4c72b608602a65bb4dff41ed3505a97f117d015cd959013
+size 96
diff --git a/data/UPB_00000803/full_model/model.obj b/data/UPB_00000803/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e8c779000e6852a104b0ebcb30e44dbf546e738
--- /dev/null
+++ b/data/UPB_00000803/full_model/model.obj
@@ -0,0 +1,41550 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.02231940 -0.12469300 -0.11811900
+v 0.02231860 -0.12489600 -0.11699600
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diff --git a/data/UPB_00000803/meta_data.json b/data/UPB_00000803/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..90a4fd03fea13a41378ea814e42144ff26fd6c3a
--- /dev/null
+++ b/data/UPB_00000803/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00000803",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "ContainersStorage/WasteRecyclingContainer",
+        "object_name": "Pedal Trash Can"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 4,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000803/model.urdf b/data/UPB_00000803/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f09137b7b512d5d956efef9441528c598391acf8
--- /dev/null
+++ b/data/UPB_00000803/model.urdf
@@ -0,0 +1,88 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="link_1">
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+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.012011 1.012011 1.012011"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.012011 1.012011 1.012011"/>
+      </geometry>
+    </collision>
+  </link>
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+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.012011 1.012011 1.012011"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.012011 1.012011 1.012011"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.012011 1.012011 1.012011"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.012011 1.012011 1.012011"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.012011 1.012011 1.012011"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.083827 -0.115704" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="0.0" upper="0.17453292519943295"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.083827 0.115704" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_3"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 0.105215 0.142032" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
+    <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="-0.000000 -0.105215 -0.142032" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00000803/parts/TrashCan_Z5FPVRRVAJ3XGPTUKQ888888_yVtdj.mtl b/data/UPB_00000803/parts/TrashCan_Z5FPVRRVAJ3XGPTUKQ888888_yVtdj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..97e773c5702475bb7013914fa14663265b7fac29
--- /dev/null
+++ b/data/UPB_00000803/parts/TrashCan_Z5FPVRRVAJ3XGPTUKQ888888_yVtdj.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_637464bccf808b0001e1ee45
+Kd 0.442687601 0.442687601 0.442687601
+illum 1
+
+newmtl MI_637464bc6eb1b700013c3a4c
+Kd 0.156900004 0.156900004 0.156900004
+illum 1
+
diff --git a/data/UPB_00000803/parts/part_1.obj b/data/UPB_00000803/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32fc2c7192e0ce9032312efb4656776576112aa1
--- /dev/null
+++ b/data/UPB_00000803/parts/part_1.obj
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diff --git a/data/UPB_00000803/parts/part_2.obj b/data/UPB_00000803/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df3d1bdcdc3225272d47e77869700b9a154c6b2a
--- /dev/null
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diff --git a/data/UPB_00000803/parts/part_3.obj b/data/UPB_00000803/parts/part_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..866f287f9165e4878ce859dab44aaad82b426de3
--- /dev/null
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diff --git a/data/UPB_00000803/parts/part_4.obj b/data/UPB_00000803/parts/part_4.obj
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index 0000000000000000000000000000000000000000..aaf9cf2b3075f3e56e69d409a6094718759c2c09
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diff --git a/data/UPB_00000803/plys/1.ply b/data/UPB_00000803/plys/1.ply
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--- /dev/null
+++ b/data/UPB_00000803/plys/1.ply
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+version https://git-lfs.github.com/spec/v1
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+size 160242
diff --git a/data/UPB_00000803/plys/2.ply b/data/UPB_00000803/plys/2.ply
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
+oid sha256:dae89cc60986a16c0abff7729065ec11cdf39f648ad4f80cc48e39a3907d55fb
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diff --git a/data/UPB_00000803/plys/3.ply b/data/UPB_00000803/plys/3.ply
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00000803/plys/model.ply b/data/UPB_00000803/plys/model.ply
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00000804/annotations/object.json b/data/UPB_00000804/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ba29c68d5a1338f2b7c52c769cd18a1dedc1aec
--- /dev/null
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@@ -0,0 +1,10 @@
+{
+    "object_name": "Wheelie Trash Bin",
+    "category": "ContainersStorage/WasteRecyclingContainer",
+    "volume": [
+        55.0,
+        48.0,
+        95.0
+    ],
+    "mass": 10.5
+}
\ No newline at end of file
diff --git a/data/UPB_00000804/annotations/part_1.json b/data/UPB_00000804/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a939d2b548fd7f085ad493d1b26a30a61a9f22a
--- /dev/null
+++ b/data/UPB_00000804/annotations/part_1.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000804",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Hinged Lid with Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "HDPE hinged lid with an integrated arched handle, roughly matching the bin's opening (about 48*55 cm footprint, ~5 cm thick).",
+        "functional_description": "Covers the bin to contain odors and weather, and provides a handle for opening/closing.",
+        "movement_description": "Rotates upward about a rear hinge axis fixed to the bin body.",
+        "grasp_description": "Users grasp the arched handle or front edge to open or close the lid."
+    },
+    "basic_info": {
+        "material": "plastic/HDPE_Plastic",
+        "density": 0.95,
+        "young": 1.0,
+        "hardness": 12,
+        "poisson": 0.46,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    -1.0,
+                    1.2246468525851679e-16,
+                    0.0
+                ],
+                "pos": [
+                    0.17957644164562225,
+                    0.1349821388721466,
+                    0.21251821517944336
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000804/annotations/part_2.json b/data/UPB_00000804/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0c34eada522ceb7c1ae019968582f42a39eb643
--- /dev/null
+++ b/data/UPB_00000804/annotations/part_2.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000804",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Front Label/Decal",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "PVC film decal with recycling symbol and text, ~15*20 cm, adhered to the front panel.",
+        "functional_description": "Provides identification/instructions (e.g., Non Recyclable Waste).",
+        "movement_description": "No motion; stuck to the bin body.",
+        "grasp_description": "Not intended for grasping."
+    },
+    "basic_info": {
+        "material": "plastic/PVC_Plastic",
+        "density": 1.35,
+        "young": 2.8,
+        "hardness": 15,
+        "poisson": 0.38,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000804/annotations/part_3.json b/data/UPB_00000804/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb536b274db0cb188f2169a89026bed3582a517a
--- /dev/null
+++ b/data/UPB_00000804/annotations/part_3.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000804",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Front Lifting Trunnion Bar",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Galvanized steel bar with side brackets across the upper front of the bin, ~42 cm long, ~2.5 cm diameter.",
+        "functional_description": "Acts as a lifting interface for collection vehicles or as a reinforcing bar.",
+        "movement_description": "Rigidly fixed to the bin body; no relative motion.",
+        "grasp_description": "Rarely touched by users; primarily for truck mechanisms."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Galvanized",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 160,
+        "poisson": 0.29,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000804/annotations/part_4.json b/data/UPB_00000804/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba3c9caf81e17ab79a91db149d6e6dc10228f1a3
--- /dev/null
+++ b/data/UPB_00000804/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000804",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Wheel Axle Rod",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Carbon steel axle spanning the lower rear of the bin, ~38 cm long and ~1.6 cm diameter.",
+        "functional_description": "Provides the rotational shaft for both wheels and carries the load of the bin.",
+        "movement_description": "Rigid to the body; left and right wheels rotate about this axis.",
+        "grasp_description": "Not typically handled; hidden beneath the bin."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Carbon",
+        "density": 7.85,
+        "young": 205.0,
+        "hardness": 180,
+        "poisson": 0.29,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000804/annotations/part_5.json b/data/UPB_00000804/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..de46f082aa916fd8f810d8a73b7be38b5c76e01d
--- /dev/null
+++ b/data/UPB_00000804/annotations/part_5.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000804",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Right Wheel Hub",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Polypropylene wheel core for the right side, ~20 cm diameter and ~4 cm thick, with central bore for the axle.",
+        "functional_description": "Supports the tire and rotates on the axle to allow rolling.",
+        "movement_description": "Rotates freely around the fixed axle; carries the rigidly attached rubber tire.",
+        "grasp_description": "May be grasped occasionally when maneuvering or maintaining the wheel."
+    },
+    "basic_info": {
+        "material": "plastic/PP_Plastic",
+        "density": 0.9,
+        "young": 1.6,
+        "hardness": 10,
+        "poisson": 0.42,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000804/annotations/part_6.json b/data/UPB_00000804/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c115c7a83b6af80ac7a28b4ffea251dddbdfd86
--- /dev/null
+++ b/data/UPB_00000804/annotations/part_6.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000804",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Left Wheel Inner Cap",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Polypropylene dust/retainer cap located on the inner side of the left wheel hub, concave profile ~6 cm diameter.",
+        "functional_description": "Protects the axle junction and helps retain the left wheel on the axle.",
+        "movement_description": "Rigidly attached to the left wheel assembly; rotates together with the hub.",
+        "grasp_description": "Not intended to be touched during normal use."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Carbon",
+        "density": 7.85,
+        "young": 205.0,
+        "hardness": 180,
+        "poisson": 0.29,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000804/annotations/part_7.json b/data/UPB_00000804/annotations/part_7.json
new file mode 100644
index 0000000000000000000000000000000000000000..85733d10380294ab37f00682463ce5090f90e691
--- /dev/null
+++ b/data/UPB_00000804/annotations/part_7.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000804",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Bin Body",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Main container made from blow-molded HDPE, ~95 cm tall with a 55*48 cm footprint and reinforced rim.",
+        "functional_description": "Holds waste, provides structure for wheels, axle, lid, and lifting features.",
+        "movement_description": "Stationary structure; other parts mount to or move relative to it.",
+        "grasp_description": "Users commonly grip the rim or rear to tilt and roll the bin."
+    },
+    "basic_info": {
+        "material": "plastic/HDPE_Plastic",
+        "density": 0.95,
+        "young": 1.0,
+        "hardness": 12,
+        "poisson": 0.46,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000804/annotations/part_8.json b/data/UPB_00000804/annotations/part_8.json
new file mode 100644
index 0000000000000000000000000000000000000000..a230b83a2b1f67e877b3dfd34a0bf26de213b431
--- /dev/null
+++ b/data/UPB_00000804/annotations/part_8.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000804",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Left Wheel Hub",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Polypropylene wheel core for the left side, about 20 cm outer diameter and 4 cm width.",
+        "functional_description": "Rotates on the axle to support the left side of the bin.",
+        "movement_description": "Free rotation around the fixed axle; inner cap rotates with it.",
+        "grasp_description": "Occasionally held when repositioning or servicing the wheel."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Carbon",
+        "density": 7.85,
+        "young": 205.0,
+        "hardness": 180,
+        "poisson": 0.29,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000804/annotations/part_9.json b/data/UPB_00000804/annotations/part_9.json
new file mode 100644
index 0000000000000000000000000000000000000000..47c50bfe4a1af0948f779ec4e25c24382cfcea55
--- /dev/null
+++ b/data/UPB_00000804/annotations/part_9.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000804",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Right Wheel Tire",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Solid SBR rubber ring fitted around the right wheel hub, ~20 cm OD and ~4 cm tread width.",
+        "functional_description": "Provides traction, damping and noise reduction while rolling.",
+        "movement_description": "Rotates with the right wheel hub as a single unit around the axle.",
+        "grasp_description": "May be touched when moving the bin over obstacles."
+    },
+    "basic_info": {
+        "material": "rubber/SBR_Rubber",
+        "density": 1.15,
+        "young": 0.01,
+        "hardness": 30,
+        "poisson": 0.49,
+        "friction": 0.7
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000804/full_model/material.mtl b/data/UPB_00000804/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00000804/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_00000804/full_model/material_0.png b/data/UPB_00000804/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3858e0730614b04693a2efd17b1623439835e5f
--- /dev/null
+++ b/data/UPB_00000804/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69f31d004c413d82de42da66cc304cfa14b9ea6006696d38caac3b0e890a3866
+size 123
diff --git a/data/UPB_00000804/full_model/model.obj b/data/UPB_00000804/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..144817a11a63cfb191d8929b23c2241104b42287
--- /dev/null
+++ b/data/UPB_00000804/full_model/model.obj
@@ -0,0 +1,15016 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.14778315 -0.16902800 0.24607600
+v 0.14778315 0.11840600 0.24607600
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diff --git a/data/UPB_00000804/meta_data.json b/data/UPB_00000804/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..94dae070fd63ea77c8df85bde60ba027fd7148ea
--- /dev/null
+++ b/data/UPB_00000804/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00000804",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "ContainersStorage/WasteRecyclingContainer",
+        "object_name": "Wheelie Trash Bin"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 9,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000804/model.urdf b/data/UPB_00000804/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d1903133b940f56bb8a2d21b06aa771796721f8b
--- /dev/null
+++ b/data/UPB_00000804/model.urdf
@@ -0,0 +1,165 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_7"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.280659 0.210963 0.332144" rpy="0 0 0"/>
+    <axis xyz="-1.0 1.2246468525851679e-16 0.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.280659 -0.210963 -0.332144" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00000804/parts/TrashCan_ZBFTT7JVAJ5NAPTUL4888888_Uug0p.mtl b/data/UPB_00000804/parts/TrashCan_ZBFTT7JVAJ5NAPTUL4888888_Uug0p.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..00cc28cdaae60700d1ef6f91b9064e718691915a
--- /dev/null
+++ b/data/UPB_00000804/parts/TrashCan_ZBFTT7JVAJ5NAPTUL4888888_Uug0p.mtl
@@ -0,0 +1,35 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_6475a30b80e1c100016bb5ce
+Kd 0.556900024 0.556900024 0.556900024
+illum 1
+
+newmtl MI_6475a30bc053fa00018135d0
+Kd 0.556900024 0.556900024 0.556900024
+illum 1
+
+newmtl MI_6475a30b94d3870001cd9a29
+Kd 0.576499999 0.415699989 0.207800001
+illum 1
+
+newmtl MI_6475a30b9857a70001b3798b
+Kd 0.576499999 0.415699989 0.207800001
+illum 1
+
+newmtl MI_6475a30b12a00d0001c3a0ec
+Kd 0.184300005 0.184300005 0.184300005
+illum 1
+
+newmtl MI_6475a30bf4ebfe0001a1d175
+Kd 0 0 0
+illum 1
+
+newmtl MI_6475a30b868bc400011a3857
+Kd 0 0 0
+illum 1
+
+newmtl MI_6475a30bd6098400018a84de
+Kd 0.886300027 0.886300027 0.886300027
+illum 1
+
diff --git a/data/UPB_00000804/parts/part_1.obj b/data/UPB_00000804/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50d616c3d122c85ae8d6ca3175ad1d6d7c65ef5f
--- /dev/null
+++ b/data/UPB_00000804/parts/part_1.obj
@@ -0,0 +1,4748 @@
+mtllib TrashCan_ZBFTT7JVAJ5NAPTUL4888888_Uug0p.mtl
+v 0.147783145 -0.169027999 0.246076003
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diff --git a/data/UPB_00000804/parts/part_2.obj b/data/UPB_00000804/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73d5acf5bb3c7e892100d457f58d754a54d3ae5d
--- /dev/null
+++ b/data/UPB_00000804/parts/part_2.obj
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index 0000000000000000000000000000000000000000..9dbd1619163f0738ad934cc37d893fdf6d6ea8ca
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diff --git a/data/UPB_00000804/parts/part_4.obj b/data/UPB_00000804/parts/part_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..146def9567a668a8783d78fb23b7eabf50763b75
--- /dev/null
+++ b/data/UPB_00000804/parts/part_4.obj
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diff --git a/data/UPB_00000804/parts/part_8.obj b/data/UPB_00000804/parts/part_8.obj
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index 0000000000000000000000000000000000000000..83e1fc3c224ef29640974dfc7670465a44cf9da1
--- /dev/null
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diff --git a/data/UPB_00000804/plys/model.ply b/data/UPB_00000804/plys/model.ply
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diff --git a/data/UPB_00000805/annotations/object.json b/data/UPB_00000805/annotations/object.json
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index 0000000000000000000000000000000000000000..0ac574a361a9d06b5de471aab2c034e5eba31082
--- /dev/null
+++ b/data/UPB_00000805/annotations/object.json
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+{
+    "object_name": "Wheelie Recycling Bin",
+    "category": "ContainersStorage/WasteRecyclingContainer",
+    "volume": [
+        60.0,
+        50.0,
+        95.0
+    ],
+    "mass": 9.5
+}
\ No newline at end of file
diff --git a/data/UPB_00000805/annotations/part_1.json b/data/UPB_00000805/annotations/part_1.json
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index 0000000000000000000000000000000000000000..35f82d876a8553b073e0dda0875479aed1737e62
--- /dev/null
+++ b/data/UPB_00000805/annotations/part_1.json
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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000805",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Hinged Lid with Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Injection-molded HDPE lid with an integrated arch handle sized to cover the bin opening.",
+        "functional_description": "Seals the bin to contain odor and rain ingress; the handle provides a grip for opening.",
+        "movement_description": "Rotates about a rear hinge axis relative to the bin body, opening to roughly 120 degrees.",
+        "grasp_description": "Users typically grasp the arch handle to open/close the bin and while tilting the bin to roll."
+    },
+    "basic_info": {
+        "material": "plastic/HDPE_Plastic",
+        "density": 0.95,
+        "young": 1.0,
+        "hardness": 12,
+        "poisson": 0.4,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
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+                    1.2246468525851679e-16,
+                    0.0
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+                "pos": [
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+                    0.2131028026342392
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000805/annotations/part_10.json b/data/UPB_00000805/annotations/part_10.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9e51b6c2e2877b83ccb46c0a978d498f7413dde
--- /dev/null
+++ b/data/UPB_00000805/annotations/part_10.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000805",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Rubber Tire",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Solid natural-rubber ring fitted around the wheel rim.",
+        "functional_description": "Provides traction, shock absorption and quiet rolling on pavement.",
+        "movement_description": "Rigidly attached to the wheel rim; rotates with the hub about the axle.",
+        "grasp_description": "Users seldom touch the tire except occasionally when cleaning or clearing debris."
+    },
+    "basic_info": {
+        "material": "rubber/Natural_Rubber",
+        "density": 1.1,
+        "young": 0.01,
+        "hardness": 5,
+        "poisson": 0.49,
+        "friction": 0.75
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000805/annotations/part_11.json b/data/UPB_00000805/annotations/part_11.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca9dfff1df0564aa5ecf5e06018053b012340497
--- /dev/null
+++ b/data/UPB_00000805/annotations/part_11.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000805",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Front Lift Bar",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Galvanized steel bar with two mounting brackets across the upper front of the bin.",
+        "functional_description": "Provides a standardized interface for truck lifters; also adds rigidity to the rim.",
+        "movement_description": "No relative motion; rigidly fastened to the bin body.",
+        "grasp_description": "Occasionally grasped when maneuvering the bin, though primarily intended for automated lifting."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Galvanized",
+        "density": 7.85,
+        "young": 210.0,
+        "hardness": 160,
+        "poisson": 0.29,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000805/annotations/part_2.json b/data/UPB_00000805/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbea6c497af9caea171daf772e331ac76147bbcb
--- /dev/null
+++ b/data/UPB_00000805/annotations/part_2.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000805",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Front Decal (Recycling/Organic)",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Thin adhesive PVC vinyl graphic applied to the front panel of the bin.",
+        "functional_description": "Provides identification and sorting guidance for waste.",
+        "movement_description": "No movement; bonded to the bin body surface.",
+        "grasp_description": "Not intended to be touched; contact may peel the decal."
+    },
+    "basic_info": {
+        "material": "plastic/PVC_Film",
+        "density": 1.3,
+        "young": 2.5,
+        "hardness": 3,
+        "poisson": 0.38,
+        "friction": 0.6
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000805/annotations/part_3.json b/data/UPB_00000805/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce6df319c7ff3d3e040a8220e0c68fd045096094
--- /dev/null
+++ b/data/UPB_00000805/annotations/part_3.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000805",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Bin Body",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Large HDPE container with tapered walls and rear recess for the axle and wheels.",
+        "functional_description": "Holds waste and provides the structural frame for the axle, wheels, lift bar and lid.",
+        "movement_description": "Stationary part of the assembly; serves as the parent for the hinged lid and the fixed support for the axle.",
+        "grasp_description": "Users often grasp the rim or side walls to tilt and maneuver the bin."
+    },
+    "basic_info": {
+        "material": "plastic/HDPE_Plastic",
+        "density": 0.95,
+        "young": 1.0,
+        "hardness": 12,
+        "poisson": 0.4,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000805/annotations/part_4.json b/data/UPB_00000805/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..e53ab813eb4446d6325048c4598ce68bc7992390
--- /dev/null
+++ b/data/UPB_00000805/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000805",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Axle Rod",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Steel rod spanning the lower rear of the bin.",
+        "functional_description": "Supports the wheel assembly and carries the rolling load.",
+        "movement_description": "Rigidly fixed to the body; the wheel hub rotates about this rod.",
+        "grasp_description": "Not normally handled by users; accessed only for maintenance."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Low_Carbon",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 180,
+        "poisson": 0.29,
+        "friction": 0.25
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000805/annotations/part_5.json b/data/UPB_00000805/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..64bb8f4ca22c4230e9129288ec12cc22187eb1e0
--- /dev/null
+++ b/data/UPB_00000805/annotations/part_5.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000805",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Axle Spacers/Isolator Rings",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Pair of rubber rings mounted on the axle as spacers/dampers.",
+        "functional_description": "Provide spacing and vibration isolation between wheel and body, reducing rattling.",
+        "movement_description": "Do not move relative to the axle; rotate with the axle which is fixed to the body.",
+        "grasp_description": "Too small and recessed to be grasped during normal use."
+    },
+    "basic_info": {
+        "material": "rubber/Nitrile_Rubber",
+        "density": 1.2,
+        "young": 0.05,
+        "hardness": 2,
+        "poisson": 0.49,
+        "friction": 0.7
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file