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diff --git a/data/UPB_00001516/parts/part_10.obj b/data/UPB_00001516/parts/part_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc1e5dee057caeeb99bbaccd1e51aee4e1d0d7d6
--- /dev/null
+++ b/data/UPB_00001516/parts/part_10.obj
@@ -0,0 +1,50149 @@
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diff --git a/data/UPB_00001516/parts/part_11.obj b/data/UPB_00001516/parts/part_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae4eeebb69414c5f61ef05bc3c8753f1c5e49943
--- /dev/null
+++ b/data/UPB_00001516/parts/part_11.obj
@@ -0,0 +1,590 @@
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diff --git a/data/UPB_00001516/parts/part_12.obj b/data/UPB_00001516/parts/part_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8270cb5d8cd00eca086fd5d61c68188b0651e087
--- /dev/null
+++ b/data/UPB_00001516/parts/part_12.obj
@@ -0,0 +1,1818 @@
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diff --git a/data/UPB_00001516/parts/part_13.obj b/data/UPB_00001516/parts/part_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfb974271fa47bdbdbb8a682e1e5475167f72b9b
--- /dev/null
+++ b/data/UPB_00001516/parts/part_13.obj
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diff --git a/data/UPB_00001516/parts/part_14.obj b/data/UPB_00001516/parts/part_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7964cad901d362143479cdd919c9e32f77a7b06c
--- /dev/null
+++ b/data/UPB_00001516/parts/part_14.obj
@@ -0,0 +1,5562 @@
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diff --git a/data/UPB_00001516/parts/part_15.obj b/data/UPB_00001516/parts/part_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7c30f320cf4c0549ef7778bc4a1274a5e0c4858
--- /dev/null
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diff --git a/data/UPB_00001516/parts/part_16.obj b/data/UPB_00001516/parts/part_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47274aad8fa157b73bb44edebf4dca398f259df3
--- /dev/null
+++ b/data/UPB_00001516/parts/part_16.obj
@@ -0,0 +1,7042 @@
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diff --git a/data/UPB_00001516/parts/part_17.obj b/data/UPB_00001516/parts/part_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00482252e3fad483fffcfaee127a12212260273b
--- /dev/null
+++ b/data/UPB_00001516/parts/part_17.obj
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diff --git a/data/UPB_00001516/parts/part_18.obj b/data/UPB_00001516/parts/part_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb44c935a96ca25ad5e985353152a06d294f360f
--- /dev/null
+++ b/data/UPB_00001516/parts/part_18.obj
@@ -0,0 +1,77219 @@
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diff --git a/data/UPB_00001516/parts/part_19.obj b/data/UPB_00001516/parts/part_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8a083e729ff7e8b4d43022d786f2f4d4ac67e7d
--- /dev/null
+++ b/data/UPB_00001516/parts/part_19.obj
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diff --git a/data/UPB_00001516/parts/part_2.obj b/data/UPB_00001516/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da9141b137159e3f28d2d1ce5a5727dc9ffc0e35
--- /dev/null
+++ b/data/UPB_00001516/parts/part_2.obj
@@ -0,0 +1,6266 @@
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diff --git a/data/UPB_00001516/parts/part_20.obj b/data/UPB_00001516/parts/part_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64f3d3e5369a74d64f68e393d39723c18eb219cd
--- /dev/null
+++ b/data/UPB_00001516/parts/part_20.obj
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diff --git a/data/UPB_00001516/parts/part_3.obj b/data/UPB_00001516/parts/part_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5269334a30f2400e70f1ead3ee486b83bb0b1a34
--- /dev/null
+++ b/data/UPB_00001516/parts/part_3.obj
@@ -0,0 +1,47200 @@
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diff --git a/data/UPB_00001516/parts/part_4.obj b/data/UPB_00001516/parts/part_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..188c66494cb0c55235f16502b2079510e84e3b87
--- /dev/null
+++ b/data/UPB_00001516/parts/part_4.obj
@@ -0,0 +1,80420 @@
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diff --git a/data/UPB_00001516/parts/part_5.obj b/data/UPB_00001516/parts/part_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56734ffd6013445e550f88550e759a3c888a4316
--- /dev/null
+++ b/data/UPB_00001516/parts/part_5.obj
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diff --git a/data/UPB_00001516/parts/part_6.obj b/data/UPB_00001516/parts/part_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca983a3300a68597bd955b0e8911058eafe59a72
--- /dev/null
+++ b/data/UPB_00001516/parts/part_6.obj
@@ -0,0 +1,16105 @@
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diff --git a/data/UPB_00001516/parts/part_7.obj b/data/UPB_00001516/parts/part_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c07602bf6b334c471b8afa1b9d1876a196a1ac97
--- /dev/null
+++ b/data/UPB_00001516/parts/part_7.obj
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diff --git a/data/UPB_00001516/parts/part_9.obj b/data/UPB_00001516/parts/part_9.obj
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+{
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+        "graspable": true,
+        "basic_description": "Circular ABS plastic door with a central window and small display area, located on the upper front opening of the cabinet.",
+        "functional_description": "Provides access to the upper compartment (dryer) and seals the opening during operation.",
+        "movement_description": "Hinged to the cabinet and rotates about a vertical axis to open/close.",
+        "grasp_description": "Users pull the door rim or integrated handle to open/close; often used when loading/unloading."
+    },
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+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Circular ABS plastic lower door with a transparent window for the wash drum opening.",
+        "functional_description": "Allows access to the washer drum and seals against the gasket to prevent leaks.",
+        "movement_description": "Rotates on a side hinge relative to the cabinet.",
+        "grasp_description": "Pulled by hand when loading laundry into the washer."
+    },
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+                    -1.0
+                ],
+                "pos": [
+                    -0.19245103001594543,
+                    -0.23594065010547638,
+                    -0.25417158007621765
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001517/annotations/part_3.json b/data/UPB_00001517/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..4668840a2f82c98992e059faa24a9b7e3435bccb
--- /dev/null
+++ b/data/UPB_00001517/annotations/part_3.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001517",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Rotary Selector Knob",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Small cylindrical ABS knob mounted on the control panel.",
+        "functional_description": "User rotates it to select programs or settings.",
+        "movement_description": "Rotates relative to the control panel with detents; limited angular range.",
+        "grasp_description": "Pinch-and-twist using fingertips for precise selection."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.04,
+        "young": 2.1,
+        "hardness": 14,
+        "poisson": 0.37,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                3
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.15576353669166565,
+                    -0.23496100306510925,
+                    0.5298082232475281
+                ],
+                "range": [
+                    0.0,
+                    6.283185307179586
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001517/annotations/part_4.json b/data/UPB_00001517/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..181e9d937025047ff6befc6149bf2118b281429b
--- /dev/null
+++ b/data/UPB_00001517/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001517",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Control Panel Module",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Rectangular electronics and interface assembly at the top front of the appliance.",
+        "functional_description": "Houses the display, buttons, and control electronics to operate washer and dryer.",
+        "movement_description": "Rigidly attached to the cabinet; only the knob mounted on it rotates.",
+        "grasp_description": "Users press buttons and view settings; not typically grabbed as a handle."
+    },
+    "basic_info": {
+        "material": "plastic/ABS_Plastic",
+        "density": 1.06,
+        "young": 2.2,
+        "hardness": 15,
+        "poisson": 0.38,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001517/annotations/part_5.json b/data/UPB_00001517/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..49eac2a6933d6fbf30b0679de1d9ac3f39912386
--- /dev/null
+++ b/data/UPB_00001517/annotations/part_5.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001517",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Door Gasket/Trim Rings (upper and lower)",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Two compliant silicone rings mounted around the openings, serving as trim and sealing gaskets.",
+        "functional_description": "Provide water- and air-seal between doors and cabinet, damp vibrations, and protect edges.",
+        "movement_description": "No independent motion; bonded or mechanically fixed to the cabinet.",
+        "grasp_description": "Not intended for grasping; occasionally touched when cleaning the seal."
+    },
+    "basic_info": {
+        "material": "rubber/Silicone_Rubber",
+        "density": 1.1,
+        "young": 0.005,
+        "hardness": 5,
+        "poisson": 0.49,
+        "friction": 0.7
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001517/annotations/part_6.json b/data/UPB_00001517/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..5dae49fa2f64622b8e418e6258f7b8a4247d4177
--- /dev/null
+++ b/data/UPB_00001517/annotations/part_6.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001517",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Main Cabinet/Frame",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Painted steel sheet cabinet with two circular front openings and a top control recess; structural body of the appliance.",
+        "functional_description": "Provides structural support, houses mechanisms and electronics, and interfaces with doors, drum, and feet.",
+        "movement_description": "Stationary reference frame for all moving parts; contains hinges and bearings.",
+        "grasp_description": "Not grasped during normal use except when moving the appliance."
+    },
+    "basic_info": {
+        "material": "plastic/PC_Polycarbonate",
+        "density": 1.2,
+        "young": 2.4,
+        "hardness": 16,
+        "poisson": 0.37,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001517/annotations/part_7.json b/data/UPB_00001517/annotations/part_7.json
new file mode 100644
index 0000000000000000000000000000000000000000..80788f4dea11fa8d24f706a22def84a300df45b8
--- /dev/null
+++ b/data/UPB_00001517/annotations/part_7.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001517",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Status Indicator/Window",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Small dark rectangular polycarbonate window or indicator near the top-right of the front panel.",
+        "functional_description": "Acts as a status light, sensor window, or small auxiliary display.",
+        "movement_description": "Rigidly fixed to the cabinet/control area; no relative motion.",
+        "grasp_description": "Not intended for handling; only viewed by the user."
+    },
+    "basic_info": {
+        "material": "plastic/PC_Polycarbonate",
+        "density": 1.2,
+        "young": 2.4,
+        "hardness": 16,
+        "poisson": 0.37,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001517/annotations/part_8.json b/data/UPB_00001517/annotations/part_8.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c5073c7ada79118d70866b557647f5f4f344bc8
--- /dev/null
+++ b/data/UPB_00001517/annotations/part_8.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001517",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Leveling Feet and Service Cap Set",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Set of small rubber components at the base: four leveling feet and a small front service plug.",
+        "functional_description": "Feet provide vibration isolation and grip; service plug covers a maintenance access.",
+        "movement_description": "Rigidly attached during operation; feet can be height-adjusted during installation but are not moved in normal use.",
+        "grasp_description": "Rarely handled\u2014adjusted only during setup or servicing."
+    },
+    "basic_info": {
+        "material": "rubber/Nitrile_Rubber",
+        "density": 1.2,
+        "young": 0.01,
+        "hardness": 5,
+        "poisson": 0.49,
+        "friction": 0.8
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001517/annotations/part_9.json b/data/UPB_00001517/annotations/part_9.json
new file mode 100644
index 0000000000000000000000000000000000000000..76ed29b19f66c3d0720c9077f831eaadfd324705
--- /dev/null
+++ b/data/UPB_00001517/annotations/part_9.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001517",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Rotating Drum (tumbler)",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Cylindrical stainless-steel drum with internal baffles, positioned behind the upper front opening.",
+        "functional_description": "Holds and tumbles clothes (dryer or washer) during operation, transferring motion from the drive system.",
+        "movement_description": "Rotates continuously on bearings relative to the cabinet.",
+        "grasp_description": "Not grasped directly; users only contact laundry through the door opening."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193,
+        "hardness": 160,
+        "poisson": 0.29,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001517/full_model/material.mtl b/data/UPB_00001517/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001517/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