diff --git a/.gitattributes b/.gitattributes
index a787e4e729432902c1f15278a1f437724574936b..cd9d9ac4ce5cef6659ba64f189b0364db6d76e62 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -9545,3 +9545,12 @@ data/UPB_00001416/plys/4.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001416/plys/5.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001416/plys/6.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001416/plys/7.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001416/plys/8.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001416/plys/9.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001416/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001417/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001417/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001417/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001417/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001417/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001417/plys/model.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/data/UPB_00001416/plys/8.ply b/data/UPB_00001416/plys/8.ply
new file mode 100644
index 0000000000000000000000000000000000000000..309e68e5a1d644f0915a5d917271d57223c8ecbc
--- /dev/null
+++ b/data/UPB_00001416/plys/8.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83e5b802ac62a88f1088213b698c1499f1f8367dcd728d26f77ea839fd0d3a15
+size 160242
diff --git a/data/UPB_00001416/plys/9.ply b/data/UPB_00001416/plys/9.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5f4aa89fec33832bbbd852495cb2f11e787a39c9
--- /dev/null
+++ b/data/UPB_00001416/plys/9.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:884147d84c3918fc7ff590beceaf82413f02c64727af1bfc35a66d1c55ae66bd
+size 160242
diff --git a/data/UPB_00001416/plys/model.ply b/data/UPB_00001416/plys/model.ply
new file mode 100644
index 0000000000000000000000000000000000000000..01dffccfbb03801adb46f049192ad63a3adb0625
--- /dev/null
+++ b/data/UPB_00001416/plys/model.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d05f6b66759009323db2d9e910deff5dfa93f9456c6fbb6ce382c7830d7590c7
+size 1600243
diff --git a/data/UPB_00001417/annotations/object.json b/data/UPB_00001417/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..96ff5cf0459e265581b10d79633bc57c648534d1
--- /dev/null
+++ b/data/UPB_00001417/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Two-Door Wardrobe Cabinet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        90.0,
+        50.0,
+        180.0
+    ],
+    "mass": 55.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001417/annotations/part_1.json b/data/UPB_00001417/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..21f4a85b42b9fc4e013fdafcec616bb6ec961c7c
--- /dev/null
+++ b/data/UPB_00001417/annotations/part_1.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001417",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Door Panel",
+        "affordance": 3,
+        "graspable": false,
+        "basic_description": "Tall laminated particle-board door panel (~170*45*1.8 cm) with four recessed squares, mounted on the cabinet's left side by hinges.",
+        "functional_description": "Covers the left half of the wardrobe opening and provides privacy and dust protection.",
+        "movement_description": "Rotates about vertical hinges fixed to the cabinet body, opening outward up to about 120 degrees.",
+        "grasp_description": "Usually pushed/pulled via its knob; the panel itself is seldom grasped directly except at the edge."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminated",
+        "density": 0.7,
+        "young": 3.2,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                3
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.4644095003604889,
+                    -0.24784399569034576,
+                    0.4104998707771301
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001417/annotations/part_2.json b/data/UPB_00001417/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b0a46e00ef71b06e4b1895e2de32bd10fc6f19b
--- /dev/null
+++ b/data/UPB_00001417/annotations/part_2.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001417",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Right Door Panel",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Tall laminated particle-board door panel (~170*45*1.8 cm) with matching recessed squares, mounted on the cabinet's right side by hinges.",
+        "functional_description": "Covers the right half of the wardrobe opening, closing against the left door at center.",
+        "movement_description": "Rotates about vertical hinges attached to the cabinet body, opening outward similar to the left door.",
+        "grasp_description": "Operated by the right door knob; edge may be touched but not typically grasped."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminated",
+        "density": 0.7,
+        "young": 3.2,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                4
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.45917829871177673,
+                    -0.2498997002840042,
+                    -7.7895547789808e-09
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001417/annotations/part_3.json b/data/UPB_00001417/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a5724b8fb3a52d99fb2833f95b6cfd494499774
--- /dev/null
+++ b/data/UPB_00001417/annotations/part_3.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001417",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Left Door Knob",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Small rounded powder-coated stainless-steel knob fixed near the inner edge of the left door.",
+        "functional_description": "Provides a comfortable handhold to pull or push the left door.",
+        "movement_description": "Rigidly fixed to the left door; it does not move relative to the door.",
+        "grasp_description": "Pinch or hook with fingers to open/close the left door; textured coating improves grip."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_Powder_Coated",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 180,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001417/annotations/part_4.json b/data/UPB_00001417/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae6e391473579163b14fb2733c0c8e8987a14c70
--- /dev/null
+++ b/data/UPB_00001417/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001417",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Right Door Knob",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Matching rounded powder-coated stainless-steel knob mounted near the inner edge of the right door.",
+        "functional_description": "Serves as the primary handhold to operate the right door.",
+        "movement_description": "Rigidly fixed to the right door; moves only as the door rotates.",
+        "grasp_description": "Pinched or pulled by hand when opening/closing the right door."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_Powder_Coated",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 180,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001417/annotations/part_5.json b/data/UPB_00001417/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ca0db9ebea6bb701481d831b54547c2d366e349
--- /dev/null
+++ b/data/UPB_00001417/annotations/part_5.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001417",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Cabinet Body (Carcass, Shelves, Rod, Legs)",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Main wardrobe carcass built from laminated particle board with fixed shelves, a hanging rod, back panel, and four short legs (~90*50*180 cm overall).",
+        "functional_description": "Provides structural support and storage space for clothing; contains internal shelving and a hanging compartment.",
+        "movement_description": "Static frame; serves as the hinge parent for both doors which rotate about vertical axes attached to the body.",
+        "grasp_description": "Usually not grasped directly; users interact mainly with the knobs and occasionally push against the body when moving the furniture."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Laminated",
+        "density": 0.7,
+        "young": 3.5,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001417/full_model/material.mtl b/data/UPB_00001417/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001417/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_00001417/full_model/material_0.png b/data/UPB_00001417/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ec3d9fa6b8825517f4d0114a097b6368e3d8411
--- /dev/null
+++ b/data/UPB_00001417/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8200c3e760f072fe4615f986c6116657d163b3b626cdd7d3bc3d872538f2df69
+size 690406
diff --git a/data/UPB_00001417/full_model/model.obj b/data/UPB_00001417/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3909c22f642be399dc5539c3cb9520c015983ad1
--- /dev/null
+++ b/data/UPB_00001417/full_model/model.obj
@@ -0,0 +1,187218 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/data/UPB_00001417/meta_data.json b/data/UPB_00001417/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b9ece730ecb73eb742f0b527b37696468966524
--- /dev/null
+++ b/data/UPB_00001417/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001417",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Two-Door Wardrobe Cabinet"
+    },
+    "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_00001417/model.urdf b/data/UPB_00001417/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cbc0159a9737842d8d941e93c5b3967c2ffe38e5
--- /dev/null
+++ b/data/UPB_00001417/model.urdf
@@ -0,0 +1,105 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.957447 0.957447 0.957447"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.957447 0.957447 0.957447"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.957447 0.957447 0.957447"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.957447 0.957447 0.957447"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.957447 0.957447 0.957447"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.957447 0.957447 0.957447"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.957447 0.957447 0.957447"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.957447 0.957447 0.957447"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.957447 0.957447 0.957447"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.957447 0.957447 0.957447"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_5"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.444647 -0.237297 0.393032" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.444647 0.237297 -0.393032" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_5"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.439639 -0.239266 -0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.439639 0.239266 0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" 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
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diff --git a/data/UPB_00001417/parts/T_696e750e86d5e369b8bc69ce_normal.jpg b/data/UPB_00001417/parts/T_696e750e86d5e369b8bc69ce_normal.jpg
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new file mode 100644
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diff --git a/data/UPB_00001417/parts/part_2.obj b/data/UPB_00001417/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d95ef68cfd35c6eb595a9c67b0e69aa8bbb5e24
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diff --git a/data/UPB_00001417/parts/part_3.obj b/data/UPB_00001417/parts/part_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa3203f28afe93181bb035319186b7954d57b6c2
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..f459a2e1054abfba1a1a03c688d71ff1b73eb7d1
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diff --git a/data/UPB_00001417/parts/part_5.obj b/data/UPB_00001417/parts/part_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8008fb996d936b8f6d303d5a8b662972b7c5cc18
--- /dev/null
+++ b/data/UPB_00001417/parts/part_5.obj
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diff --git a/data/UPB_00001417/plys/5.ply b/data/UPB_00001417/plys/5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2729f0a4adc68a7c7a6b71223b994bc756aac2c0
--- /dev/null
+++ b/data/UPB_00001417/plys/5.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:144d3d4eed0f044a64b004b35073dce181bc1214048b5990c6d46e5ef1a379db
+size 1200066
diff --git a/data/UPB_00001417/plys/model.ply b/data/UPB_00001417/plys/model.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9e535a10f2924fc972c3ac8cf153919154f32b37
--- /dev/null
+++ b/data/UPB_00001417/plys/model.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8788790cf1fd5a855c30b6d0985ef8e162d89146288fd097616c56813df64f54
+size 1600243
diff --git a/data/UPB_00001418/annotations/object.json b/data/UPB_00001418/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..02f23872fe36a9a4bdc41dfbcc57dd694a92aacb
--- /dev/null
+++ b/data/UPB_00001418/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Arched Wardrobe Cabinet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        90.0,
+        45.0,
+        180.0
+    ],
+    "mass": 50.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001418/annotations/part_1.json b/data/UPB_00001418/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2038b7820af7a98d505cbdc30d447a87b38fd39
--- /dev/null
+++ b/data/UPB_00001418/annotations/part_1.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Left Door Leaf",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Tall arched left door panel made of laminated MDF, approx 170*40*2 cm, part of a double-door wardrobe.",
+        "functional_description": "Provides access to the cabinet; closes the left half of the front opening and offers a finished fa\u00e7ade.",
+        "movement_description": "Rotates about a vertical hinge axis relative to the cabinet body, typical swing range up to 120 degrees.",
+        "grasp_description": "Users pull or push the door via the attached handle when opening/closing."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                3
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.4722614288330078,
+                    -0.25534313917160034,
+                    -1.616481881683285e-08
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001418/annotations/part_10.json b/data/UPB_00001418/annotations/part_10.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0016383a52055fe064e96f39553c1f67f29dfe8
--- /dev/null
+++ b/data/UPB_00001418/annotations/part_10.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Top Arch Crown Frame",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Curved crown frame spanning the cabinet top arch, approx 90*45*4 cm hardwood assembly.",
+        "functional_description": "Provides top rim stiffness and defines the arched silhouette.",
+        "movement_description": "Rigidly fixed to the carcass.",
+        "grasp_description": "Not used for grasping; only touched during assembly."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 12.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001418/annotations/part_11.json b/data/UPB_00001418/annotations/part_11.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0026e2f2262a260f9bc864587817e2944eebc2f
--- /dev/null
+++ b/data/UPB_00001418/annotations/part_11.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Left Top Arch Segment",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Curved left rib of the arched top, approx arc length ~60 cm, hardwood.",
+        "functional_description": "Reinforces the left side of the arch and ties into the crown.",
+        "movement_description": "Rigidly connected to the body; no motion.",
+        "grasp_description": "Not intended to be held."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 12.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001418/annotations/part_12.json b/data/UPB_00001418/annotations/part_12.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea9d29f03773f57a65c78e3d600194b610c24b84
--- /dev/null
+++ b/data/UPB_00001418/annotations/part_12.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Clothing Rod",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Straight stainless-steel hanging rod with end cups, approx 80*2*2 cm.",
+        "functional_description": "Supports hangers and garments inside the cabinet.",
+        "movement_description": "Rigidly mounted to the side walls; no relative motion.",
+        "grasp_description": "Occasionally grasped to place or slide hangers; smooth low-friction surface."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193.0,
+        "hardness": 200,
+        "poisson": 0.3,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001418/annotations/part_13.json b/data/UPB_00001418/annotations/part_13.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a2b632161bbac4784cf87de0544df15be34447f
--- /dev/null
+++ b/data/UPB_00001418/annotations/part_13.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "13"
+    },
+    "part_level": {
+        "part_name": "Left Front Side Frame Trim",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Narrow decorative vertical frame on the left front side, approx 165*6*2 cm hardwood.",
+        "functional_description": "Balances the right trim visually and adds stiffness to the front side panel.",
+        "movement_description": "Rigidly attached; stationary.",
+        "grasp_description": "Not a grip point; may be touched inadvertently."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 12.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001418/annotations/part_14.json b/data/UPB_00001418/annotations/part_14.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b4f7792a66769d4b940d33f42751d523ad693f1
--- /dev/null
+++ b/data/UPB_00001418/annotations/part_14.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "14"
+    },
+    "part_level": {
+        "part_name": "Front Right Foot",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Rounded wooden foot/peg at the front-right bottom, approx \u00d85*8 cm.",
+        "functional_description": "Supports and levels the cabinet.",
+        "movement_description": "Rigidly fixed; no motion.",
+        "grasp_description": "Not grasped; may contact the floor during repositioning."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 12.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001418/annotations/part_15.json b/data/UPB_00001418/annotations/part_15.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e537d8bdce337f2857b596d664899ba37f0f586
--- /dev/null
+++ b/data/UPB_00001418/annotations/part_15.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "15"
+    },
+    "part_level": {
+        "part_name": "Right Top Arch Segment",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Curved right rib of the arched top, hardwood, arc length ~60 cm.",
+        "functional_description": "Stiffens the right side of the arch and completes the crown assembly.",
+        "movement_description": "Rigidly connected to the body; stationary.",
+        "grasp_description": "Not intended for grasping."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 12.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001418/annotations/part_16.json b/data/UPB_00001418/annotations/part_16.json
new file mode 100644
index 0000000000000000000000000000000000000000..c55ae63580771f49a56ba3d803f6e02ddd6dea08
--- /dev/null
+++ b/data/UPB_00001418/annotations/part_16.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "16"
+    },
+    "part_level": {
+        "part_name": "Rear Right Foot",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Rounded wooden foot/peg at the rear-right bottom, approx \u00d85*8 cm.",
+        "functional_description": "Supports rear corner and stabilizes the cabinet.",
+        "movement_description": "Rigidly fixed to the body; no motion.",
+        "grasp_description": "Not grasped; only contacts the floor."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 12.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.6
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001418/annotations/part_17.json b/data/UPB_00001418/annotations/part_17.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dbbfe4fbf50f32926823e3dbbe3d4a46dc8ddb8
--- /dev/null
+++ b/data/UPB_00001418/annotations/part_17.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "17"
+    },
+    "part_level": {
+        "part_name": "Rear Left Foot",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Rounded wooden foot/peg at the rear-left bottom, approx \u00d85*8 cm.",
+        "functional_description": "Supports rear corner and stabilizes the cabinet.",
+        "movement_description": "Rigidly fixed to the body; no motion.",
+        "grasp_description": "Not grasped; only contacts the floor."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 12.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.6
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001418/annotations/part_2.json b/data/UPB_00001418/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b16767376d552db739d8c9cf92fd774887417c7
--- /dev/null
+++ b/data/UPB_00001418/annotations/part_2.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Right Door Leaf",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Tall arched right door panel, laminated MDF, approx 170*40*2 cm.",
+        "functional_description": "Closes the right half of the cabinet\u2019s front opening and provides access to interior storage.",
+        "movement_description": "Swings on a vertical hinge relative to the cabinet body; similar range to the left door.",
+        "grasp_description": "Pulled or pushed using its handle for regular operation."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminated",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                4
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.4533877968788147,
+                    -0.26135072112083435,
+                    -1.5518804019620802e-08
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001418/annotations/part_3.json b/data/UPB_00001418/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8353fe65260b7b353a36f930d111bd76a1192c2
--- /dev/null
+++ b/data/UPB_00001418/annotations/part_3.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Left Door Handle",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Curved stainless-steel pull handle, approx 16*2*3 cm, mounted on the left door.",
+        "functional_description": "Primary grasp point for opening and closing the left door.",
+        "movement_description": "Rigidly fixed to the left door; moves exactly with it.",
+        "grasp_description": "Gripped by fingers; surface allows comfortable pulling with moderate friction."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193.0,
+        "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_00001418/annotations/part_4.json b/data/UPB_00001418/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1eaf205874fbbeabad2f29c16c3a5c3ece1279
--- /dev/null
+++ b/data/UPB_00001418/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Right Door Handle",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Curved stainless-steel pull handle, approx 16*2*3 cm, mounted on the right door.",
+        "functional_description": "Primary grasp point for opening and closing the right door.",
+        "movement_description": "Rigidly fixed to the right door; moves together with it.",
+        "grasp_description": "Gripped by fingers for pulling/pushing the door."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193.0,
+        "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_00001418/annotations/part_5.json b/data/UPB_00001418/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e5c5ca2b4214c081895ad1a6384edb4882a756e
--- /dev/null
+++ b/data/UPB_00001418/annotations/part_5.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Cabinet Body (Carcass)",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Main plywood carcass with arched top and one internal shelf; approx 90*45*180 cm overall.",
+        "functional_description": "Provides structural enclosure for storage, supports doors, rod, decorative frames, cubby and feet.",
+        "movement_description": "Stationary reference for all movable parts; hinges mount to the body enabling door rotation.",
+        "grasp_description": "Not normally grasped directly; users interact via doors/handles."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.65,
+        "young": 8.0,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001418/annotations/part_6.json b/data/UPB_00001418/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..211d9a485158bf83bfc5a24ea093db1e2f3c8f3f
--- /dev/null
+++ b/data/UPB_00001418/annotations/part_6.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Lower Cubby/Shelf Unit",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Rectangular open cubby with a middle divider shelf, approx 80*40*30 cm, fitted at the cabinet bottom.",
+        "functional_description": "Holds folded items or boxes and stiffens the base of the cabinet.",
+        "movement_description": "Rigidly fixed to the carcass; no relative motion.",
+        "grasp_description": "Users place items on it; edges may be touched but it is not a handle."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Birch",
+        "density": 0.65,
+        "young": 8.0,
+        "hardness": 30,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001418/annotations/part_7.json b/data/UPB_00001418/annotations/part_7.json
new file mode 100644
index 0000000000000000000000000000000000000000..02dc459f412cfd29b71dae01933f041c72848c55
--- /dev/null
+++ b/data/UPB_00001418/annotations/part_7.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Right Front Side Frame Trim",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Narrow decorative vertical frame on the right front side, approx 165*6*2 cm hardwood.",
+        "functional_description": "Provides visual segmentation and reinforces the front side panel.",
+        "movement_description": "Rigidly attached to the body; no motion.",
+        "grasp_description": "Occasionally touched near the edge but not used for grasping."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 12.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001418/annotations/part_8.json b/data/UPB_00001418/annotations/part_8.json
new file mode 100644
index 0000000000000000000000000000000000000000..e86aaeab1f132e7e95d0dff7542ea0c5f4b0511b
--- /dev/null
+++ b/data/UPB_00001418/annotations/part_8.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Front Arch Lattice Panel",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Arched decorative grille with horizontal muntins sized for the upper front opening, approx 85*60*2 cm hardwood.",
+        "functional_description": "Adds rigidity and aesthetic detail to the arched top fa\u00e7ade above the doors.",
+        "movement_description": "Fixed to the carcass; stationary.",
+        "grasp_description": "Not intended for grasping."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 12.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001418/annotations/part_9.json b/data/UPB_00001418/annotations/part_9.json
new file mode 100644
index 0000000000000000000000000000000000000000..30f29c16d19da7e37e53078721c0ba0831d2fe7f
--- /dev/null
+++ b/data/UPB_00001418/annotations/part_9.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001418",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Front Left Foot",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Rounded wooden foot/peg, approx \u00d85*8 cm, positioned at the front-left bottom.",
+        "functional_description": "Supports the cabinet, distributes load to the floor.",
+        "movement_description": "Rigidly fixed; no motion.",
+        "grasp_description": "Rarely touched; may be used when lifting the cabinet slightly."
+    },
+    "basic_info": {
+        "material": "wood/Hardwood_Oak",
+        "density": 0.7,
+        "young": 12.0,
+        "hardness": 35,
+        "poisson": 0.35,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001418/full_model/material.mtl b/data/UPB_00001418/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001418/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_00001418/full_model/material_0.png b/data/UPB_00001418/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..326deffbd7650a01ba2c5ff9c7c11e84871b9b6e
--- /dev/null
+++ b/data/UPB_00001418/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58cc9a2e6089b608cf81455767017eacf6be6af80c58f5d9ec6de94b783179a3
+size 3016075
diff --git a/data/UPB_00001418/full_model/model.obj b/data/UPB_00001418/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6c1e7fda015584bd44251358ebf37088da8cc09
--- /dev/null
+++ b/data/UPB_00001418/full_model/model.obj
@@ -0,0 +1,165956 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/data/UPB_00001418/meta_data.json b/data/UPB_00001418/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..db2378e11de5941c7b387cfca45412a6ff7e4921
--- /dev/null
+++ b/data/UPB_00001418/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001418",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Arched Wardrobe Cabinet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 17,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001418/model.urdf b/data/UPB_00001418/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..95b40eb0832a976b018f8d46850106b401b751fb
--- /dev/null
+++ b/data/UPB_00001418/model.urdf
@@ -0,0 +1,309 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_14">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_15">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_16">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_17">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="0.818180 0.818180 0.818180"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_5"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.386395 -0.208917 -0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.386395 0.208917 0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_5"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.370953 -0.213832 -0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.370953 0.213832 0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_12"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_13"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_14"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_16" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_15"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_17" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_16"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_18" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_17"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001418/parts/1.mtl b/data/UPB_00001418/parts/1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc
--- /dev/null
+++ b/data/UPB_00001418/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_00001418/parts/1.png b/data/UPB_00001418/parts/1.png
new file mode 100644
index 0000000000000000000000000000000000000000..178feed47851e49cf1a37ebda2df3f344313f6d3
--- /dev/null
+++ b/data/UPB_00001418/parts/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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