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diff --git a/data/UPB_00001053/annotations/object.json b/data/UPB_00001053/annotations/object.json
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+{
+    "object_name": "Built-in Dishwasher",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        60.0,
+        60.0,
+        85.0
+    ],
+    "mass": 40.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001053/annotations/part_1.json b/data/UPB_00001053/annotations/part_1.json
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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001053",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Front Door and Kick Plate",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Stainless steel front door panel with an integrated recessed handle and a narrow lower kick-plate trim; roughly 60 cm wide and 75\u201380 cm tall.",
+        "functional_description": "Seals the wash cavity, provides the user-facing surface and handle, and supports latching and gasket interfaces to contain water and noise.",
+        "movement_description": "Rotates downward about a horizontal bottom hinge relative to the cabinet body (part 2). Motion is damped by hinge springs and/or struts, enabling controlled opening and closing within about 110 degrees.",
+        "grasp_description": "Users grasp the recessed handle area to pull the door open and push it closed; contact occurs frequently with hands and occasionally with forearms."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193,
+        "hardness": 180,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
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+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001053/annotations/part_2.json b/data/UPB_00001053/annotations/part_2.json
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index 0000000000000000000000000000000000000000..7338e8a0d511687fe42f43aa34043fb8f2679d64
--- /dev/null
+++ b/data/UPB_00001053/annotations/part_2.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001053",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Cabinet Body",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Main dishwasher housing formed from galvanized steel panels; a black-finished outer shell that contains the tub, racks, pump and electronics.",
+        "functional_description": "Provides the structural frame, supports internal mechanisms, and serves as the fixed reference for the door and hinge assembly. It also interfaces with cabinetry and floor for installation.",
+        "movement_description": "Static structure; acts as the parent component about which the door (part 1) rotates on a bottom hinge axis.",
+        "grasp_description": "Not normally grasped; users interact with it indirectly during installation or when moving the appliance."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Galvanized",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 140,
+        "poisson": 0.29,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001053/full_model/material.mtl b/data/UPB_00001053/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001053/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_00001053/full_model/material_0.png b/data/UPB_00001053/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..58f514125f6eb096a89df7e3022ad286f9bc55dc
--- /dev/null
+++ b/data/UPB_00001053/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc757a4101012270b9b91a614640d6951b2d470ecb91509819c6037aec6644e7
+size 246623
diff --git a/data/UPB_00001053/full_model/model.obj b/data/UPB_00001053/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a92955d39d1853678a559bbe36cd8c391fe25caf
--- /dev/null
+++ b/data/UPB_00001053/full_model/model.obj
@@ -0,0 +1,4796 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+
diff --git a/data/UPB_00001053/meta_data.json b/data/UPB_00001053/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..7757a0ce97743cbb39170ddf07b861fc6db5df33
--- /dev/null
+++ b/data/UPB_00001053/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001053",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Built-in Dishwasher"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 2,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001053/model.urdf b/data/UPB_00001053/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..eb0db74947daf7fa49933d151d61c18646d6e26e
--- /dev/null
+++ b/data/UPB_00001053/model.urdf
@@ -0,0 +1,46 @@
+<?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="1.370968 1.370968 1.370968"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.370968 1.370968 1.370968"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.370968 1.370968 1.370968"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.370968 1.370968 1.370968"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_2"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.353179 -0.417673" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.353179 0.417673" 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>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001053/parts/1.mtl b/data/UPB_00001053/parts/1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc
--- /dev/null
+++ b/data/UPB_00001053/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_00001053/parts/1.png b/data/UPB_00001053/parts/1.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00001053/parts/T_60015dcf00e3a30001c8a818_color.jpg b/data/UPB_00001053/parts/T_60015dcf00e3a30001c8a818_color.jpg
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+version https://git-lfs.github.com/spec/v1
+oid sha256:b58f187b1008805f2ca39bd835400c602f520eec4f6ed0442485452aca806b36
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diff --git a/data/UPB_00001053/parts/T_60015dcf7fdaa400014929ca_color.jpg b/data/UPB_00001053/parts/T_60015dcf7fdaa400014929ca_color.jpg
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00001053/parts/dishwasher_ZQ74PHBVAJTQKPTUKU888888_3XaBS.mtl b/data/UPB_00001053/parts/dishwasher_ZQ74PHBVAJTQKPTUKU888888_3XaBS.mtl
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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_60015dcf7fdaa400014929ca
+Kd 1 1 1
+illum 1
+map_Kd ./T_60015dcf7fdaa400014929ca_color.jpg
+
+newmtl MI_60015dcf5b89690001254bb2
+Kd 1 1 1
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+newmtl MI_60015dcfc6ff5a000142fb73
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+newmtl MI_60015dcf00e3a30001c8a818
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+
+newmtl MI_60015dcfe113f600011f7ae0
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+illum 1
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+f 4/2/1 5/1/1 6/4/1
+f 7/5/2 8/6/2 9/7/2
+f 10/6/2 11/5/2 12/8/2
+f 13/9/3 14/10/3 15/6/3
+f 16/10/3 17/9/3 18/11/3
+f 19/12/4 20/13/4 21/14/4
+f 22/13/4 23/12/4 24/15/4
+f 25/16/5 26/17/5 27/4/5
+f 28/17/5 29/16/5 30/18/5
+f 31/19/6 32/20/6 33/21/6
+f 34/20/6 35/19/6 36/22/6
diff --git a/data/UPB_00001053/plys/1.ply b/data/UPB_00001053/plys/1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1e1c4b374d868daaa6411e930ead0346d248962e
--- /dev/null
+++ b/data/UPB_00001053/plys/1.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32e0917ddba34c9e309de52a4d5ee94e2ad966a1f9646e7ac7765a1dc6388361
+size 481362
diff --git a/data/UPB_00001053/plys/2.ply b/data/UPB_00001053/plys/2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b496728d615aceb87af36407a192320ba158d96a
--- /dev/null
+++ b/data/UPB_00001053/plys/2.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a466097e680e8c99c763fa909cc0fe46b8de2dd73976e59bc120f472e5a33215
+size 1119106
diff --git a/data/UPB_00001053/plys/model.ply b/data/UPB_00001053/plys/model.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f252d3bc271d9dae3f8ea44e5b947c0fb67a5b10
--- /dev/null
+++ b/data/UPB_00001053/plys/model.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6eb809c94aa31b7215ce8804e81caa9856311243fe3652fd07a011524d6c21b5
+size 1600243
diff --git a/data/UPB_00001054/annotations/object.json b/data/UPB_00001054/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..4899b0089a5abd710d43c84a4aa3d90d720cb746
--- /dev/null
+++ b/data/UPB_00001054/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Built-in Oven with Lower Storage Drawer",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        60.0,
+        60.0,
+        85.0
+    ],
+    "mass": 42.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001054/annotations/part_1.json b/data/UPB_00001054/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bd12b2995d4f991167a9d01c5d1ad9bc9152ae3
--- /dev/null
+++ b/data/UPB_00001054/annotations/part_1.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001054",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Oven Door Outer Panel",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Black powder-coated steel outer door panel with top ventilation grille; approx 59*3*55 cm.",
+        "functional_description": "Serves as the oven\u2019s front closure and heat barrier; supports the handle and vents steam through the top slot.",
+        "movement_description": "Rotates downward on bottom hinges relative to the main housing.",
+        "grasp_description": "Users avoid touching the hot panel and grasp the handle to open/close."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Powder_Coated",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 140,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                2
+            ],
+            "C": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.21588784456253052,
+                    -0.13528519868850708
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001054/annotations/part_2.json b/data/UPB_00001054/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..592b184994133ff72c3672f669a488f12aa1fafb
--- /dev/null
+++ b/data/UPB_00001054/annotations/part_2.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001054",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Door Handle Bar",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Brushed aluminum tubular handle mounted across the door; about 55*3*3 cm.",
+        "functional_description": "Primary user interface for pulling the door open or pushing it closed.",
+        "movement_description": "No independent motion; rigidly fixed to the door and follows its rotation.",
+        "grasp_description": "Users grasp with one or both hands; cylindrical section offers secure grip and stays cooler than the door surface."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063",
+        "density": 2.7,
+        "young": 69,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001054/annotations/part_3.json b/data/UPB_00001054/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4324ad4b923fecbd968f274ae44ab91560995e3
--- /dev/null
+++ b/data/UPB_00001054/annotations/part_3.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001054",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Brand Badge",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Raised ABS logo letters affixed to the lower front; roughly 10*0.5*2 cm.",
+        "functional_description": "Provides branding and visual identification; no structural role.",
+        "movement_description": "Rigidly attached to the lower drawer front and moves with it if the drawer slides.",
+        "grasp_description": "Not intended to be grasped; occasional light contact during cleaning."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.3,
+        "hardness": 15,
+        "poisson": 0.37,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001054/annotations/part_4.json b/data/UPB_00001054/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..18d18dd1b97dcd80e8db5025452c164af56a7c62
--- /dev/null
+++ b/data/UPB_00001054/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001054",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Status/Indicator Lens",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Small translucent acrylic window on the front chassis; about 18*0.5*4 cm.",
+        "functional_description": "Allows light/status indication (or sensor window) to be visible while protecting internal electronics.",
+        "movement_description": "Rigidly mounted to the main housing with no relative motion.",
+        "grasp_description": "Not meant for handling; only touched during cleaning."
+    },
+    "basic_info": {
+        "material": "plastic/PMMA_Acrylic",
+        "density": 1.18,
+        "young": 3.2,
+        "hardness": 18,
+        "poisson": 0.38,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001054/annotations/part_5.json b/data/UPB_00001054/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..639b5de80056d8c192e20acc23bd20a76c8b3da9
--- /dev/null
+++ b/data/UPB_00001054/annotations/part_5.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001054",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Main Housing/Cabinet",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Primary steel chassis that encloses insulation, cavity, and mechanisms; approx 60*56*80 cm.",
+        "functional_description": "Provides structural support and thermal enclosure for the oven cavity and mounting for door, drawer, and controls.",
+        "movement_description": "Static frame; defines the reference for door rotation and drawer translation.",
+        "grasp_description": "Rarely grasped; occasionally touched when installing or cleaning exterior sides."
+    },
+    "basic_info": {
+        "material": "metal/Galvanized_Steel_Sheet",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001054/annotations/part_6.json b/data/UPB_00001054/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a753bdd77305b7a1f0a62c985a88dc71f4fbf13
--- /dev/null
+++ b/data/UPB_00001054/annotations/part_6.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001054",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Lower Storage Drawer Front",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Black powder-coated steel front for the bottom drawer; about 59*2.5*18 cm.",
+        "functional_description": "Covers and provides grip for the lower storage/warming drawer; carries the brand badge.",
+        "movement_description": "Slides outward on rails relative to the housing to provide access to the drawer cavity.",
+        "grasp_description": "Users pull from the top edge/lip to open and push to close."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Powder_Coated",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 140,
+        "poisson": 0.3,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001054/full_model/material.mtl b/data/UPB_00001054/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001054/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_00001054/full_model/material_0.png b/data/UPB_00001054/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2710b49f8e9cb463c62f4c6d4e1643124e475a02
--- /dev/null
+++ b/data/UPB_00001054/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:617b66d12eda544cba30962cea7ff5f5942c50fb59b97d000cfb7c1a89d8d8c4
+size 914371
diff --git a/data/UPB_00001054/full_model/model.obj b/data/UPB_00001054/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3966d27db0019455b56eb690e445ddb13c6dc95d
--- /dev/null
+++ b/data/UPB_00001054/full_model/model.obj
@@ -0,0 +1,18744 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.29640001 -0.23051099 0.35190999
+v -0.29640001 -0.23231099 0.35190999
+v 0.29640001 -0.23231099 0.35190999
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+
diff --git a/data/UPB_00001054/meta_data.json b/data/UPB_00001054/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca5f37e0b20582c4a9951cd9827e287eb7c6e27f
--- /dev/null
+++ b/data/UPB_00001054/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001054",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Built-in Oven with Lower Storage Drawer"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 6,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001054/model.urdf b/data/UPB_00001054/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..462232d94134f0cfde6f7d95a2de603925e40452
--- /dev/null
+++ b/data/UPB_00001054/model.urdf
@@ -0,0 +1,114 @@
+<?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="1.207695 1.207695 1.207695"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.207695 1.207695 1.207695"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.207695 1.207695 1.207695"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.207695 1.207695 1.207695"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.207695 1.207695 1.207695"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.207695 1.207695 1.207695"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.207695 1.207695 1.207695"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.207695 1.207695 1.207695"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.207695 1.207695 1.207695"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.207695 1.207695 1.207695"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.207695 1.207695 1.207695"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.207695 1.207695 1.207695"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_5"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.260727 -0.163383" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.260727 0.163383" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="fixed">
+    <parent link="link_1"/>
+    <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>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001054/parts/1.mtl b/data/UPB_00001054/parts/1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc
--- /dev/null
+++ b/data/UPB_00001054/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_00001054/parts/1.png b/data/UPB_00001054/parts/1.png
new file mode 100644
index 0000000000000000000000000000000000000000..088d076249465077677d0dabdd6ed88108f0b105
--- /dev/null
+++ b/data/UPB_00001054/parts/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:145564bb6380b0ccb410bd1f74454464ee5f83796e8e778e7db7c783ef05e78a
+size 83943
diff --git a/data/UPB_00001054/parts/T_6038b8f35ea89f000165bffe_color.jpg b/data/UPB_00001054/parts/T_6038b8f35ea89f000165bffe_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9ce1aabec8cd500a9e81b88a527208183d369f9f
--- /dev/null
+++ b/data/UPB_00001054/parts/T_6038b8f35ea89f000165bffe_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4827f7911bf8f49523d95c5b73890eccb6f067d80641fb46758b8b437c792e5f
+size 28845
diff --git a/data/UPB_00001054/parts/T_6038b8f3b1d8ad00013475f5_color.jpg b/data/UPB_00001054/parts/T_6038b8f3b1d8ad00013475f5_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6a9d212c8ac52dbd200aa2cc0f7e7206e4244e68
--- /dev/null
+++ b/data/UPB_00001054/parts/T_6038b8f3b1d8ad00013475f5_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:353df6050b3e6e4e7faf7585f07c089a7b93353feef8953badc5752838c63a20
+size 241606
diff --git a/data/UPB_00001054/parts/dishwasher_ZQDCHKBVAUZYQPTULU888888_E5G53.mtl b/data/UPB_00001054/parts/dishwasher_ZQDCHKBVAUZYQPTULU888888_E5G53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..411cf50d6aaf8997e591ba3106846af3b62ecd4c
--- /dev/null
+++ b/data/UPB_00001054/parts/dishwasher_ZQDCHKBVAUZYQPTULU888888_E5G53.mtl
@@ -0,0 +1,30 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_6038b8f35b896900015bfbc0
+Kd 0.0392000005 0.0392000005 0.0392000005
+d 0.0231446922
+illum 1
+
+newmtl MI_6038b8f3d849e10001a625f9
+Kd 0.041356001 0.041356001 0.041356001
+illum 1
+
+newmtl MI_6038b8f323bc840001a45517
+Kd 0.663739979 0.663739979 0.663739979
+illum 1
+
+newmtl MI_6038b8f3e113f6000189fd07
+Kd 0.00887342356 0.00887342356 0.00887342356
+illum 1
+
+newmtl MI_6038b8f35ea89f000165bffe
+Kd 1 1 1
+illum 1
+map_Kd ./T_6038b8f35ea89f000165bffe_color.jpg
+
+newmtl MI_6038b8f3b1d8ad00013475f5
+Kd 1 1 1
+illum 1
+map_Kd ./T_6038b8f3b1d8ad00013475f5_color.jpg
+
diff --git a/data/UPB_00001054/parts/part_1.obj b/data/UPB_00001054/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c46c585ee583a6286a66b8788f5927abfcbad9f8
--- /dev/null
+++ b/data/UPB_00001054/parts/part_1.obj
@@ -0,0 +1,3800 @@
+# https://github.com/mikedh/trimesh
+mtllib 1.mtl
+usemtl material_0
+v -0.29640001 -0.23051099 0.35190999
+v -0.29640001 -0.23231099 0.35190999
+v 0.29640001 -0.23231099 0.35190999
+v 0.29640001 -0.23051099 0.35190999
+v -0.29699999 -0.23051099 -0.14421301
+v -0.29699999 -0.23231099 -0.14421301
+v -0.29699999 -0.23231099 0.35131001
+v -0.29699999 -0.23051099 0.35131001
+v 0.29640001 -0.23051099 -0.14481300
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diff --git a/data/UPB_00001054/parts/part_2.obj b/data/UPB_00001054/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32b05b036df4250395b91c09bdf89fa88632ece6
--- /dev/null
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diff --git a/data/UPB_00001054/parts/part_3.obj b/data/UPB_00001054/parts/part_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f736ec40fd309cbe58e95c4d7e5146319568d999
--- /dev/null
+++ b/data/UPB_00001054/parts/part_3.obj
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index 0000000000000000000000000000000000000000..946e9c2be8c85e3f7cd88c89c9a97f379f3e11a0
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diff --git a/data/UPB_00001054/plys/1.ply b/data/UPB_00001054/plys/1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f3a2163fbb3a46e52123928e4f64bb8f6c07f62a
--- /dev/null
+++ b/data/UPB_00001054/plys/1.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21a1e8ebc9eec14cfdcddf4e1e28bf6a5093f26f988d524c55da9f96ef7d20ac
+size 543794
diff --git a/data/UPB_00001054/plys/2.ply b/data/UPB_00001054/plys/2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f0416c10237a7e79bae1bceaa0c13e5c4f818983
--- /dev/null
+++ b/data/UPB_00001054/plys/2.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6aa55a6cc31439ee659502139702aa9ce0b1b246ba9fa71bd9759c688e5f1e9d
+size 160242
diff --git a/data/UPB_00001054/plys/3.ply b/data/UPB_00001054/plys/3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4a3e639b8e0868ccb1cdd97291b0c5f33a35db8b
--- /dev/null
+++ b/data/UPB_00001054/plys/3.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3593fc114655b8f946c0b8d29979a08c2337ed4fa0dde1d3c9d15fa37b64813f
+size 160242
diff --git a/data/UPB_00001054/plys/4.ply b/data/UPB_00001054/plys/4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1112c126eee43453f1175c83f2ec86622b1a9e3e
--- /dev/null
+++ b/data/UPB_00001054/plys/4.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46e84d03436d98014f656bc99553317ba6ee752d6c248f7a3633038aa071aa2d
+size 160242
diff --git a/data/UPB_00001054/plys/5.ply b/data/UPB_00001054/plys/5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..fd5debf76db60b5a402158610c5303c6378b1e23
--- /dev/null
+++ b/data/UPB_00001054/plys/5.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f62feb086c071412646f3c0ab1a64314631e243472397e55019e14d47a444fd
+size 826898
diff --git a/data/UPB_00001054/plys/6.ply b/data/UPB_00001054/plys/6.ply
new file mode 100644
index 0000000000000000000000000000000000000000..00daf212bf77e39d384d058af0225f3f88053f08
--- /dev/null
+++ b/data/UPB_00001054/plys/6.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac41a3ac1052f0c5411ad336f95e6aeb90820efb4553fb34a521e79431899222
+size 160242
diff --git a/data/UPB_00001054/plys/model.ply b/data/UPB_00001054/plys/model.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a20ffb2e5c42a91eca464996f6e4d3bc0a4a90c6
--- /dev/null
+++ b/data/UPB_00001054/plys/model.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:398afd4cddf45c76c9e3a14a1dc483bfd1253867dc3d2287173abd2a4be3c5d3
+size 1600243
diff --git a/data/UPB_00001055/annotations/object.json b/data/UPB_00001055/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbeffca8fa40d33a41174d56ce02464cb0c5a483
--- /dev/null
+++ b/data/UPB_00001055/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Built-in Dishwasher",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        60.0,
+        60.0,
+        82.0
+    ],
+    "mass": 42.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001055/annotations/part_1.json b/data/UPB_00001055/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..e936f33d5b4bd7d0cfd98eee592c50339d876441
--- /dev/null
+++ b/data/UPB_00001055/annotations/part_1.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001055",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Front Door + Control Fascia",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Large stainless-steel front door panel with integrated control fascia and handle, spanning nearly the full height and width of the appliance front.",
+        "functional_description": "Seals the wash cavity, supports the latch and hinges, and provides the user interface for program selection.",
+        "movement_description": "Rotates downward about a bottom hinge relative to the main cabinet; when closed it contacts the latch striker at the top center.",
+        "grasp_description": "Users grasp the handle edge on the upper portion to pull the door open/closed and to operate the controls."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_430",
+        "density": 7.7,
+        "young": 200.0,
+        "hardness": 170,
+        "poisson": 0.29,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.256409227848053,
+                    -0.2860153317451477
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001055/annotations/part_2.json b/data/UPB_00001055/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b2c18dffb7bc801ad57410c3816a039be504ebd
--- /dev/null
+++ b/data/UPB_00001055/annotations/part_2.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001055",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Main Cabinet/Chassis",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Powder-coated steel housing that forms the structure of the dishwasher and encloses the wash tub and mechanisms.",
+        "functional_description": "Provides structural support, mounting points for the door hinge and latch, and guides for the sliding racks.",
+        "movement_description": "Stationary reference frame for all other parts; supports rotational door motion and translational rack motion via rails.",
+        "grasp_description": "Normally not grasped; only contacted during installation or when moving the appliance."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Sheet_Powder_Coated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 120,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001055/annotations/part_3.json b/data/UPB_00001055/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..747d00be0f9ca1e264c96419e0b3bd5d76f55d7d
--- /dev/null
+++ b/data/UPB_00001055/annotations/part_3.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001055",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Door Latch Striker",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Small glass-filled nylon bracket fixed at the top center of the cabinet opening; forked nose with wear pads.",
+        "functional_description": "Acts as the mating feature for the door latch to secure the door during operation and ensure a watertight seal.",
+        "movement_description": "Rigidly mounted to the main cabinet; the door rotates into contact and locks against this striker.",
+        "grasp_description": "Not intended for direct handling; only service technicians may touch it during maintenance."
+    },
+    "basic_info": {
+        "material": "plastic/Nylon_PA66_Glass_Filled",
+        "density": 1.35,
+        "young": 8.5,
+        "hardness": 100,
+        "poisson": 0.39,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001055/annotations/part_4.json b/data/UPB_00001055/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9fe60d50b2087e08197f4d30fdc37d1e8245e21
--- /dev/null
+++ b/data/UPB_00001055/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001055",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Toe Kick/Base Trim",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Long ABS plastic trim panel mounted along the lower front edge of the dishwasher.",
+        "functional_description": "Covers the leveling feet and lower mechanisms, providing a clean appearance and guarding against debris ingress.",
+        "movement_description": "Rigidly attached to the cabinet; no intentional motion during normal operation.",
+        "grasp_description": "Rarely handled by end users; may be removed by installers or service personnel."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.2,
+        "hardness": 12,
+        "poisson": 0.36,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001055/full_model/material.mtl b/data/UPB_00001055/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001055/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_00001055/full_model/material_0.png b/data/UPB_00001055/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a428e826215a5f65ac416df4b592de46f306f3e3
--- /dev/null
+++ b/data/UPB_00001055/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63f2c30d1c1853d63343e8025cd48c852737ba1f99c754193f993bb68e22f40b
+size 89746
diff --git a/data/UPB_00001055/full_model/model.obj b/data/UPB_00001055/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3ed0b62f0cc6627d3a270b0fb7861c63cdab6aa
--- /dev/null
+++ b/data/UPB_00001055/full_model/model.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b48d55804a84c74da00de71405f41bc59bfee03366db97b1a3e20f607351a4c2
+size 80974868
diff --git a/data/UPB_00001055/meta_data.json b/data/UPB_00001055/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..11952c3c9241d3d28a7ca90e38b9c96a9a9cd5e0
--- /dev/null
+++ b/data/UPB_00001055/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001055",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Built-in Dishwasher"
+    },
+    "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_00001055/model.urdf b/data/UPB_00001055/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0772783b69e6f0b1e4d252f1b77415d6f12ab31a
--- /dev/null
+++ b/data/UPB_00001055/model.urdf
@@ -0,0 +1,80 @@
+<?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="1.058065 1.058065 1.058065"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.058065 1.058065 1.058065"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.058065 1.058065 1.058065"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.058065 1.058065 1.058065"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.058065 1.058065 1.058065"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.058065 1.058065 1.058065"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.058065 1.058065 1.058065"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.058065 1.058065 1.058065"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_2"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.271298 -0.302623" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.271298 0.302623" 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>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001055/parts/1.mtl b/data/UPB_00001055/parts/1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc
--- /dev/null
+++ b/data/UPB_00001055/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_00001055/parts/1.png b/data/UPB_00001055/parts/1.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d2fc207c2b66b04f3381c23741e70a2a06d02a6
--- /dev/null
+++ b/data/UPB_00001055/parts/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1daa927bb8274cd1c67d0fdcce010aebc568f3ae3674afb6d807609aac3bbc50
+size 73481
diff --git a/data/UPB_00001055/parts/T_6041d1f25ea89f00016d7cae_color.jpg b/data/UPB_00001055/parts/T_6041d1f25ea89f00016d7cae_color.jpg
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diff --git a/data/UPB_00001055/parts/part_3.obj b/data/UPB_00001055/parts/part_3.obj
new file mode 100644
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diff --git a/data/UPB_00001055/plys/1.ply b/data/UPB_00001055/plys/1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4ecffee4df52bef7510ee054d5a63fd3009e2466
--- /dev/null
+++ b/data/UPB_00001055/plys/1.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09591e1b5cdb699130252f5c9702efe8ebb8e35e03b3bc304649bde4556193aa
+size 543090
diff --git a/data/UPB_00001055/plys/2.ply b/data/UPB_00001055/plys/2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7e6b14a34beed047e7bacd2fb51a98c8abfc39da
--- /dev/null
+++ b/data/UPB_00001055/plys/2.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09ecd3125d977f3b261436e4a157aed65d4a33e150cdf6ed14add25f0c5fbe1f
+size 991090
diff --git a/data/UPB_00001055/plys/3.ply b/data/UPB_00001055/plys/3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..06b9ac0ce9c8f927819d927c56ef748a2c9a92c3
--- /dev/null
+++ b/data/UPB_00001055/plys/3.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1c97d3f4a7e0e17b64820337e13523d07a4039deadd42f6afcf3215bd680033
+size 160242
diff --git a/data/UPB_00001055/plys/4.ply b/data/UPB_00001055/plys/4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..226e74c536dbd1607961942bc4ac3b4276e905c1
--- /dev/null
+++ b/data/UPB_00001055/plys/4.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d788aef68b6169200f0b953cce69683f9de8f9ecd829cee5cbd682f846166b7
+size 160242
diff --git a/data/UPB_00001055/plys/model.ply b/data/UPB_00001055/plys/model.ply
new file mode 100644
index 0000000000000000000000000000000000000000..04b14d3798a1d1d1e9e67956b89e5ed070239221
--- /dev/null
+++ b/data/UPB_00001055/plys/model.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8abd7af2f23169c2935eee95dd4c3c217ede9d23fec473c70f8bd2be7c8fd482
+size 1600243
diff --git a/data/UPB_00001056/annotations/object.json b/data/UPB_00001056/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec2b3b2be5b0c59403af2afd25148747a03a4b58
--- /dev/null
+++ b/data/UPB_00001056/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Undercounter Dishwasher",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        60.0,
+        60.0,
+        85.0
+    ],
+    "mass": 40.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001056/annotations/part_1.json b/data/UPB_00001056/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..a20a9daa02a1caed0b3bcac37f701fdf89a0a84a
--- /dev/null
+++ b/data/UPB_00001056/annotations/part_1.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001056",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Door Upper Trim/Handle Strip",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Narrow stainless-steel strip at the top of the front door, approx. 60\u00d710\u00d71 cm.",
+        "functional_description": "Acts as the user-facing trim/handle zone for opening the dishwasher door.",
+        "movement_description": "Moves together with the main door panel as a rigid member.",
+        "grasp_description": "Typically grasped by hand to pull the door open."
+    },
+    "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": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.2664608359336853,
+                    0.20929081737995148
+                ],
+                "range": [
+                    0.0,
+                    1.7453292519943295
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001056/annotations/part_2.json b/data/UPB_00001056/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4607720fa266802833b8350e4e07ff297884f57
--- /dev/null
+++ b/data/UPB_00001056/annotations/part_2.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001056",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Main Door Panel",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Primary stainless-steel door facade, approx. 60\u00d770\u00d72 cm, subdivided into exterior horizontal sections.",
+        "functional_description": "Seals the wash cavity and provides the main user interface surface for opening/closing.",
+        "movement_description": "Rotates downward about the bottom hinge relative to the cabinet body.",
+        "grasp_description": "Pulled by the user to open; also provides support when loading dishes when folded down."
+    },
+    "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,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.265260249376297,
+                    0.049943726509809494
+                ],
+                "range": [
+                    0.0,
+                    1.7453292519943295
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001056/annotations/part_3.json b/data/UPB_00001056/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc57eb9a130c8cdb3b7be5febcd8ab0fc43df1ae
--- /dev/null
+++ b/data/UPB_00001056/annotations/part_3.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001056",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Door Middle Trim Strip",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Stainless mid-height horizontal trim on the door, approx. 60\u00d710\u00d71 cm.",
+        "functional_description": "Exterior trim portion of the door that moves with the door assembly.",
+        "movement_description": "Rigid with the main door; follows the same hinge rotation.",
+        "grasp_description": "Can be used as an auxiliary gripping area when opening or closing."
+    },
+    "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": [
+                3
+            ],
+            "C": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.2633529305458069,
+                    -0.1090737134218216
+                ],
+                "range": [
+                    0.0,
+                    1.7453292519943295
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001056/annotations/part_4.json b/data/UPB_00001056/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dba8799339fd8518ce8173ac259ba9765c8f506
--- /dev/null
+++ b/data/UPB_00001056/annotations/part_4.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001056",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Door Lower Trim Strip",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Lower horizontal stainless door strip, approx. 60\u00d710\u00d71 cm.",
+        "functional_description": "Completes the exterior of the door and helps stiffen the panel.",
+        "movement_description": "Rigid to the door; rotates with the door about the cabinet hinge.",
+        "grasp_description": "Occasionally used to push the door closed or to steady the open door."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "hardness": 170,
+        "poisson": 0.29,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                4
+            ],
+            "C": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.26376789808273315,
+                    -0.27603891491889954
+                ],
+                "range": [
+                    0.0,
+                    1.7453292519943295
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001056/annotations/part_5.json b/data/UPB_00001056/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..c59ccaa06c33d4ee565de4d39f07f14b857c1373
--- /dev/null
+++ b/data/UPB_00001056/annotations/part_5.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001056",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Inner Wash Tub/Liner",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Stainless steel inner cavity that contains water and supports rack rails; internal volume roughly 50\u00d750\u00d750 cm.",
+        "functional_description": "Provides a corrosion-resistant, watertight chamber for washing and for guiding the sliding racks.",
+        "movement_description": "Fixed rigidly to the outer cabinet; provides linear guides for the racks\u2019 translation.",
+        "grasp_description": "Not typically grasped; occasionally touched when cleaning."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193.0,
+        "hardness": 170,
+        "poisson": 0.29,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001056/annotations/part_6.json b/data/UPB_00001056/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..0911a64327d0be902899355eb68a5832e095fb54
--- /dev/null
+++ b/data/UPB_00001056/annotations/part_6.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001056",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Sliding Wire Racks (Upper and Lower)",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Two powder-coated steel wire baskets on rollers, approx. 50\u00d750\u00d712 cm (upper) and 52\u00d752\u00d716 cm (lower).",
+        "functional_description": "Hold dishes and utensils; slide in/out for loading and unloading.",
+        "movement_description": "Translate horizontally along rails fixed to the inner tub.",
+        "grasp_description": "Users pull the rack front edges to extend and push to retract."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Wire_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 140,
+        "poisson": 0.3,
+        "friction": 0.38
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001056/annotations/part_7.json b/data/UPB_00001056/annotations/part_7.json
new file mode 100644
index 0000000000000000000000000000000000000000..872c732d14ebeafda0ecf30956046190f38e5931
--- /dev/null
+++ b/data/UPB_00001056/annotations/part_7.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001056",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Outer Cabinet/Body",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Painted steel outer shell with base ventilation grille; approx. 60\u00d760\u00d785 cm overall.",
+        "functional_description": "Provides structural support and mounting for the tub, door hinge, and internal components.",
+        "movement_description": "Static reference frame; door rotates about a hinge mounted to this body, tub is rigidly fixed.",
+        "grasp_description": "Not normally grasped during regular use, except when moving the appliance."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Sheet_Painted",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 120,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001056/full_model/material.mtl b/data/UPB_00001056/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001056/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_00001056/full_model/material_0.png b/data/UPB_00001056/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e2a193f51256e3c58949f88b1f7976692789c30
--- /dev/null
+++ b/data/UPB_00001056/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a174e72e2eaaaa2f6d406f6fc1b05c5e167db595f461e2afa2e6c820f3d2647
+size 113
diff --git a/data/UPB_00001056/full_model/model.obj b/data/UPB_00001056/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7a4b7ee79b9ae7e01a629fbec7f43c88dff20c2
--- /dev/null
+++ b/data/UPB_00001056/full_model/model.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cede6fc5fb49364c7b2626115e6b1937ae40672b2280d20adc18a872d1cb718b
+size 11441837
diff --git a/data/UPB_00001056/meta_data.json b/data/UPB_00001056/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..10324be01fa99e20825a4bdc1bbdc076bf12b791
--- /dev/null
+++ b/data/UPB_00001056/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001056",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Undercounter Dishwasher"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 7,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001056/model.urdf b/data/UPB_00001056/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4e5f6cc3e9770b6758080e613b8aeb5b41370d43
--- /dev/null
+++ b/data/UPB_00001056/model.urdf
@@ -0,0 +1,155 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="helper_link_2"/>
+  <link name="helper_link_3"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.062519 1.062519 1.062519"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.062519 1.062519 1.062519"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.062519 1.062519 1.062519"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.062519 1.062519 1.062519"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.062519 1.062519 1.062519"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.062519 1.062519 1.062519"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.062519 1.062519 1.062519"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.062519 1.062519 1.062519"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.062519 1.062519 1.062519"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.062519 1.062519 1.062519"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.062519 1.062519 1.062519"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.062519 1.062519 1.062519"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.062519 1.062519 1.062519"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.062519 1.062519 1.062519"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="base_link"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.283120 0.222375" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.283120 -0.222375" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_7"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 -0.281844 0.053066" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 0.281844 -0.053066" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="base_link"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.000000 -0.279817 -0.115893" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.000000 0.279817 0.115893" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="revolute">
+    <parent link="base_link"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.000000 -0.280258 -0.293296" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="-0.000000 0.280258 0.293296" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001056/parts/dishwasher_ZREADOBVAUN5SPTUJU888888_oAUlI.mtl b/data/UPB_00001056/parts/dishwasher_ZREADOBVAUN5SPTUJU888888_oAUlI.mtl
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new file mode 100644
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diff --git a/data/UPB_00001056/parts/part_4.obj b/data/UPB_00001056/parts/part_4.obj
new file mode 100644
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diff --git a/data/UPB_00001056/parts/part_5.obj b/data/UPB_00001056/parts/part_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c8d2a631030358980b7af2af232954f226c8401
--- /dev/null
+++ b/data/UPB_00001056/parts/part_5.obj
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diff --git a/data/UPB_00001056/parts/part_6.obj b/data/UPB_00001056/parts/part_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce40ea71e16e61a47dde2dadae4b87f72b5e49d8
--- /dev/null
+++ b/data/UPB_00001056/parts/part_6.obj
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diff --git a/data/UPB_00001056/parts/part_7.obj b/data/UPB_00001056/parts/part_7.obj
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diff --git a/data/UPB_00001057/annotations/object.json b/data/UPB_00001057/annotations/object.json
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index 0000000000000000000000000000000000000000..24e2705e98273c384b8e472891f9c433d2f0d652
--- /dev/null
+++ b/data/UPB_00001057/annotations/object.json
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+{
+    "object_name": "Built-in Dishwasher",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        60.0,
+        60.0,
+        85.0
+    ],
+    "mass": 42.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001057/annotations/part_1.json b/data/UPB_00001057/annotations/part_1.json
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index 0000000000000000000000000000000000000000..c978e69b0715a3e012e0343e7ca875a179b569ff
--- /dev/null
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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001057",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Door Outer Panel",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Black stainless-steel exterior door panel (~60*70*2 cm) for a dishwasher.",
+        "functional_description": "Provides the exterior face of the door, supports the handle and control strip, and helps seal the tub opening.",
+        "movement_description": "Rotates downward with hinge at the cabinet base relative to the chassis; opening range roughly to horizontal.",
+        "grasp_description": "Users typically do not grasp the panel directly; they use the handle attached to it."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193,
+        "hardness": 170,
+        "poisson": 0.29,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                2
+            ],
+            "C": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.22624002397060394,
+                    -0.26656705141067505
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001057/annotations/part_2.json b/data/UPB_00001057/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..c160827a95b03fa3cf0ac2d1a950345ee2f952ee
--- /dev/null
+++ b/data/UPB_00001057/annotations/part_2.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001057",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Door Handle Bar",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Long horizontal aluminum handle (~50*3*3 cm) mounted near the top of the door panel.",
+        "functional_description": "Primary user interface for pulling the door open and pushing it closed.",
+        "movement_description": "No motion relative to the door; it rigidly follows the door as the door rotates about the cabinet hinge.",
+        "grasp_description": "Users grasp the bar with one or both hands; rounded edges improve comfort and reduce localized pressure."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061",
+        "density": 2.7,
+        "young": 69,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001057/annotations/part_3.json b/data/UPB_00001057/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c2f024102e161fc694abd77d6ca24018fa02645
--- /dev/null
+++ b/data/UPB_00001057/annotations/part_3.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001057",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Door Top Reinforcement Rail",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Slim steel rail/trim (~56*2*1 cm) at the top edge of the door assembly.",
+        "functional_description": "Stiffens the top of the door and provides a mounting base for the control panel overlay.",
+        "movement_description": "Rigid with the door; no relative motion.",
+        "grasp_description": "Not intended for grasping."
+    },
+    "basic_info": {
+        "material": "metal/Cold_Rolled_Steel",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001057/annotations/part_4.json b/data/UPB_00001057/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..059b26a09f2635dc21dcffb5e95e09f085c4257c
--- /dev/null
+++ b/data/UPB_00001057/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001057",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Cabinet Chassis",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Main sheet-metal enclosure (~60*60*85 cm) forming the dishwasher body with hinge and seal interfaces.",
+        "functional_description": "Supports all internal components and provides the hinge points and sealing surface for the door.",
+        "movement_description": "Stationary reference frame; the door rotates relative to this chassis.",
+        "grasp_description": "Generally not touched except during installation or maintenance."
+    },
+    "basic_info": {
+        "material": "metal/Galvanized_Steel_Sheet",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 120,
+        "poisson": 0.29,
+        "friction": 0.6
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001057/annotations/part_5.json b/data/UPB_00001057/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..a83dea0e0d1b14497132eabfa02733d984b08f1b
--- /dev/null
+++ b/data/UPB_00001057/annotations/part_5.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001057",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Control Panel Overlay",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Narrow plastic strip with printed icons (~56*3*0.5 cm) mounted along the top front of the door.",
+        "functional_description": "Houses/labels user controls and indicators for cycle selection and status.",
+        "movement_description": "Rigidly fixed to the door assembly; moves as the door opens/closes.",
+        "grasp_description": "Operated by fingertip presses/touches; not meant to be pulled."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.3,
+        "hardness": 15,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001057/full_model/material.mtl b/data/UPB_00001057/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001057/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_00001057/full_model/material_0.png b/data/UPB_00001057/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c607ee2d5bf57304656c5f5ac83775f2f7738d4
--- /dev/null
+++ b/data/UPB_00001057/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59a5ced4a9b340c71588905b30d6fc38cb45dc4f340faf66bb5c297e9786d573
+size 65092
diff --git a/data/UPB_00001057/full_model/model.obj b/data/UPB_00001057/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30347f88f2c6146ac6bba00523d84db340763a32
--- /dev/null
+++ b/data/UPB_00001057/full_model/model.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f624806f790ccee8b69de4b71946bcaf7e09f201632d6670e05c39c06b041ff
+size 24744344
diff --git a/data/UPB_00001057/meta_data.json b/data/UPB_00001057/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..e85912fc34c58b605a423d2f913c5edf65e30ad9
--- /dev/null
+++ b/data/UPB_00001057/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001057",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Built-in Dishwasher"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 5,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001057/model.urdf b/data/UPB_00001057/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b509435df244d986edac70976c0862ab4302e166
--- /dev/null
+++ b/data/UPB_00001057/model.urdf
@@ -0,0 +1,97 @@
+<?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="1.121372 1.121372 1.121372"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.121372 1.121372 1.121372"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.121372 1.121372 1.121372"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.121372 1.121372 1.121372"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.121372 1.121372 1.121372"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.121372 1.121372 1.121372"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.121372 1.121372 1.121372"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.121372 1.121372 1.121372"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.121372 1.121372 1.121372"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.121372 1.121372 1.121372"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.253699 -0.298921" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.253699 0.298921" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="fixed">
+    <parent link="link_1"/>
+    <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>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001057/parts/1.mtl b/data/UPB_00001057/parts/1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc
--- /dev/null
+++ b/data/UPB_00001057/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_00001057/parts/1.png b/data/UPB_00001057/parts/1.png
new file mode 100644
index 0000000000000000000000000000000000000000..2cec441a82e4aa6abf6a74613126c39925d79117
--- /dev/null
+++ b/data/UPB_00001057/parts/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b67a090fadb8cc0890d0395632a8594e2367fde9a4905e8328386ceb29f7632
+size 108
diff --git a/data/UPB_00001057/parts/T_6077e77fe77dfc000134580c_color.jpg b/data/UPB_00001057/parts/T_6077e77fe77dfc000134580c_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b7f708bd5b38b7fe03b075b0b3d3fb2e98938e0b
--- /dev/null
+++ b/data/UPB_00001057/parts/T_6077e77fe77dfc000134580c_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4715803aeea38281c833cf1abf566d0b5ef5fdd5229df9384f05ce1068de538e
+size 28170
diff --git a/data/UPB_00001057/parts/T_6077e77fefa6d00001e798e9_normal.jpg b/data/UPB_00001057/parts/T_6077e77fefa6d00001e798e9_normal.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4aa9c35d51ed09ed8fbe491dd9caeb5d153fd897
--- /dev/null
+++ b/data/UPB_00001057/parts/T_6077e77fefa6d00001e798e9_normal.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4e0047e6e826a3384895054a2b12a0acb943d5f411bdf74f2f7003aa473c617
+size 111878
diff --git a/data/UPB_00001057/parts/dishwasher_ZREX3YBVAI3DWPTUKI888888_mifS7.mtl b/data/UPB_00001057/parts/dishwasher_ZREX3YBVAI3DWPTUKI888888_mifS7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..080688e40edcc3b9e9b70bda27f4a2fb365fdcac
--- /dev/null
+++ b/data/UPB_00001057/parts/dishwasher_ZREX3YBVAI3DWPTUKI888888_mifS7.mtl
@@ -0,0 +1,30 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_6077e77f5ea89f0001ba2e7d
+Kd 0.401264012 0.412786394 0.418806106
+illum 1
+
+newmtl MI_6077e77fe77dfc000134580c
+Kd 1 1 1
+illum 1
+map_Kd ./T_6077e77fe77dfc000134580c_color.jpg
+
+newmtl MI_6077e77f00e3a30001fe38b2
+Kd 0.066143997 0.066143997 0.066143997
+illum 1
+
+newmtl MI_6077e77fe113f60001a8bb43
+Kd 0.566272616 0.569380879 0.569380879
+illum 1
+
+newmtl MI_6077e77f7d6a630001f16d29
+Kd 0.0275749993 0.0275749993 0.0275749993
+illum 1
+
+newmtl MI_6077e77fefa6d00001e798e9
+Kd 0.0244319998 0.0244319998 0.0244319998
+illum 1
+bump ./T_6077e77fefa6d00001e798e9_normal.jpg
+map_bump ./T_6077e77fefa6d00001e798e9_normal.jpg
+
diff --git a/data/UPB_00001057/parts/part_1.obj b/data/UPB_00001057/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07f6af2924b6b8c1a107f1f4d34de2bd6052edd5
--- /dev/null
+++ b/data/UPB_00001057/parts/part_1.obj
@@ -0,0 +1,83847 @@
+# https://github.com/mikedh/trimesh
+mtllib 1.mtl
+usemtl material_0
+v -0.27774301 -0.22381000 0.25609100
+v -0.27823499 -0.22438200 0.25521100
+v -0.27766201 -0.22381000 0.25521100
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+v -0.28723800 -0.22389901 0.25556299
+v -0.28716600 -0.22396301 0.25565499
+v -0.28698900 -0.22412400 0.25578499
+v -0.28678399 -0.22432099 0.25583199
+v -0.28639001 -0.22472000 0.25584099
+v -0.28623101 -0.22469600 0.25652000
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diff --git a/data/UPB_00001057/parts/part_2.obj b/data/UPB_00001057/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bdc36b0a2332db82ff46292f3e079d5989fd4f3
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diff --git a/data/UPB_00001057/parts/part_3.obj b/data/UPB_00001057/parts/part_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbcffb2a645aafa0fd25fba03a5df6450e2d4d9d
--- /dev/null
+++ b/data/UPB_00001057/parts/part_3.obj
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diff --git a/data/UPB_00001058/annotations/object.json b/data/UPB_00001058/annotations/object.json
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index 0000000000000000000000000000000000000000..697daf26e5c270fda502203370635287f4c48a97
--- /dev/null
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+{
+    "object_name": "Freestanding Dishwasher",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        60.0,
+        60.0,
+        85.0
+    ],
+    "mass": 45.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001058/annotations/part_1.json b/data/UPB_00001058/annotations/part_1.json
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index 0000000000000000000000000000000000000000..ec86e95d6c63c507a7ac2e96adee853d36b7b61c
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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001058",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Front Door with Control Fascia",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Large stainless-steel front door panel with an integrated control area at the top; roughly 59\u00d772 cm panel thickness a few mm.",
+        "functional_description": "Seals the washing cavity, supports the user interface, and provides sound insulation and structural rigidity.",
+        "movement_description": "Rotates downward about a bottom hinge relative to the cabinet body; latches to a striker at the top edge when closed. The selector knob mounted on the fascia rotates relative to this door.",
+        "grasp_description": "Users grasp the upper edge or handle area to open/close the door; also touch around the control zone to operate the machine."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193,
+        "hardness": 180,
+        "poisson": 0.29,
+        "friction": 0.45
+    },
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+            "C"
+        ],
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+                "damping": 0.06
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001058/annotations/part_2.json b/data/UPB_00001058/annotations/part_2.json
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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001058",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Door Latch Striker/Hook",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Small molded PA66 latch striker with two soft bumper tips; mounts at the top of the wash cavity opening.",
+        "functional_description": "Provides the catch point for the door lock, aligning and securing the door when closed and damping impact via the soft tips.",
+        "movement_description": "No intrinsic motion; rigidly fixed to the cabinet. The door engages and disengages it during closing/opening.",
+        "grasp_description": "Not intended to be touched; normally hidden from view when the door is closed."
+    },
+    "basic_info": {
+        "material": "plastic/Nylon_PA66",
+        "density": 1.14,
+        "young": 2.7,
+        "hardness": 18,
+        "poisson": 0.39,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001058/annotations/part_5.json b/data/UPB_00001058/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dfc70dcfb9f0b83fac1b8611198557765f1020c
--- /dev/null
+++ b/data/UPB_00001058/annotations/part_5.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001058",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Toe-Kick/Base Trim",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Narrow stainless-steel trim panel at the bottom front of the appliance.",
+        "functional_description": "Covers the service area and leveling feet, improving appearance and reducing noise leakage.",
+        "movement_description": "Rigidly fixed to the cabinet body; removable only for service.",
+        "grasp_description": "Not normally handled during daily use."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_430",
+        "density": 7.7,
+        "young": 200,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001058/annotations/part_6.json b/data/UPB_00001058/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..349bf92fc44c9655d0ac3faa3ff6d89141f4de6a
--- /dev/null
+++ b/data/UPB_00001058/annotations/part_6.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001058",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Cabinet Body and Inner Tub",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Main structural housing consisting of stainless-steel inner tub and outer shell panels.",
+        "functional_description": "Provides structural support, contains water during cycles, and houses racks, pumps, and electronics.",
+        "movement_description": "Stationary reference for all other parts; door rotates relative to it while latch and toe-kick are rigidly mounted.",
+        "grasp_description": "Only touched when moving or installing the appliance; not a daily-use touch surface."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193,
+        "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_00001058/full_model/material.mtl b/data/UPB_00001058/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001058/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_00001058/full_model/material_0.png b/data/UPB_00001058/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7fda161e1785e8f8a3ef50f2b6d40f50177f16e0
--- /dev/null
+++ b/data/UPB_00001058/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9cc19d413f4f04c4408735878feaa648304a61a0c892cc898ecd6d9d9326ea2
+size 96041
diff --git a/data/UPB_00001058/full_model/model.obj b/data/UPB_00001058/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abff7a13f157182eef656e3188f38154f60da95d
--- /dev/null
+++ b/data/UPB_00001058/full_model/model.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf9fd6f480c0fd9b8e3976b243063509bea17d62d2b61a71620a450190813dc7
+size 80610102
diff --git a/data/UPB_00001058/meta_data.json b/data/UPB_00001058/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd31f68e62bf408bd18db7fbe9f01d6422126156
--- /dev/null
+++ b/data/UPB_00001058/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001058",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Freestanding Dishwasher"
+    },
+    "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_00001058/model.urdf b/data/UPB_00001058/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6ec173162be700e25f6d343a3c53acbe3bbd076e
--- /dev/null
+++ b/data/UPB_00001058/model.urdf
@@ -0,0 +1,80 @@
+<?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="1.096774 1.096774 1.096774"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.096774 1.096774 1.096774"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.096774 1.096774 1.096774"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.096774 1.096774 1.096774"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.096774 1.096774 1.096774"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.096774 1.096774 1.096774"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.096774 1.096774 1.096774"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.096774 1.096774 1.096774"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_6"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.283560 -0.311197" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.283560 0.311197" 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_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001058/parts/1.mtl b/data/UPB_00001058/parts/1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc
--- /dev/null
+++ b/data/UPB_00001058/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_00001058/parts/1.png b/data/UPB_00001058/parts/1.png
new file mode 100644
index 0000000000000000000000000000000000000000..06aa8e2e385219416b60db5e27e1e83cf7c300a6
--- /dev/null
+++ b/data/UPB_00001058/parts/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81a962adc8e2a936ade0530e8798e84d8757d0cb04f15e05f1d49545577a0d43
+size 68304
diff --git a/data/UPB_00001058/parts/T_61bc5df17d91d7000137611b_color.jpg b/data/UPB_00001058/parts/T_61bc5df17d91d7000137611b_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9bc4e2f7de029366b6bead116f476e115fba4f95
--- /dev/null
+++ b/data/UPB_00001058/parts/T_61bc5df17d91d7000137611b_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e687ff7cdc3eadaf7870b945c752b81e9bda5fb083bf0109708ddb4af2c6b64c
+size 15277
diff --git a/data/UPB_00001058/parts/T_61bc5df1c1ac85000150f034_color.jpg b/data/UPB_00001058/parts/T_61bc5df1c1ac85000150f034_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b92643f650f47fec725616d3ed136213d3a2feef
--- /dev/null
+++ b/data/UPB_00001058/parts/T_61bc5df1c1ac85000150f034_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43618119cdd49d521e172f7f92b8499d894fda2386b182f581dbe9408571ebf0
+size 15550
diff --git a/data/UPB_00001058/parts/dishwasher_ZWBMP4RVAJRPQPTULA888888_vmjwL.mtl b/data/UPB_00001058/parts/dishwasher_ZWBMP4RVAJRPQPTULA888888_vmjwL.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c424a2815101e2c5ac657ef4921e249f24e13dbb
--- /dev/null
+++ b/data/UPB_00001058/parts/dishwasher_ZWBMP4RVAJRPQPTULA888888_vmjwL.mtl
@@ -0,0 +1,41 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_61bc5df1f49fda00010f0c64
+Kd 0.194299996 0.197029993 0.213550001
+illum 1
+
+newmtl MI_61bc5df1d9471400013cce81
+Kd 0.432314008 0.423280001 0.423280001
+illum 1
+
+newmtl MI_61bc5df15d6e2a00011d99e7
+Kd 0.529399991 0.231399998 0.0313999988
+illum 1
+
+newmtl MI_61bc5df133d4ae0001a33908
+Kd 0.882399976 0.341199994 0.560800016
+illum 1
+
+newmtl MI_61bc5df10fb047000176a5df
+Kd 0.560800016 0.882399976 0.341199994
+illum 1
+
+newmtl MI_61bc5df13ae3e90001007bda
+Kd 0.83920002 0.898000002 0.651000023
+illum 1
+
+newmtl MI_61bc5df13b62680001b60a14
+Kd 0.0187689997 0.0187689997 0.0187689997
+illum 1
+
+newmtl MI_61bc5df1c1ac85000150f034
+Kd 1 1 1
+illum 1
+map_Kd ./T_61bc5df1c1ac85000150f034_color.jpg
+
+newmtl MI_61bc5df17d91d7000137611b
+Kd 1 1 1
+illum 1
+map_Kd ./T_61bc5df17d91d7000137611b_color.jpg
+
diff --git a/data/UPB_00001058/parts/part_1.obj b/data/UPB_00001058/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aef1f64e5276cf70c41411d748d97bc9d0e59783
--- /dev/null
+++ b/data/UPB_00001058/parts/part_1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:289dea4d525d3769f9ea2f50a515dd4b72531cfef69f8838cf07b2e447994d66
+size 65943602
diff --git a/data/UPB_00001058/parts/part_2.obj b/data/UPB_00001058/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d31a30ea6b280d227544c9674b7cba0090b2ef3
--- /dev/null
+++ b/data/UPB_00001058/parts/part_2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f14ffc9830af8a0259ea10f7c5e60540696decc4d85b013d711c218da66478b8
+size 40966199
diff --git a/data/UPB_00001058/parts/part_5.obj b/data/UPB_00001058/parts/part_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2931821725b8cecaeb69e6a36b8114846e93f43
--- /dev/null
+++ b/data/UPB_00001058/parts/part_5.obj
@@ -0,0 +1,5858 @@
+mtllib dishwasher_ZWBMP4RVAJRPQPTULA888888_vmjwL.mtl
+v -0.221585006 -0.282128006 -0.303286999
+v -0.221585006 -0.282128006 -0.338290989
+v 0.00129437004 -0.282128006 -0.338290989
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+v 0.00129437004 -0.282128006 -0.303286999
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diff --git a/data/UPB_00001058/parts/part_6.obj b/data/UPB_00001058/parts/part_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90925752ac57031ff80b68ca36c8216c5189be0b
--- /dev/null
+++ b/data/UPB_00001058/parts/part_6.obj
@@ -0,0 +1,15198 @@
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diff --git a/data/UPB_00001058/plys/1.ply b/data/UPB_00001058/plys/1.ply
new file mode 100644
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--- /dev/null
+++ b/data/UPB_00001058/plys/1.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82f1f0464dfe9831cb3183e92cf95159895e114bbf5490b0ddcf75598b6695f1
+size 543090
diff --git a/data/UPB_00001058/plys/2.ply b/data/UPB_00001058/plys/2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..686770f401ef6fe626d2d88234c7e96c52ad50c5
--- /dev/null
+++ b/data/UPB_00001058/plys/2.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6ecf3e2ce6b7c89c47ad2b9225235d4a50fc4eac1a83a3f6bc194a59fa98dde
+size 160242
diff --git a/data/UPB_00001058/plys/5.ply b/data/UPB_00001058/plys/5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1ce542c177ccb576e1b4e8ccd3f2ce487ddc53b7
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 160242
diff --git a/data/UPB_00001058/plys/6.ply b/data/UPB_00001058/plys/6.ply
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00001058/plys/model.ply b/data/UPB_00001058/plys/model.ply
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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+size 1600243
diff --git a/data/UPB_00001059/annotations/object.json b/data/UPB_00001059/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..697daf26e5c270fda502203370635287f4c48a97
--- /dev/null
+++ b/data/UPB_00001059/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Freestanding Dishwasher",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        60.0,
+        60.0,
+        85.0
+    ],
+    "mass": 45.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001059/annotations/part_1.json b/data/UPB_00001059/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..7806edd6e9a586f065bce74df5837be65b611e06
--- /dev/null
+++ b/data/UPB_00001059/annotations/part_1.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001059",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Front Door with Control Panel",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Large rectangular steel door panel (~59*2*70 cm) finished in black, incorporating the control fascia and handle area.",
+        "functional_description": "Seals the wash cavity, supports the latch and user controls, and provides access to the racks when opened.",
+        "movement_description": "Rotates downward about a bottom hinge relative to the cabinet, typically opening to roughly 90\u2013110 degrees with spring-damped motion.",
+        "grasp_description": "Users grasp the handle area to open/close the dishwasher and press buttons on the fascia to select cycles."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Sheet_PowderCoated",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 160,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.2605361342430115,
+                    -0.28358572721481323
+                ],
+                "range": [
+                    0.0,
+                    1.7453292519943295
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001059/annotations/part_2.json b/data/UPB_00001059/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..db8d218321f5ca0810723b90899dffc65cfba8da
--- /dev/null
+++ b/data/UPB_00001059/annotations/part_2.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001059",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Bottom Kickplate / Toe-Kick Trim",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Narrow ABS plastic trim panel (~60*1*8 cm) positioned along the lower front edge of the dishwasher.",
+        "functional_description": "Covers service access and the gap near the floor, improving safety and appearance; occasionally removed for maintenance.",
+        "movement_description": "Rigidly fixed to the cabinet; no intended motion during normal use.",
+        "grasp_description": "Not typically grasped by users; may be removed by technicians using fasteners."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.2,
+        "hardness": 12,
+        "poisson": 0.37,
+        "friction": 0.6
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001059/annotations/part_3.json b/data/UPB_00001059/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..6590db92a8cbd5db973135a115c0d4e052696434
--- /dev/null
+++ b/data/UPB_00001059/annotations/part_3.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001059",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Main Cabinet Housing",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Rigid stainless-steel box-like chassis (~60*60*85 cm overall) with an open front for the door and a recessed base.",
+        "functional_description": "Provides structural support, houses the tub, racks, and internal mechanisms, and anchors hinges and trim.",
+        "movement_description": "Stationary frame; serves as the fixed parent reference for the rotating door and the rigidly attached kickplate.",
+        "grasp_description": "Rarely handled directly; users typically only interact with the door. The cabinet is moved during installation."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193,
+        "hardness": 180,
+        "poisson": 0.29,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001059/full_model/material.mtl b/data/UPB_00001059/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001059/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_00001059/full_model/material_0.png b/data/UPB_00001059/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb524f4c6f11a5b6d1121f45868852a7b038348a
--- /dev/null
+++ b/data/UPB_00001059/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:333169e135db3143d68fc1ecb85a9aa381fd4e7bc9f711d8d03e695121d233b4
+size 120434
diff --git a/data/UPB_00001059/full_model/model.obj b/data/UPB_00001059/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc646ca7f7f2968f90c0d70a55d7ce4a374a1923
--- /dev/null
+++ b/data/UPB_00001059/full_model/model.obj
@@ -0,0 +1,53136 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/data/UPB_00001059/meta_data.json b/data/UPB_00001059/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3671517899471cae5ffa604daa390c055875a06
--- /dev/null
+++ b/data/UPB_00001059/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001059",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Freestanding Dishwasher"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 3,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001059/model.urdf b/data/UPB_00001059/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b2650457ae2023572540362163a1ba9bcff99fb8
--- /dev/null
+++ b/data/UPB_00001059/model.urdf
@@ -0,0 +1,63 @@
+<?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="1.096774 1.096774 1.096774"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.096774 1.096774 1.096774"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.096774 1.096774 1.096774"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.096774 1.096774 1.096774"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.096774 1.096774 1.096774"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.096774 1.096774 1.096774"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_3"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.285749 -0.311030" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.285749 0.311030" 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>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001059/parts/1.mtl b/data/UPB_00001059/parts/1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc
--- /dev/null
+++ b/data/UPB_00001059/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_00001059/parts/1.png b/data/UPB_00001059/parts/1.png
new file mode 100644
index 0000000000000000000000000000000000000000..65894dd7db757be7b8bcffd258185673822dfd5e
--- /dev/null
+++ b/data/UPB_00001059/parts/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e553224ad0df6e7e803ff10cd73e62cdd089fa1831f72cfdca49f52ced1e4b2a
+size 67878
diff --git a/data/UPB_00001059/parts/T_6192573858d131000150f418_normal.jpg b/data/UPB_00001059/parts/T_6192573858d131000150f418_normal.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6f033f4381def4a71f40ae08904ee55b678d740d
--- /dev/null
+++ b/data/UPB_00001059/parts/T_6192573858d131000150f418_normal.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e687e75887cf4bfaa910967de3d5ccbf01378b423b67f7d115a80a2dd6ca59e
+size 107873
diff --git a/data/UPB_00001059/parts/T_61925738a6001b00010d501d_color.jpg b/data/UPB_00001059/parts/T_61925738a6001b00010d501d_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7f28b42ad2212893b42cdfbda359475bb90696a6
--- /dev/null
+++ b/data/UPB_00001059/parts/T_61925738a6001b00010d501d_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc8b95c5bb04307496d2d650ef00f20edf531b85ee42e3df09e365df43200b4e
+size 18572
diff --git a/data/UPB_00001059/parts/T_61925738a6001b00010d501d_metallic.jpg b/data/UPB_00001059/parts/T_61925738a6001b00010d501d_metallic.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ce418ee52035d775bbbf2ac2d023386534330cb7
--- /dev/null
+++ b/data/UPB_00001059/parts/T_61925738a6001b00010d501d_metallic.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:463dbef220f12bb0d906ba72130b05f4034e30ffc9f58ff7aaf12c545732fa4a
+size 14350
diff --git a/data/UPB_00001059/parts/T_61925738e116730001340c5d_normal.jpg b/data/UPB_00001059/parts/T_61925738e116730001340c5d_normal.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..502b4dbbafda4df42e1b976d8048a3c727d41e11
--- /dev/null
+++ b/data/UPB_00001059/parts/T_61925738e116730001340c5d_normal.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:189bb066c4bca700766d81c4b6e391e865e0227fa306948d2697fe19dbd7d41d
+size 149956
diff --git a/data/UPB_00001059/parts/T_61925738f0ae00000165c64f_color.jpg b/data/UPB_00001059/parts/T_61925738f0ae00000165c64f_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9547bccae992c1f0058196493689b41c97ccab21
--- /dev/null
+++ b/data/UPB_00001059/parts/T_61925738f0ae00000165c64f_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9795a291fe5f04be3d0770de17111980014471197de0f2d099c6b3d70e7d138a
+size 18643
diff --git a/data/UPB_00001059/parts/T_61925738f0ae00000165c64f_metallic.jpg b/data/UPB_00001059/parts/T_61925738f0ae00000165c64f_metallic.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9d28467b2c6e8849a2b920376aa118625b3348a7
--- /dev/null
+++ b/data/UPB_00001059/parts/T_61925738f0ae00000165c64f_metallic.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5492d2d59478b1b1009792251acdbd1c19bc60653c6a2d86a5c3cab81965cf2c
+size 15920
diff --git a/data/UPB_00001059/parts/dishwasher_ZWWMSORVAJJQ6PTUKA888888_Z1yDp.mtl b/data/UPB_00001059/parts/dishwasher_ZWWMSORVAJJQ6PTUKA888888_Z1yDp.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a0bfb4550bce6bbc7490258dd78f3a6c2a60f7c0
--- /dev/null
+++ b/data/UPB_00001059/parts/dishwasher_ZWWMSORVAJJQ6PTUKA888888_Z1yDp.mtl
@@ -0,0 +1,29 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_61925738f0ae00000165c64f
+Kd 1 1 1
+illum 1
+map_Kd ./T_61925738f0ae00000165c64f_color.jpg
+
+newmtl MI_61925738e116730001340c5d
+Kd 0.346269995 0.346269995 0.346269995
+illum 1
+bump ./T_61925738e116730001340c5d_normal.jpg
+map_bump ./T_61925738e116730001340c5d_normal.jpg
+
+newmtl MI_61925738a6001b00010d501d
+Kd 1 1 1
+illum 1
+map_Kd ./T_61925738a6001b00010d501d_color.jpg
+
+newmtl MI_6192573802de8a0001797791
+Kd 0.00490000006 0.00490000006 0.00490000006
+illum 1
+
+newmtl MI_6192573858d131000150f418
+Kd 0.469920009 0.469920009 0.469920009
+illum 1
+bump ./T_6192573858d131000150f418_normal.jpg
+map_bump ./T_6192573858d131000150f418_normal.jpg
+
diff --git a/data/UPB_00001059/parts/part_1.obj b/data/UPB_00001059/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..303575eeeeba66a6716bc65433e0395f5690a92d
--- /dev/null
+++ b/data/UPB_00001059/parts/part_1.obj
@@ -0,0 +1,12436 @@
+# https://github.com/mikedh/trimesh
+mtllib 1.mtl
+usemtl material_0
+v -0.22916800 -0.28462499 0.28559601
+v -0.22916800 -0.28349999 0.28655100
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diff --git a/data/UPB_00001059/parts/part_2.obj b/data/UPB_00001059/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a35fbd4a6c49bf14d7d4fc2d7188fa0a5f32fc66
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diff --git a/data/UPB_00001059/parts/part_3.obj b/data/UPB_00001059/parts/part_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4766568cf9d32a44998aae51d8ed2168abb7c39f
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diff --git a/data/UPB_00001059/plys/1.ply b/data/UPB_00001059/plys/1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..eeb31e06719660ddb5163b41aaa243c80e1288d1
--- /dev/null
+++ b/data/UPB_00001059/plys/1.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:139d88fc489fba14c788ae3e9a5c22f847bfc047197a4da76e2aea5b3bba6f80
+size 353362
diff --git a/data/UPB_00001059/plys/2.ply b/data/UPB_00001059/plys/2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6a5e618be07aca2905ba8df59972f5f06ab10fed
--- /dev/null
+++ b/data/UPB_00001059/plys/2.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9c5730400586ac9806ad1aa506ee1a25dcfd9a149fa4a2830b292f33375dfc9
+size 160242
diff --git a/data/UPB_00001059/plys/3.ply b/data/UPB_00001059/plys/3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..fc1c87df19653d509861167f002eaeee7d65a6fa
--- /dev/null
+++ b/data/UPB_00001059/plys/3.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e07b10cc0964d0d71cbb9c7111640246f89c3f440eb73066c02bf4379f0531a
+size 1218946
diff --git a/data/UPB_00001059/plys/model.ply b/data/UPB_00001059/plys/model.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3c6ebdedd9c954cea9bd1483d60d496ffd61edab
--- /dev/null
+++ b/data/UPB_00001059/plys/model.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bafa8900298dc008965dd3700fa78b1c8064eb40d102479cd23ada9d7b5c4510
+size 1600243
diff --git a/data/UPB_00001060/annotations/object.json b/data/UPB_00001060/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..0934e837012585c459b2eeb710875d8d3f0a7809
--- /dev/null
+++ b/data/UPB_00001060/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Countertop Dishwasher",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        55.0,
+        50.0,
+        45.0
+    ],
+    "mass": 22.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001060/annotations/part_1.json b/data/UPB_00001060/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..9467a87f6687c311dd5b5beb2dda209148bf206f
--- /dev/null
+++ b/data/UPB_00001060/annotations/part_1.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001060",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Front Door with Control Panel",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Dishwasher front door assembly made mainly from 304 stainless steel (inner liner) with a molded outer fascia, approx 50*4*35 cm.",
+        "functional_description": "Seals the wash tub, holds the detergent cup and control interface, and provides the main user handle for opening/closing.",
+        "movement_description": "Hinged at the lower edge and rotates downward relative to the main body; opening angle roughly up to 110 degrees with spring-assisted damping.",
+        "grasp_description": "Users grasp the handle/edge to pull the door open or push it closed and interact with the control panel on its top."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193,
+        "hardness": 170,
+        "poisson": 0.29,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.21109679341316223,
+                    -0.21835161745548248
+                ],
+                "range": [
+                    0.0,
+                    1.7453292519943295
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001060/annotations/part_2.json b/data/UPB_00001060/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..736cfddd2679f6d7744339230091cb7ff2e4d003
--- /dev/null
+++ b/data/UPB_00001060/annotations/part_2.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001060",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Main Body and Wash Tub",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Rigid cabinet with stainless-steel inner tub and outer casing, approx 55*50*45 cm, housing racks, pump, and controls.",
+        "functional_description": "Provides the structural frame, water-retaining wash chamber, and mounting points for the door and lower trim.",
+        "movement_description": "Stationary reference of the appliance; acts as the parent for the rotating door and is rigidly connected to the bottom kick plate.",
+        "grasp_description": "Typically not grasped during normal use; only handled when moving the appliance."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 8.0,
+        "young": 193,
+        "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_00001060/annotations/part_3.json b/data/UPB_00001060/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d40fe25ebd058e1343f056be8106a324eec487c
--- /dev/null
+++ b/data/UPB_00001060/annotations/part_3.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001060",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Bottom Kick Plate / Toe Panel",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Molded ABS trim panel spanning the lower front edge, approx 50*1*6 cm, primarily decorative and protective.",
+        "functional_description": "Covers the lower opening and protects internal components while providing a clean visual finish.",
+        "movement_description": "Rigidly fixed to the main body with clips/screws; no relative motion.",
+        "grasp_description": "Not intended to be grasped; may be touched accidentally when loading or cleaning."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.3,
+        "hardness": 12,
+        "poisson": 0.36,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001060/full_model/material.mtl b/data/UPB_00001060/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001060/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_00001060/full_model/material_0.png b/data/UPB_00001060/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..515aa06e662ea684699e93fc0e96d38946f3c881
--- /dev/null
+++ b/data/UPB_00001060/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0440407be25de94df497dd65eb5440792bfa4ea1c3a631e464dc42601d2f55d2
+size 13801
diff --git a/data/UPB_00001060/full_model/model.obj b/data/UPB_00001060/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d4cecd5e98c72070c0093d5799c42c0615ab8a7
--- /dev/null
+++ b/data/UPB_00001060/full_model/model.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d70ec125bdbbebc467047bdc9404d2f7410f3241df6f0ff24d282829c96aa1ed
+size 196781196
diff --git a/data/UPB_00001060/meta_data.json b/data/UPB_00001060/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..0816867dcd0be175c065828dd77d86ee6ecf761c
--- /dev/null
+++ b/data/UPB_00001060/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001060",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Countertop Dishwasher"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 3,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001060/model.urdf b/data/UPB_00001060/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..486a3ac6c8d32624ab8ed2e8199093e6c70d8417
--- /dev/null
+++ b/data/UPB_00001060/model.urdf
@@ -0,0 +1,63 @@
+<?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="0.922410 0.922410 0.922410"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.922410 0.922410 0.922410"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.922410 0.922410 0.922410"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.922410 0.922410 0.922410"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.922410 0.922410 0.922410"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.922410 0.922410 0.922410"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_2"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.194718 -0.201410" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.194718 0.201410" 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>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001060/parts/1.mtl b/data/UPB_00001060/parts/1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc
--- /dev/null
+++ b/data/UPB_00001060/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_00001060/parts/1.png b/data/UPB_00001060/parts/1.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ffcafcb730ac982623bd810de356af8826a2dec
--- /dev/null
+++ b/data/UPB_00001060/parts/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cae9455df806102fe5559fe6aab1bb6fee8a595241c987e1e7d28fcd619f96a8
+size 12079
diff --git a/data/UPB_00001060/parts/T_61c038dc5d6e2a00011e1881_color.jpg b/data/UPB_00001060/parts/T_61c038dc5d6e2a00011e1881_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ee14441f9c9c04e1079f0b7d4af603dfd7cd113d
--- /dev/null
+++ b/data/UPB_00001060/parts/T_61c038dc5d6e2a00011e1881_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ea6482a869d8eab11c745a2bf094183fb7bdc9a9e8451f4887bb06db240d2ca
+size 6072
diff --git a/data/UPB_00001060/parts/dishwasher_ZX7KGZZVAJJQ2PTULY888888_dlI2D.mtl b/data/UPB_00001060/parts/dishwasher_ZX7KGZZVAJJQ2PTULY888888_dlI2D.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7acbd2c20f08b43b704b26c3905a55c97e4b6492
--- /dev/null
+++ b/data/UPB_00001060/parts/dishwasher_ZX7KGZZVAJJQ2PTULY888888_dlI2D.mtl
@@ -0,0 +1,16 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_61c038dc33d4ae0001a3b7b9
+Kd 0.460399985 0.460399985 0.460399985
+illum 1
+
+newmtl MI_61c038dc3ae3e9000100f9d1
+Kd 0.00534400018 0.00534400018 0.00534400018
+illum 1
+
+newmtl MI_61c038dc5d6e2a00011e1881
+Kd 1 1 1
+illum 1
+map_Kd ./T_61c038dc5d6e2a00011e1881_color.jpg
+
diff --git a/data/UPB_00001060/parts/part_1.obj b/data/UPB_00001060/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd13199f6b86f66316ba83309a4ce2aa552a4552
--- /dev/null
+++ b/data/UPB_00001060/parts/part_1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8a1b3d0554f56960c0779204583e86481b98e635221c7678b91aa7502677c81
+size 111674973
diff --git a/data/UPB_00001060/parts/part_2.obj b/data/UPB_00001060/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c7f7f01b360fcc11ce844a92745d79289312e19
--- /dev/null
+++ b/data/UPB_00001060/parts/part_2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2db9194ee4753dc452af979ba2320661130192ac8ed459bc409f57fab2889f9
+size 203151495
diff --git a/data/UPB_00001060/parts/part_3.obj b/data/UPB_00001060/parts/part_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9772b0815ffbea32abe3b246ab198db1a0748850
--- /dev/null
+++ b/data/UPB_00001060/parts/part_3.obj
@@ -0,0 +1,1891 @@
+mtllib dishwasher_ZX7KGZZVAJJQ2PTULY888888_dlI2D.mtl
+v 0.294111013 -0.247850999 -0.197326005
+v -0.294084996 -0.247851998 -0.197606996
+v 0.294111013 -0.249350995 -0.197326005
+v 0.294111013 -0.249350995 -0.197326005
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+v -0.294084996 -0.247851998 -0.197606996
+v 0.294111013 -0.247850999 -0.197326005
+v -0.294084996 -0.247352004 -0.198107004
+v -0.294084996 -0.247352004 -0.198107004
+v 0.294111013 -0.247850999 -0.197326005
+v 0.294111997 -0.247351006 -0.197825998
+v -0.29658401 -0.247352004 -0.200608999
+v -0.297084004 -0.247851998 -0.200608999
+v -0.296562999 -0.247352004 -0.200281993
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+v -0.297084004 -0.247851998 -0.200608999
+v -0.297057986 -0.247851998 -0.200216994
+v -0.296562999 -0.247352004 -0.200281993
+v -0.297057986 -0.247851998 -0.200216994
+v -0.296499014 -0.247352004 -0.199962005
+v -0.296499014 -0.247352004 -0.199962005
+v -0.297057986 -0.247851998 -0.200216994
+v -0.29698199 -0.247851998 -0.199832007
+v -0.296499014 -0.247352004 -0.199962005
+v -0.29698199 -0.247851998 -0.199832007
+v -0.296393991 -0.247352004 -0.199652001
+v -0.296393991 -0.247352004 -0.199652001
+v -0.29698199 -0.247851998 -0.199832007
+v -0.296855986 -0.247851998 -0.199460998
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diff --git a/data/UPB_00001060/plys/1.ply b/data/UPB_00001060/plys/1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4d0f18fd479e7ba300275d9e25b18ae754f3559d
--- /dev/null
+++ b/data/UPB_00001060/plys/1.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19e431bc0de29b7f66c51c2e2433249ca89efebfba5e3cf6c10782aba15c865b
+size 419090
diff --git a/data/UPB_00001060/plys/2.ply b/data/UPB_00001060/plys/2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..79762a7f0e7b79df35963eef4bd1ca7461c9f090
--- /dev/null
+++ b/data/UPB_00001060/plys/2.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72e90c3bffd3a6ee7f6ec7e8c21b0ff1ac1a2562f4409a86879cc5ce2c648b86
+size 1163426
diff --git a/data/UPB_00001060/plys/3.ply b/data/UPB_00001060/plys/3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7e3e20f567039c2808c888688a3e2e9972053d08
--- /dev/null
+++ b/data/UPB_00001060/plys/3.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d9ee5c971c7882930d2b84c477fdcca6ba2cb379914b827444215edcb17cc83
+size 160242
diff --git a/data/UPB_00001060/plys/model.ply b/data/UPB_00001060/plys/model.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6822579e01638a42f3487d9364f2cdfd09a4a159
--- /dev/null
+++ b/data/UPB_00001060/plys/model.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ff527ec25a5d4f202d94385718773e686049753a6269ee2d2162339c9acfd2a
+size 1600243
diff --git a/data/UPB_00001061/annotations/object.json b/data/UPB_00001061/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..697daf26e5c270fda502203370635287f4c48a97
--- /dev/null
+++ b/data/UPB_00001061/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Freestanding Dishwasher",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        60.0,
+        60.0,
+        85.0
+    ],
+    "mass": 45.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001061/annotations/part_1.json b/data/UPB_00001061/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc1785f933eb8adce666fa252ae75d5012ce8034
--- /dev/null
+++ b/data/UPB_00001061/annotations/part_1.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001061",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Front Door and Control Panel",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Stainless steel door assembly with integrated handle and control fascia; approx 60*4*72 cm panel spanning the appliance front.",
+        "functional_description": "Seals the wash cavity, carries the latch and user interface, and provides access for loading and unloading dishes.",
+        "movement_description": "Hinged along the lower front edge of the cabinet; rotates downward with spring-assisted counterbalance and light damping to limit slam.",
+        "grasp_description": "Users grasp the handle to open/close the door and operate the controls on the upper portion of the panel."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193,
+        "hardness": 160,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.26143211126327515,
+                    -0.2849738895893097
+                ],
+                "range": [
+                    0.0,
+                    1.7453292519943295
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001061/annotations/part_2.json b/data/UPB_00001061/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b63cfcaa05aae6f4a726e520d54451360f51c5a
--- /dev/null
+++ b/data/UPB_00001061/annotations/part_2.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001061",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Bottom Kickplate (Toe Panel)",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "ABS plastic toe-kick cover located at the bottom front; roughly 60*3*8 cm, matte black.",
+        "functional_description": "Covers lower service area and leveling feet, deflects splashes, and provides a finished appearance.",
+        "movement_description": "Rigidly fastened to the cabinet; removable for service but fixed during normal operation.",
+        "grasp_description": "Not intended to be grasped; occasionally touched when cleaning."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.05,
+        "young": 2.1,
+        "hardness": 15,
+        "poisson": 0.36,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001061/annotations/part_3.json b/data/UPB_00001061/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..43eb5f65245de416eff624b8022150dfa435053a
--- /dev/null
+++ b/data/UPB_00001061/annotations/part_3.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001061",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Cabinet and Inner Tub Assembly",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Main structural cabinet with inner tub and mounting flanges; approximately 59.8*57*82 cm steel enclosure.",
+        "functional_description": "Provides structural support, houses the wash cavity and mechanical components, and mounts the door hinges and latch.",
+        "movement_description": "Stationary reference frame for the appliance; the door rotates relative to this body, and the kickplate is rigidly attached.",
+        "grasp_description": "Rarely grasped directly; users interact mainly with the door while the cabinet remains fixed."
+    },
+    "basic_info": {
+        "material": "metal/Galvanized_Steel",
+        "density": 7.85,
+        "young": 210,
+        "hardness": 140,
+        "poisson": 0.29,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001061/full_model/material.mtl b/data/UPB_00001061/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001061/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_00001061/full_model/material_0.png b/data/UPB_00001061/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8afc15c858491dbf06c7e7a7995f5d8bc269187a
--- /dev/null
+++ b/data/UPB_00001061/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04825854506b0c5a3dc65ca4b480dbe9acc2b92b8b15ddc0a4087aa1d3b234f2
+size 22489
diff --git a/data/UPB_00001061/full_model/model.obj b/data/UPB_00001061/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e125f9575b57a329d595c01f950a373ba420bd44
--- /dev/null
+++ b/data/UPB_00001061/full_model/model.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3e3e4b3301452c81bb4beef93b324bbe56f3782d7a7a8c0d08e76755759285b
+size 230021635
diff --git a/data/UPB_00001061/meta_data.json b/data/UPB_00001061/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1b9144001f7e74fe6942b55190d15468ae5b9e1
--- /dev/null
+++ b/data/UPB_00001061/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001061",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Freestanding Dishwasher"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 3,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001061/model.urdf b/data/UPB_00001061/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d1db45d9c469450777e6c17cee65530152be7d11
--- /dev/null
+++ b/data/UPB_00001061/model.urdf
@@ -0,0 +1,63 @@
+<?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="1.098682 1.098682 1.098682"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.098682 1.098682 1.098682"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.098682 1.098682 1.098682"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.098682 1.098682 1.098682"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.098682 1.098682 1.098682"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.098682 1.098682 1.098682"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_3"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.287231 -0.313096" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.287231 0.313096" 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>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001061/parts/1.mtl b/data/UPB_00001061/parts/1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc
--- /dev/null
+++ b/data/UPB_00001061/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_00001061/parts/1.png b/data/UPB_00001061/parts/1.png
new file mode 100644
index 0000000000000000000000000000000000000000..a713862572d3a076b363bb6c42a9808a96563dde
--- /dev/null
+++ b/data/UPB_00001061/parts/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1681b419f871ef5834838dd6dc5bb855c21139c5fa441812e0e19ec9d9514e3c
+size 16011
diff --git a/data/UPB_00001061/parts/T_61c04ae23ae3e900010100a2_alpha.jpg b/data/UPB_00001061/parts/T_61c04ae23ae3e900010100a2_alpha.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ec9910a0f7de4d0c2de99e5b82af1f73cb7e0101
--- /dev/null
+++ b/data/UPB_00001061/parts/T_61c04ae23ae3e900010100a2_alpha.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:278d87fb785e9d8bf2556da2c6abf484311cbd414b26516d339b280dafada9dc
+size 14365
diff --git a/data/UPB_00001061/parts/T_61c04ae27d91d7000137e6ba_color.jpg b/data/UPB_00001061/parts/T_61c04ae27d91d7000137e6ba_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9f1ce11f69a860537053c240a10cf08140ff5b4f
--- /dev/null
+++ b/data/UPB_00001061/parts/T_61c04ae27d91d7000137e6ba_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e752e432739e4f6e9b268050593d36c9dacb6c4604804884cb74fb155630adc1
+size 5566
diff --git a/data/UPB_00001061/parts/T_61c04ae27d91d7000137e6ba_metallic.jpg b/data/UPB_00001061/parts/T_61c04ae27d91d7000137e6ba_metallic.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4d963faac45be62171863e53e57a0d7e4cbbe4ac
--- /dev/null
+++ b/data/UPB_00001061/parts/T_61c04ae27d91d7000137e6ba_metallic.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:999569ec50d43d2a0c64aa1988e21d78ae96fe973e6aa121fe63b8e43536ff54
+size 3718
diff --git a/data/UPB_00001061/parts/T_61c04ae2c1ac8500015175c8_color.jpg b/data/UPB_00001061/parts/T_61c04ae2c1ac8500015175c8_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9f1ce11f69a860537053c240a10cf08140ff5b4f
--- /dev/null
+++ b/data/UPB_00001061/parts/T_61c04ae2c1ac8500015175c8_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e752e432739e4f6e9b268050593d36c9dacb6c4604804884cb74fb155630adc1
+size 5566
diff --git a/data/UPB_00001061/parts/T_61c04ae2c1ac8500015175c8_metallic.jpg b/data/UPB_00001061/parts/T_61c04ae2c1ac8500015175c8_metallic.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4d963faac45be62171863e53e57a0d7e4cbbe4ac
--- /dev/null
+++ b/data/UPB_00001061/parts/T_61c04ae2c1ac8500015175c8_metallic.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:999569ec50d43d2a0c64aa1988e21d78ae96fe973e6aa121fe63b8e43536ff54
+size 3718
diff --git a/data/UPB_00001061/parts/dishwasher_ZX7NCBZVAJTQCPTUL4888888_ZqZNR.mtl b/data/UPB_00001061/parts/dishwasher_ZX7NCBZVAJTQCPTUL4888888_ZqZNR.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c7160ee97ee0d4cb36fa731d1d7a99835579f89
--- /dev/null
+++ b/data/UPB_00001061/parts/dishwasher_ZX7NCBZVAJTQCPTUL4888888_ZqZNR.mtl
@@ -0,0 +1,27 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_61c04ae20fb0470001772b5b
+Kd 0.460399985 0.460399985 0.460399985
+illum 1
+
+newmtl MI_61c04ae2c9e502000174930d
+Kd 0.190502003 0.190502003 0.190502003
+illum 1
+
+newmtl MI_61c04ae2c1ac8500015175c8
+Kd 1 1 1
+illum 1
+map_Kd ./T_61c04ae2c1ac8500015175c8_color.jpg
+
+newmtl MI_61c04ae23ae3e900010100a2
+Kd 0.941200018 0.941200018 0.941200018
+d 1
+illum 1
+map_d ./T_61c04ae23ae3e900010100a2_alpha.jpg
+
+newmtl MI_61c04ae27d91d7000137e6ba
+Kd 1 1 1
+illum 1
+map_Kd ./T_61c04ae27d91d7000137e6ba_color.jpg
+
diff --git a/data/UPB_00001061/parts/part_1.obj b/data/UPB_00001061/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd2dde79407b6cddf03aca0a43f123c0fb6898ac
--- /dev/null
+++ b/data/UPB_00001061/parts/part_1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5227d8b6195bc50587c9820b136de8320ec0e58e07235ffd3f6183550c4468ae
+size 57639238
diff --git a/data/UPB_00001061/parts/part_2.obj b/data/UPB_00001061/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5c4fb60c7005db14c95f88ce2b2719b1bd4dca7
--- /dev/null
+++ b/data/UPB_00001061/parts/part_2.obj
@@ -0,0 +1,11291 @@
+mtllib dishwasher_ZX7NCBZVAJTQCPTUL4888888_ZqZNR.mtl
+v -0.296757996 -0.288720012 -0.297618002
+v -0.296757996 -0.288720012 -0.384411991
+v 0.296288013 -0.288720012 -0.384411991
+v 0.296288013 -0.288720012 -0.384411991
+v 0.296288013 -0.288720012 -0.297618002
+v -0.296757996 -0.288720012 -0.297618002
+v 0.296288013 -0.274031013 -0.384411991
+v -0.296757996 -0.274031013 -0.384411991
+v -0.296757996 -0.274031013 -0.297618002
+v -0.296757996 -0.274031013 -0.297618002
+v 0.296288013 -0.274031013 -0.297618002
+v 0.296288013 -0.274031013 -0.384411991
+v 0.298503995 -0.276246995 -0.384411991
+v 0.298503995 -0.276246995 -0.297618002
+v 0.298503995 -0.286504 -0.297618002
+v 0.298503995 -0.286504 -0.297618002
+v 0.298503995 -0.286504 -0.384411991
+v 0.298503995 -0.276246995 -0.384411991
+v 0.296288013 -0.276246995 -0.29540199
+v -0.296757996 -0.276246995 -0.29540199
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diff --git a/data/UPB_00001061/parts/part_3.obj b/data/UPB_00001061/parts/part_3.obj
new file mode 100644
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--- /dev/null
+++ b/data/UPB_00001061/parts/part_3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 399646203
diff --git a/data/UPB_00001061/plys/1.ply b/data/UPB_00001061/plys/1.ply
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00001061/plys/2.ply b/data/UPB_00001061/plys/2.ply
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00001061/plys/3.ply b/data/UPB_00001061/plys/3.ply
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00001061/plys/model.ply b/data/UPB_00001061/plys/model.ply
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 1600243
diff --git a/data/UPB_00001062/annotations/object.json b/data/UPB_00001062/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..631c8b4e4c5e1a6e24079c90dd50d5f660d147e4
--- /dev/null
+++ b/data/UPB_00001062/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Built-in Oven",
+    "category": "KitchenDining/KitchenAppliance",
+    "volume": [
+        60.0,
+        60.0,
+        55.0
+    ],
+    "mass": 32.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001062/annotations/part_1.json b/data/UPB_00001062/annotations/part_1.json
new file mode 100644
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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001062",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Front Door Panel (glass)",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "A flat, black tempered-glass door panel (approx. 58\u00d755 cm, ~6 mm thick) that covers the oven opening.",
+        "functional_description": "Provides the thermal barrier and viewing surface of the oven door; interfaces with seals and latches on the cabinet.",
+        "movement_description": "Rotates about a bottom hinge relative to the main body, allowing the door to open downward up to roughly a right angle. The handle is rigidly fixed to this panel.",
+        "grasp_description": "Users avoid touching this surface directly; they pull the handle to open/close the door."
+    },
+    "basic_info": {
+        "material": "glass/Tempered_Glass",
+        "density": 2.5,
+        "young": 70,
+        "hardness": 600,
+        "poisson": 0.23,
+        "friction": 0.5
+    },
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+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001062/annotations/part_2.json b/data/UPB_00001062/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d853f106c2c3d20b21b6556a20c510d48e2028c
--- /dev/null
+++ b/data/UPB_00001062/annotations/part_2.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001062",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Door Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "A horizontal stainless-steel bar fixed across the top portion of the door.",
+        "functional_description": "Primary user interface to pull the door open and push it closed.",
+        "movement_description": "No independent motion; it is rigidly attached to the door and follows the door\u2019s rotation.",
+        "grasp_description": "Users grasp the bar with one or two hands; surface is smooth and cool to the touch."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193,
+        "hardness": 200,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001062/annotations/part_4.json b/data/UPB_00001062/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b2c0ed823bfc71110ab3519a89a9be85aa501ca
--- /dev/null
+++ b/data/UPB_00001062/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001062",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Main Body/Cabinet",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Sheet-steel cabinet forming the oven carcass with an open front and structural base.",
+        "functional_description": "Houses heating chamber and supports all attachments including the door, indicators, feet, and mounting brackets.",
+        "movement_description": "Acts as the fixed reference for the system. The door rotates about hinges referenced to this body.",
+        "grasp_description": "Not typically grasped during use; only handled during installation or moving."
+    },
+    "basic_info": {
+        "material": "metal/Galvanized_Steel_Sheet",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001062/annotations/part_5.json b/data/UPB_00001062/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9ece5191eea0c358045a4a4abf86ca68354095d
--- /dev/null
+++ b/data/UPB_00001062/annotations/part_5.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001062",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Adjustable Feet Set",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Small rubberized foot pads located at the bottom corners of the appliance.",
+        "functional_description": "Provide vibration isolation, protect flooring, and allow minor leveling during installation.",
+        "movement_description": "Fixed to the cabinet; no motion relative to the body during operation.",
+        "grasp_description": "Not handled in normal use; adjusted only during installation."
+    },
+    "basic_info": {
+        "material": "rubber/Nitrile_Rubber",
+        "density": 1.15,
+        "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_00001062/annotations/part_6.json b/data/UPB_00001062/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..b96bf0163e2917002088694d3300abe474e6766b
--- /dev/null
+++ b/data/UPB_00001062/annotations/part_6.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001062",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Side Mounting Brackets",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Two small steel brackets mounted high on each side of the cabinet.",
+        "functional_description": "Used to fasten the oven securely to surrounding cabinetry or structure.",
+        "movement_description": "Rigidly attached to the body; no relative motion.",
+        "grasp_description": "Touched only by installers when securing the appliance."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Sheet_Painted",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001062/full_model/material.mtl b/data/UPB_00001062/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001062/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_00001062/full_model/material_0.png b/data/UPB_00001062/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..59769efbe298b1659c6b3e570b25752aea2451dc
--- /dev/null
+++ b/data/UPB_00001062/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b6993cdafe1928dea43858462f2d3cb534ae85be6754df72c7eaf3f74af3b3c
+size 2002311
diff --git a/data/UPB_00001062/full_model/model.obj b/data/UPB_00001062/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ec7382559202c8ff7ef24b2ac1eccc166146302
--- /dev/null
+++ b/data/UPB_00001062/full_model/model.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1fb208e1b66130e445ec8cc17de42aa391daf5b130c76d83f859571d72b1cf1
+size 17602995
diff --git a/data/UPB_00001062/meta_data.json b/data/UPB_00001062/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff8db5dc5cb87e69e07d43cbbc06ba2133abe8e8
--- /dev/null
+++ b/data/UPB_00001062/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001062",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "KitchenDining/KitchenAppliance",
+        "object_name": "Built-in Oven"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 5,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001062/model.urdf b/data/UPB_00001062/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..48cb4dfa3f5acc5cd904b94baef9cd5530e7f52d
--- /dev/null
+++ b/data/UPB_00001062/model.urdf
@@ -0,0 +1,97 @@
+<?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="0.791956 0.791956 0.791956"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.791956 0.791956 0.791956"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.791956 0.791956 0.791956"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.791956 0.791956 0.791956"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.791956 0.791956 0.791956"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.791956 0.791956 0.791956"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.791956 0.791956 0.791956"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.791956 0.791956 0.791956"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.791956 0.791956 0.791956"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.791956 0.791956 0.791956"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.179936 -0.218275" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.179936 0.218275" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="fixed">
+    <parent link="link_1"/>
+    <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_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001062/parts/1.mtl b/data/UPB_00001062/parts/1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc
--- /dev/null
+++ b/data/UPB_00001062/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_00001062/parts/1.png b/data/UPB_00001062/parts/1.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e34f81a4e2f04aebeb7ddccfb462b27a6124b2c
--- /dev/null
+++ b/data/UPB_00001062/parts/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a70212d82421711ee658c46109c0d99628c3665d80965371353b19191f9eca4e
+size 1084005
diff --git a/data/UPB_00001062/parts/4.mtl b/data/UPB_00001062/parts/4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..09452450b9e8e9282ad1a92706e3e1f6ac239875
--- /dev/null
+++ b/data/UPB_00001062/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_00001062/parts/4.png b/data/UPB_00001062/parts/4.png
new file mode 100644
index 0000000000000000000000000000000000000000..46e4fc47fb627ad9986455720dd64f3af9dadb08
--- /dev/null
+++ b/data/UPB_00001062/parts/4.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f379ae7296bedf1638e8341060753c5a1b825e01f7cbb4a974f8103da3d68dbe
+size 1048659
diff --git a/data/UPB_00001062/parts/T_61deb2161836fe00010c3e72_color.jpg b/data/UPB_00001062/parts/T_61deb2161836fe00010c3e72_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..478300b4049f5c4452ebf54c9a2ba558861575f9
--- /dev/null
+++ b/data/UPB_00001062/parts/T_61deb2161836fe00010c3e72_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd0ee4df9f651c5abf5212d3e962aa84ffd0bd6e5c65b8c888c751a8a3819fc8
+size 206925
diff --git a/data/UPB_00001062/parts/T_61deb2161836fe00010c3e72_metallic.jpg b/data/UPB_00001062/parts/T_61deb2161836fe00010c3e72_metallic.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..03f6fea6454a3d80190884fda7cda6fa0b41e4ad
--- /dev/null
+++ b/data/UPB_00001062/parts/T_61deb2161836fe00010c3e72_metallic.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9814bbd590156c8480313a0b92ab197a87021029ae4f50c88b5b8b179e4229e1
+size 265619
diff --git a/data/UPB_00001062/parts/T_61deb2165039f90001fdc492_color.jpg b/data/UPB_00001062/parts/T_61deb2165039f90001fdc492_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4f0143e6b1812a19eb3d1752db4e9af00d7eeede
--- /dev/null
+++ b/data/UPB_00001062/parts/T_61deb2165039f90001fdc492_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4da6a547715dcaf3044cc469161f1323f51e5972e1838816740456a12b5be414
+size 331919
diff --git a/data/UPB_00001062/parts/T_61deb2165039f90001fdc492_metallic.jpg b/data/UPB_00001062/parts/T_61deb2165039f90001fdc492_metallic.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..bae9db4dc98f64ee3e4db23c2d7308c4ed6bdbe9
--- /dev/null
+++ b/data/UPB_00001062/parts/T_61deb2165039f90001fdc492_metallic.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:195bac2c0dc640adf41fc67db9b0359ae79f24462307d26cdf7ef4d6558bb338
+size 308707
diff --git a/data/UPB_00001062/parts/T_61deb216e0a4db00019c8735_color.jpg b/data/UPB_00001062/parts/T_61deb216e0a4db00019c8735_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a4313167ba13fdc684fde087b3662c215dfbd23e
--- /dev/null
+++ b/data/UPB_00001062/parts/T_61deb216e0a4db00019c8735_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1221aa8e07b16749b9c7fcad4e95966c5c4439a72ed11b563668302142390fbc
+size 64799
diff --git a/data/UPB_00001062/parts/dishwasher_ZXQDP4JVAIBA4PTUKE888888_0cBeZ.mtl b/data/UPB_00001062/parts/dishwasher_ZXQDP4JVAIBA4PTUKE888888_0cBeZ.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2850847dcf3f75f715af540c2f3b402be1896fc7
--- /dev/null
+++ b/data/UPB_00001062/parts/dishwasher_ZXQDP4JVAIBA4PTUKE888888_0cBeZ.mtl
@@ -0,0 +1,40 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_61deb2165039f90001fdc492
+Kd 1 1 1
+illum 1
+map_Kd ./T_61deb2165039f90001fdc492_color.jpg
+
+newmtl MI_61deb2165f91350001e915bc
+Kd 0.727385223 0.727385223 0.727385223
+illum 1
+
+newmtl MI_61deb21650316a0001862281
+Kd 0.497025013 0.497025013 0.497025013
+illum 1
+
+newmtl MI_61deb216ee739c0001824bb0
+Kd 0.00750220008 0.00750220008 0.00750220008
+illum 1
+
+newmtl MI_61deb216a05faa0001ebeaaf
+Kd 1 1 1
+Ks 0.100000001 0.100000001 0.100000001
+d 1
+illum 1
+
+newmtl MI_61deb216e0a4db00019c8735
+Kd 1 1 1
+illum 1
+map_Kd ./T_61deb216e0a4db00019c8735_color.jpg
+
+newmtl MI_61deb2162217910001e51463
+Kd 0.945363998 0.945363998 0.945363998
+illum 1
+
+newmtl MI_61deb2161836fe00010c3e72
+Kd 1 1 1
+illum 1
+map_Kd ./T_61deb2161836fe00010c3e72_color.jpg
+