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index 97870b13e41380a1c0894a017e6a0797708003cc..5302a8d216878915827e2f3ee4c178f33a698d6d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -10032,3 +10032,19 @@ data/UPB_00001446/plys/3.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001446/plys/4.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001446/plys/5.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001446/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00001447/plys/1.ply filter=lfs diff=lfs merge=lfs -text
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00001447/parts/3.mtl b/data/UPB_00001447/parts/3.mtl
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index 0000000000000000000000000000000000000000..f1811c7dbfb695f993b629aa8fa52a2d2fc419b1
--- /dev/null
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+
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diff --git a/data/UPB_00001447/parts/part_2.obj b/data/UPB_00001447/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5588bce4354388143410b6b83bfbac5e7e0f37a8
--- /dev/null
+++ b/data/UPB_00001447/parts/part_2.obj
@@ -0,0 +1,1060 @@
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diff --git a/data/UPB_00001447/parts/part_3.obj b/data/UPB_00001447/parts/part_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11a24915f130909cd1239ab21e76c27a79cf8407
--- /dev/null
+++ b/data/UPB_00001447/parts/part_3.obj
@@ -0,0 +1,1944 @@
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diff --git a/data/UPB_00001447/parts/part_4.obj b/data/UPB_00001447/parts/part_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec6a0943f98fd9224bed1f40b786ab9ed668e3f4
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diff --git a/data/UPB_00001447/parts/part_5.obj b/data/UPB_00001447/parts/part_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9345c6e1b8735a44ad533131bebdc7cc80c5025a
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diff --git a/data/UPB_00001447/parts/wardrobe_ZFMZWN4TQYDJWPTULA888888_y4NvM.mtl b/data/UPB_00001447/parts/wardrobe_ZFMZWN4TQYDJWPTULA888888_y4NvM.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1470e1cbaef2e3ed11799d196d162027bfdec87c
--- /dev/null
+++ b/data/UPB_00001447/parts/wardrobe_ZFMZWN4TQYDJWPTULA888888_y4NvM.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_652f7bcf80db5600018b944b
+Kd 0.435299993 0.317600012 0.301999986
+illum 1
+
+newmtl MI_652f7bcf7ae59d0001e2c1ae
+Kd 0.470600009 0.458799988 0.454899997
+illum 1
+
diff --git a/data/UPB_00001447/plys/1.ply b/data/UPB_00001447/plys/1.ply
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--- /dev/null
+++ b/data/UPB_00001447/plys/1.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 160242
diff --git a/data/UPB_00001447/plys/2.ply b/data/UPB_00001447/plys/2.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_00001447/plys/3.ply b/data/UPB_00001447/plys/3.ply
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00001448/annotations/object.json b/data/UPB_00001448/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3f11a038c28f21984946f7d7c32bcd7019b5134
--- /dev/null
+++ b/data/UPB_00001448/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Two-compartment Metal Locker",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        45.0,
+        38.0,
+        180.0
+    ],
+    "mass": 28.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001448/annotations/part_1.json b/data/UPB_00001448/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8785042597f229a6acf0da9eb341d57473e4645
--- /dev/null
+++ b/data/UPB_00001448/annotations/part_1.json
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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001448",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Upper Door Panel",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Large steel sheet door (approx 36*0.1*140 cm) with a recessed lock and small vent slots, finished with powder coat.",
+        "functional_description": "Provides access to the main upper storage compartment and secures contents with the lock.",
+        "movement_description": "Rotates about a vertical hinge line fixed to the left side panel (part 6).",
+        "grasp_description": "Users grasp the handle area to open/close; commonly contacted surface."
+    },
+    "basic_info": {
+        "material": "metal/Cold_Rolled_Steel_Sheet",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
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+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001448/annotations/part_2.json b/data/UPB_00001448/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..6823e38f6a6a7c6767d9c071ea7f69224ffa6882
--- /dev/null
+++ b/data/UPB_00001448/annotations/part_2.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001448",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Lower Door Panel",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Smaller steel sheet door (approx 36*0.1*30 cm) with a recessed handle/lock and vent slots.",
+        "functional_description": "Access door to the lower compartment; can be independently opened and locked.",
+        "movement_description": "Rotates about a vertical hinge on the left side panel (part 6).",
+        "grasp_description": "Grasped at the recessed pull to operate; frequent human interaction."
+    },
+    "basic_info": {
+        "material": "metal/Cold_Rolled_Steel_Sheet",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
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+                2
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+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001448/annotations/part_3.json b/data/UPB_00001448/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..1277de694da4d197d9e4872302bb3f554a223aa6
--- /dev/null
+++ b/data/UPB_00001448/annotations/part_3.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001448",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Internal Shelf",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Flat steel shelf (approx 36*43*0.15 cm) seated on side/back supports.",
+        "functional_description": "Supports stored items and divides the interior into upper/lower zones.",
+        "movement_description": "Fixed to side and back panels with screws or tabs; no intended motion during use.",
+        "grasp_description": "Not typically grasped; may be lifted during assembly or reconfiguration."
+    },
+    "basic_info": {
+        "material": "metal/Cold_Rolled_Steel_Sheet",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001448/annotations/part_4.json b/data/UPB_00001448/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..e31f04b4ae9f3e436ae2b6a5ec035eee3058417c
--- /dev/null
+++ b/data/UPB_00001448/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001448",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Floor Feet (set of 4)",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Four small rubber feet (each roughly 3*3*2 cm) mounted under the base corners.",
+        "functional_description": "Provide floor grip, vibration damping, and scratch protection.",
+        "movement_description": "Rigidly attached to the bottom panel; no relative motion.",
+        "grasp_description": "Not handled during normal use; touched only when moving or assembling the locker."
+    },
+    "basic_info": {
+        "material": "metal/Cold_Rolled_Steel_Sheet",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001448/annotations/part_5.json b/data/UPB_00001448/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..b40c494eba412be5cb20050a2c874dbcb40bda09
--- /dev/null
+++ b/data/UPB_00001448/annotations/part_5.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001448",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Bottom Base Panel",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Flat steel base panel (approx 36*43*0.15 cm) forming the locker floor.",
+        "functional_description": "Carries the load of stored items and transfers it to the feet and side/back panels.",
+        "movement_description": "Rigidly fastened to side and back panels; no movement.",
+        "grasp_description": "Rarely touched directly; cleaned occasionally."
+    },
+    "basic_info": {
+        "material": "metal/Cold_Rolled_Steel_Sheet",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001448/annotations/part_6.json b/data/UPB_00001448/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..84066b8e8bdc8a593d75b912fd5a8a047c646f7c
--- /dev/null
+++ b/data/UPB_00001448/annotations/part_6.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001448",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Left Side Panel (Hinge Frame)",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Tall steel side wall (approx 180*45*0.1 cm) with front-edge hinge mounts.",
+        "functional_description": "Provides structural stiffness and the hinge support for both doors.",
+        "movement_description": "Stationary structural member; serves as the fixed axis for door rotation.",
+        "grasp_description": "Not intended for grasping; touched during moving or cleaning."
+    },
+    "basic_info": {
+        "material": "metal/Cold_Rolled_Steel_Sheet",
+        "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_00001448/annotations/part_7.json b/data/UPB_00001448/annotations/part_7.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1152f34ef2b2c558931ff0401717e8b5a5d569f
--- /dev/null
+++ b/data/UPB_00001448/annotations/part_7.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001448",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Right Side Panel",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Steel side wall (approx 180*45*0.1 cm) opposite the hinge side.",
+        "functional_description": "Closes the cabinet and contributes to overall stiffness and load transfer.",
+        "movement_description": "Rigidly attached; no motion.",
+        "grasp_description": "Normally not grasped, except when repositioning the locker."
+    },
+    "basic_info": {
+        "material": "metal/Cold_Rolled_Steel_Sheet",
+        "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_00001448/annotations/part_8.json b/data/UPB_00001448/annotations/part_8.json
new file mode 100644
index 0000000000000000000000000000000000000000..50d634e71228678aacf1f0b8a49932f19fb9b076
--- /dev/null
+++ b/data/UPB_00001448/annotations/part_8.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001448",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Back Panel",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Full-height steel rear wall (approx 180*38*0.1 cm).",
+        "functional_description": "Provides shear stiffness, encloses the cabinet, and anchors internal components.",
+        "movement_description": "Rigid panel, fastened along its perimeter.",
+        "grasp_description": "Not interacted with during normal use."
+    },
+    "basic_info": {
+        "material": "metal/Cold_Rolled_Steel_Sheet",
+        "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_00001448/annotations/part_9.json b/data/UPB_00001448/annotations/part_9.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b37b01b380f82ba05e8e98b301421d968a1ca1b
--- /dev/null
+++ b/data/UPB_00001448/annotations/part_9.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001448",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Top Cover Panel",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Flat steel top panel (approx 36*43*0.15 cm) finishing the enclosure.",
+        "functional_description": "Closes the cabinet and ties side and back panels together for rigidity.",
+        "movement_description": "Fixed with screws or spot welds; no motion.",
+        "grasp_description": "Occasionally touched when placing items on top; not a primary touch surface."
+    },
+    "basic_info": {
+        "material": "metal/Cold_Rolled_Steel_Sheet",
+        "density": 7.85,
+        "young": 200,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001448/full_model/material.mtl b/data/UPB_00001448/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001448/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_00001448/full_model/material_0.png b/data/UPB_00001448/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..493db9251a3800a474261218919eb4d7c4c0e0b8
--- /dev/null
+++ b/data/UPB_00001448/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a233087d6d910425e0a55b10e7b85893732523f22f3b3a45734367932bbdfde6
+size 496
diff --git a/data/UPB_00001448/full_model/model.obj b/data/UPB_00001448/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05fc9df9a3b579a49dc7a85a87727899fe56e6ca
--- /dev/null
+++ b/data/UPB_00001448/full_model/model.obj
@@ -0,0 +1,17304 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/data/UPB_00001448/meta_data.json b/data/UPB_00001448/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..f31e5a8e08ef75d8a138a86b1764ee4c7c9f3375
--- /dev/null
+++ b/data/UPB_00001448/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001448",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Two-compartment Metal Locker"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 9,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001448/model.urdf b/data/UPB_00001448/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..532a66116158d3707b82a2b17e39da0870bd51c8
--- /dev/null
+++ b/data/UPB_00001448/model.urdf
@@ -0,0 +1,173 @@
+<?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="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.869565 0.869565 0.869565"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_6"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.162586 -0.256108 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.162586 0.256108 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_6"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.162586 -0.256108 -0.569649" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.162586 0.256108 0.569649" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <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>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001448/parts/1.mtl b/data/UPB_00001448/parts/1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc
--- /dev/null
+++ b/data/UPB_00001448/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_00001448/parts/1.png b/data/UPB_00001448/parts/1.png
new file mode 100644
index 0000000000000000000000000000000000000000..139bdad6d79d152d9f004972ee815c7d91c7be52
--- /dev/null
+++ b/data/UPB_00001448/parts/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15a653ee0aa28262d86159ffa7af60e819c8367347d2c34a8e0a28d566b11e6f
+size 342
diff --git a/data/UPB_00001448/parts/2.mtl b/data/UPB_00001448/parts/2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..57a1c04a7f3f0f8866abca464506627fead239e6
--- /dev/null
+++ b/data/UPB_00001448/parts/2.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 2.png
diff --git a/data/UPB_00001448/parts/2.png b/data/UPB_00001448/parts/2.png
new file mode 100644
index 0000000000000000000000000000000000000000..632cdde21fb1d5e42fcdadfc96db6bb8b383c03b
--- /dev/null
+++ b/data/UPB_00001448/parts/2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c18daa3d51208c465a93728da0266619e0b32fb738a45377f174dba9ef7be4d
+size 97
diff --git a/data/UPB_00001448/parts/T_6683667499c42400010f8008_color.jpg b/data/UPB_00001448/parts/T_6683667499c42400010f8008_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f6633afb739c9bd82753d5d313d96b1cce1a4a16
--- /dev/null
+++ b/data/UPB_00001448/parts/T_6683667499c42400010f8008_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb0a6dcb3813a29e94a085712e369f3b6775ce6f374b70d5e80fe607b5ab7949
+size 1381
diff --git a/data/UPB_00001448/parts/part_1.obj b/data/UPB_00001448/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fceaa0465110725ae97fc93803147b57417a7a0
--- /dev/null
+++ b/data/UPB_00001448/parts/part_1.obj
@@ -0,0 +1,8646 @@
+# https://github.com/mikedh/trimesh
+mtllib 1.mtl
+usemtl material_0
+v -0.12491406 -0.30399221 0.12159895
+v -0.12116406 -0.30393571 0.12052099
+v -0.12116406 -0.30399221 0.12159894
+v -0.12491407 -0.30135548 0.12038386
+v -0.12491406 -0.30393571 0.12052100
+v -0.12491406 -0.30144757 0.12096539
+v -0.12116406 -0.30376685 0.11945485
+v -0.12116406 -0.30120307 0.11981514
+v -0.12116406 -0.30135548 0.12038386
+v -0.12116406 -0.30393571 0.12052099
+v -0.12491407 -0.30120307 0.11981515
+v -0.12491406 -0.30376685 0.11945486
+v -0.12116406 -0.30348745 0.11841221
+v -0.12116406 -0.30099207 0.11926546
+v -0.12491407 -0.30099207 0.11926547
+v -0.12491407 -0.30348745 0.11841221
+v -0.12116406 -0.30310062 0.11740447
+v -0.12116406 -0.30072477 0.11874086
+v -0.12491407 -0.30072477 0.11874087
+v -0.12491407 -0.30310062 0.11740448
+v -0.12116406 -0.30261058 0.11644269
+v -0.12116406 -0.30003357 0.11778951
+v -0.12116406 -0.30040407 0.11824707
+v -0.12491407 -0.29961726 0.11737318
+v -0.12491407 -0.30202267 0.11553741
+v -0.12491407 -0.30003357 0.11778951
+v -0.12491407 -0.30261061 0.11644270
+v -0.12491407 -0.30040407 0.11824708
+v -0.12116407 -0.30134338 0.11469854
+v -0.12116407 -0.29915968 0.11700265
+v -0.12116407 -0.29961723 0.11737318
+v -0.12116407 -0.30202267 0.11553741
+v -0.12116406 -0.30261058 0.11644269
+v -0.12491407 -0.30202267 0.11553741
+v -0.12116407 -0.30202267 0.11553741
+v -0.12491407 -0.29915968 0.11700265
+v -0.12491407 -0.30134338 0.11469855
+v -0.12116407 -0.30134338 0.11469854
+v -0.12491407 -0.30134338 0.11469855
+v -0.12116407 -0.30058011 0.11393526
+v -0.12116407 -0.29866585 0.11668198
+v -0.12491407 -0.29866585 0.11668198
+v -0.12491407 -0.30058011 0.11393527
+v -0.12116407 -0.30058011 0.11393526
+v -0.12491407 -0.30058011 0.11393527
+v -0.12491405 -0.29686642 0.13140671
+v -0.12116405 -0.29787415 0.13101986
+v -0.12116405 -0.29686642 0.13140671
+v -0.12116408 -0.29974124 0.11325596
+v -0.12116407 -0.29759157 0.11620368
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+v -0.12491408 -0.29974124 0.11325596
+v -0.12491407 -0.29814127 0.11641469
+v -0.12116408 -0.29974124 0.11325596
+v -0.12491408 -0.29974124 0.11325596
+v -0.12491405 -0.29883593 0.13052984
+v -0.12116405 -0.29974121 0.12994193
+v -0.12116405 -0.29883593 0.13052981
+v -0.12116408 -0.29883593 0.11266806
+v -0.12116408 -0.29702285 0.11605130
+v -0.12491405 -0.29787415 0.13101986
+v -0.12491408 -0.29644135 0.11595920
+v -0.12491408 -0.29787418 0.11217801
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diff --git a/data/UPB_00001448/parts/part_2.obj b/data/UPB_00001448/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11b115b251ea6e6ccaa02f66f4659cf8525596b7
--- /dev/null
+++ b/data/UPB_00001448/parts/part_2.obj
@@ -0,0 +1,7542 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/UPB_00001448/parts/part_3.obj b/data/UPB_00001448/parts/part_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ceb690272a032933a083bfff53c6e81768be0c0
--- /dev/null
+++ b/data/UPB_00001448/parts/part_3.obj
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index 0000000000000000000000000000000000000000..c459ce40137db8da4cd157e831bc5651f55bab6b
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diff --git a/data/UPB_00001449/annotations/object.json b/data/UPB_00001449/annotations/object.json
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+{
+    "object_name": "Wall Unit Wardrobe with Desk",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        250.0,
+        60.0,
+        230.0
+    ],
+    "mass": 150.0
+}
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diff --git a/data/UPB_00001449/annotations/part_1.json b/data/UPB_00001449/annotations/part_1.json
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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001449",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Wardrobe Drawer A",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Medium storage drawer in the lower wardrobe stack; MDF box with a laminate front and integrated pull; about 60*45*15 cm.",
+        "functional_description": "Stores folded clothes and accessories in the wardrobe base.",
+        "movement_description": "Slides on runners relative to the main frame; translation outward/inward.",
+        "grasp_description": "Pulled by the front handle with one or two hands."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
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+            }
+        }
+    }
+}
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diff --git a/data/UPB_00001449/annotations/part_10.json b/data/UPB_00001449/annotations/part_10.json
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index 0000000000000000000000000000000000000000..ad1bdf0a0f49211ef2fa1c93660840d3b69d516e
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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001449",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Overhead Cupboard Door (Right)",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Right-hand overhead cabinet door; approx. 100*35*1.6 cm MDF-laminate.",
+        "functional_description": "Pairs with the left door to access upper storage.",
+        "movement_description": "Rotates about side hinges relative to the frame.",
+        "grasp_description": "Opened/closed with a hand on the edge or pull."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.74,
+        "young": 3.3,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                10
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+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001449/annotations/part_11.json b/data/UPB_00001449/annotations/part_11.json
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index 0000000000000000000000000000000000000000..f5556189ebe01f01d24f9fe3996c234690bfffad
--- /dev/null
+++ b/data/UPB_00001449/annotations/part_11.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001449",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Fixed Shelves and Panels Set",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Collection of interior shelves, desk panels, and base boards; MDF with woodgrain laminate; typical shelf sizes vary (30\u2013120 cm length).",
+        "functional_description": "Provides horizontal and vertical support surfaces for books, folded clothes, and the desk top.",
+        "movement_description": "Rigid fastened to the carcass via screws/dowels; no relative motion.",
+        "grasp_description": "Users place items on these surfaces; rarely grasped except during installation."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001449/annotations/part_12.json b/data/UPB_00001449/annotations/part_12.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b5623d0adb84aa9e500383a358e3b514a23e3fa
--- /dev/null
+++ b/data/UPB_00001449/annotations/part_12.json
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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001449",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Top Sliding Track/Rail",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Aluminum extrusion track running along the wardrobe opening; approx. 180\u2013200 cm long.",
+        "functional_description": "Guides the sliding door panels with low friction and structural stiffness.",
+        "movement_description": "Serves as the parent reference for the doors\u2019 lateral translation; rigidly fastened to the frame.",
+        "grasp_description": "Not directly grasped during normal use."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6063",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.35
+    },
+    "kinematic_info": {
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+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001449/annotations/part_13.json b/data/UPB_00001449/annotations/part_13.json
new file mode 100644
index 0000000000000000000000000000000000000000..d26ee6648bda991d6faaf4555d2ac081120f6ac4
--- /dev/null
+++ b/data/UPB_00001449/annotations/part_13.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001449",
+        "label": "13"
+    },
+    "part_level": {
+        "part_name": "Clothes Hanging Rods",
+        "affordance": 7,
+        "graspable": true,
+        "basic_description": "Two cylindrical rods mounted inside the wardrobe (approx. 100 cm and 60 cm lengths, 25 mm diameter).",
+        "functional_description": "Supports hangers for garments.",
+        "movement_description": "Rigidly fixed to side panels with brackets; no motion.",
+        "grasp_description": "Users grasp the rod to stabilize themselves when placing/removing hangers; hangers rest on it."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.95,
+        "young": 193.0,
+        "hardness": 160,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
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index 0000000000000000000000000000000000000000..1358a3d7292f01dbcdfcdddfb41887981dbae8e0
--- /dev/null
+++ b/data/UPB_00001449/annotations/part_14.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001449",
+        "label": "14"
+    },
+    "part_level": {
+        "part_name": "Sliding Door Handle/Trim Plate",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Rectangular pull/trim fixed to a sliding door; approx. 25*10*1.5 cm ABS in a neutral finish.",
+        "functional_description": "Provides an ergonomic grasping surface and may house a simple latch.",
+        "movement_description": "No independent motion; rigid with Door 7 and moves with it along the track.",
+        "grasp_description": "Fingers pinch or hook the edge to slide the door."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.74,
+        "young": 3.3,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001449/annotations/part_15.json b/data/UPB_00001449/annotations/part_15.json
new file mode 100644
index 0000000000000000000000000000000000000000..efe59046b355c7b08b867db4c65c8ef560c054c9
--- /dev/null
+++ b/data/UPB_00001449/annotations/part_15.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001449",
+        "label": "15"
+    },
+    "part_level": {
+        "part_name": "Main Carcass Frame",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Large MDF-laminate structure with vertical panels, desk return, and base plinth forming the wardrobe/desk body.",
+        "functional_description": "Provides structural support and mounting surfaces for doors, drawers, shelves, and accessories.",
+        "movement_description": "Acts as the stationary reference for all sliding and hinged components.",
+        "grasp_description": "Not typically grasped; users interact with the moving parts attached to it."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001449/annotations/part_2.json b/data/UPB_00001449/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..af41510eebfdec3e05fbf606cbc0ff9f9a1191f6
--- /dev/null
+++ b/data/UPB_00001449/annotations/part_2.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001449",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Wardrobe Drawer B",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Second wardrobe drawer identical to Part 1; approx. 60*45*15 cm.",
+        "functional_description": "Provides organized storage inside the wardrobe.",
+        "movement_description": "Linear sliding on ball-bearing runners attached to the frame.",
+        "grasp_description": "Grasp the pull to open/close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.11019701510667801,
+                    0.10299093276262283,
+                    -0.8776529431343079
+                ],
+                "range": [
+                    -0.4000000059604645,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001449/annotations/part_3.json b/data/UPB_00001449/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..48c7e848ee76a782ef5b6c64912ce2c2a6fd4185
--- /dev/null
+++ b/data/UPB_00001449/annotations/part_3.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001449",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Wardrobe Drawer C",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Third wardrobe drawer unit; MDF with laminate front and integrated pull; approx. 60*45*15 cm.",
+        "functional_description": "Additional compartment for folded items.",
+        "movement_description": "Slides in translation along runners mounted to the carcass.",
+        "grasp_description": "Pulled by the handle; fingers curl under the pull."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                3
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.11019701510667801,
+                    0.10299093276262283,
+                    -1.059385895729065
+                ],
+                "range": [
+                    -0.4000000059604645,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001449/annotations/part_4.json b/data/UPB_00001449/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..507996f6e00932206decd501b9d060576c36f115
--- /dev/null
+++ b/data/UPB_00001449/annotations/part_4.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001449",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Desk Organizer Drawer",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Desk-side drawer with an internal divider; MDF box and white front; about 45*40*12 cm.",
+        "functional_description": "Holds stationery and small items near the desk.",
+        "movement_description": "Translates outward/inward on side-mounted slides relative to the frame.",
+        "grasp_description": "User pulls the front to access compartments."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.46
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                4
+            ],
+            "B": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.550528883934021,
+                    -0.2924085855484009,
+                    -0.5541508793830872
+                ],
+                "range": [
+                    -0.0,
+                    0.4000000059604645
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001449/annotations/part_5.json b/data/UPB_00001449/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..a887fa048ab7490223236bc06c2a535d518b1043
--- /dev/null
+++ b/data/UPB_00001449/annotations/part_5.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001449",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Sliding Door (Leftmost Panel)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Tall sliding wardrobe door panel with recessed pull; approx. 200*45*1.8 cm MDF with laminate finish.",
+        "functional_description": "Encloses the wardrobe; slides to expose interior storage.",
+        "movement_description": "Horizontally translates along the top track; slight damping for soft-sliding.",
+        "grasp_description": "Hand grasps the recessed pull and slides the panel left or right."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                5
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.18160317838191986,
+                    0.1028292179107666,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001449/annotations/part_6.json b/data/UPB_00001449/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e42ad0ee206f56d084d43a8ae9efd9762d5480c
--- /dev/null
+++ b/data/UPB_00001449/annotations/part_6.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001449",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Sliding Door (Left-Center Panel)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Second sliding door panel; MDF with laminate and a recessed handle; approx. 200*45*1.8 cm.",
+        "functional_description": "Works with adjacent panels to cover the wardrobe opening.",
+        "movement_description": "Moves laterally along the aluminum track.",
+        "grasp_description": "Pulled by the recessed handle to open or close."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                6
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.39799389243125916,
+                    0.1028292179107666,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001449/annotations/part_7.json b/data/UPB_00001449/annotations/part_7.json
new file mode 100644
index 0000000000000000000000000000000000000000..04d289773ecb4b415dd8076efe305932ee3dd5fa
--- /dev/null
+++ b/data/UPB_00001449/annotations/part_7.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001449",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Sliding Door (Right-Center Panel)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Third sliding door panel with a pull feature; approx. 200*45*1.8 cm MDF-laminate.",
+        "functional_description": "Provides access control to the central wardrobe bay.",
+        "movement_description": "Translates on the track; rigidly carries its handle/trim piece.",
+        "grasp_description": "User slides it via the handle/trim."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                7
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    0.4017302095890045,
+                    0.1028292179107666,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001449/annotations/part_8.json b/data/UPB_00001449/annotations/part_8.json
new file mode 100644
index 0000000000000000000000000000000000000000..09585be9692923e46a24f90a0ad6fb4a7a37fe70
--- /dev/null
+++ b/data/UPB_00001449/annotations/part_8.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001449",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Sliding Door (Rightmost Panel)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Rightmost sliding door for the wardrobe; MDF-laminate; approx. 200*45*1.8 cm.",
+        "functional_description": "Completes the set of moving panels to close the wardrobe.",
+        "movement_description": "Slides horizontally on the top rail.",
+        "grasp_description": "Handled by the recessed pull during operation."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                8
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.9808409810066223,
+                    0.1028292179107666,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001449/annotations/part_9.json b/data/UPB_00001449/annotations/part_9.json
new file mode 100644
index 0000000000000000000000000000000000000000..b149c101ad4f76e39f9ebc1ed03f6f3823b8211a
--- /dev/null
+++ b/data/UPB_00001449/annotations/part_9.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001449",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Overhead Cupboard Door (Left)",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Left door panel for the top cabinet; approx. 100*35*1.6 cm MDF with laminate.",
+        "functional_description": "Covers the overhead storage above the wardrobe.",
+        "movement_description": "Rotates on hinges attached to the main frame.",
+        "grasp_description": "Pulled open by the edge or small pull."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.74,
+        "young": 3.3,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                9
+            ],
+            "B": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.48155227303504944,
+                    0.12644797563552856,
+                    0.9793802499771118
+                ],
+                "range": [
+                    -0.0,
+                    0.8999999761581421
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001449/full_model/material.mtl b/data/UPB_00001449/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001449/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_00001449/full_model/material_0.png b/data/UPB_00001449/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..55ab4c65aa109b667fcbb43c6d60da81beb70c75
--- /dev/null
+++ b/data/UPB_00001449/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1c678c19980c1671a97d616d0095145f6d787d62f21d0d8d1cf4e5b3d0afd22
+size 2976778
diff --git a/data/UPB_00001449/full_model/model.obj b/data/UPB_00001449/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd9aac028d1a75721db05c283deebfe7b542a07f
--- /dev/null
+++ b/data/UPB_00001449/full_model/model.obj
@@ -0,0 +1,30274 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.17199220 0.11600000 -0.63391799
+v -0.17199220 0.51599997 -0.63391799
+v -0.17199220 0.11600000 -0.73391795
+v -0.17199220 0.51599997 -0.73391795
+v -0.15699220 0.11600000 -0.73391795
+v -0.15699220 0.51599997 -0.73391795
+v -0.15699220 0.11600000 -0.63391799
+v -0.15699220 0.51599997 -0.63391799
+v -0.17199220 0.51599997 -0.73391795
+v -0.15699220 0.51599997 -0.73391795
+v -0.17199220 0.51599997 -0.63391799
+v -0.15699220 0.51599997 -0.63391799
+v -0.17199220 0.51599997 -0.73391795
+v -0.15699220 0.51599997 -0.73391795
+v -0.17199220 0.11600000 -0.63391799
+v -0.15699220 0.11600000 -0.63391799
+v -0.17199220 0.11600000 -0.73391795
+v -0.15699220 0.11600000 -0.73391795
+v -0.17199220 0.11600000 -0.63391799
+v -0.15699220 0.11600000 -0.63391799
+v 0.36450779 0.51599997 -0.63391799
+v 0.36450779 0.50099999 -0.63391799
+v 0.36450779 0.51599997 -0.73391795
+v 0.36450779 0.50099999 -0.73391795
+v 0.36450779 0.50099999 -0.63391799
+v -0.15700783 0.50099999 -0.63391799
+v 0.36450779 0.50099999 -0.73391795
+v -0.15700783 0.50099999 -0.73391795
+v -0.15700783 0.51599997 -0.63391799
+v -0.15700783 0.50099999 -0.63391799
+v 0.36450779 0.50099999 -0.63391799
+v -0.15700783 0.50099999 -0.63391799
+v -0.15700783 0.50099999 -0.73391795
+v -0.15700783 0.51599997 -0.73391795
+v 0.36450779 0.51599997 -0.73391795
+v -0.15700783 0.51599997 -0.73391795
+v 0.36450779 0.51599997 -0.63391799
+v -0.15700783 0.51599997 -0.63391799
+v -0.15700783 0.51599997 -0.73391795
+v 0.36450779 0.51599997 -0.73391795
+v 0.37950781 0.11600000 -0.73391795
+v 0.37950781 0.51599997 -0.73391795
+v 0.37950781 0.11600000 -0.63391799
+v 0.37950781 0.51599997 -0.63391799
+v 0.36450779 0.11600000 -0.63391799
+v 0.36450779 0.11600000 -0.73391795
+v 0.36450779 0.51599997 -0.73391795
+v 0.37950781 0.51599997 -0.73391795
+v 0.37950781 0.51599997 -0.63391799
+v 0.37950781 0.51599997 -0.73391795
+v 0.36450779 0.11600000 -0.63391799
+v 0.37950781 0.11600000 -0.63391799
+v 0.36450779 0.11600000 -0.73391795
+v 0.37950781 0.11600000 -0.73391795
+v 0.36450779 0.11600000 -0.63391799
+v 0.37950781 0.11600000 -0.63391799
+v 0.36450779 0.50099999 -0.71491796
+v -0.15700783 0.50099999 -0.71491796
+v 0.36450779 0.11600000 -0.71491796
+v -0.15700783 0.11600000 -0.71491796
+v 0.36450779 0.11600000 -0.71491796
+v 0.36450779 0.11600000 -0.72391796
+v 0.36450779 0.50099999 -0.72391796
+v -0.15700783 0.50099999 -0.72391796
+v -0.15700783 0.50099999 -0.71491796
+v 0.36450779 0.50099999 -0.72391796
+v 0.36450779 0.50099999 -0.71491796
+v -0.15700783 0.11600000 -0.72391796
+v 0.36450779 0.50099999 -0.72391796
+v -0.15700783 0.50099999 -0.72391796
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diff --git a/data/UPB_00001449/meta_data.json b/data/UPB_00001449/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..045ce29eac6857bc777bb2ef82730b296d1df0d9
--- /dev/null
+++ b/data/UPB_00001449/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001449",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Wall Unit Wardrobe with Desk"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 15,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001449/model.urdf b/data/UPB_00001449/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3897671fcbb32ce1071365ce9a53b69f7b8bccd4
--- /dev/null
+++ b/data/UPB_00001449/model.urdf
@@ -0,0 +1,339 @@
+<?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="helper_link_4"/>
+  <link name="helper_link_5"/>
+  <link name="helper_link_6"/>
+  <link name="helper_link_7"/>
+  <link name="helper_link_8"/>
+  <link name="helper_link_9"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_14">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_15">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="1.041667 1.041667 1.041667"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_15"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.114789 0.107282 -0.720319" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.4166666555143732" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.114789 -0.107282 0.720319" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_15"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.114789 0.107282 -0.914222" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.4166666555143732" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.114789 -0.107282 0.914222" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_15"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.114789 0.107282 -1.103527" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.4166666555143732" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.114789 -0.107282 1.103527" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="prismatic">
+    <parent link="link_15"/>
+    <child link="helper_link_3"/>
+    <origin xyz="-0.573468 -0.304592 -0.577240" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="-0.0" upper="0.4166666555143732"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="0.573468 0.304592 0.577240" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="revolute">
+    <parent link="link_12"/>
+    <child link="helper_link_4"/>
+    <origin xyz="-0.189170 0.107114 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_5"/>
+    <origin xyz="0.189170 -0.107114 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="revolute">
+    <parent link="link_12"/>
+    <child link="helper_link_5"/>
+    <origin xyz="0.414577 0.107114 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="helper_link_5"/>
+    <child link="link_6"/>
+    <origin xyz="-0.414577 -0.107114 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="revolute">
+    <parent link="link_12"/>
+    <child link="helper_link_6"/>
+    <origin xyz="0.418469 0.107114 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="helper_link_6"/>
+    <child link="link_7"/>
+    <origin xyz="-0.418469 -0.107114 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="revolute">
+    <parent link="link_12"/>
+    <child link="helper_link_7"/>
+    <origin xyz="1.021709 0.107114 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="helper_link_7"/>
+    <child link="link_8"/>
+    <origin xyz="-1.021709 -0.107114 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_16" type="prismatic">
+    <parent link="link_15"/>
+    <child link="helper_link_8"/>
+    <origin xyz="-0.501617 0.131717 1.020188" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="-0.0" upper="0.937499936102234"/>
+  </joint>
+  <joint name="joint_17" type="fixed">
+    <parent link="helper_link_8"/>
+    <child link="link_9"/>
+    <origin xyz="0.501617 -0.131717 -1.020188" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_18" type="prismatic">
+    <parent link="link_15"/>
+    <child link="helper_link_9"/>
+    <origin xyz="0.507916 0.113463 1.020188" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="-0.937499936102234" upper="0.0"/>
+  </joint>
+  <joint name="joint_19" type="fixed">
+    <parent link="helper_link_9"/>
+    <child link="link_10"/>
+    <origin xyz="-0.507916 -0.113463 -1.020188" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_20" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_21" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_12"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_22" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_13"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_23" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_14"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_24" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_15"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001449/parts/1.mtl b/data/UPB_00001449/parts/1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc
--- /dev/null
+++ b/data/UPB_00001449/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_00001449/parts/1.png b/data/UPB_00001449/parts/1.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1f1693eb8a65a49cac5d7dfd7bf37a36e8023cb
--- /dev/null
+++ b/data/UPB_00001449/parts/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e6c7c511140ceb8bbee4897a3913cd761974ee8d5e01a4b889bc1dab2bcb78d
+size 534404
diff --git a/data/UPB_00001449/parts/10.mtl b/data/UPB_00001449/parts/10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..41dac8a0a00390d3c1a7552a7f441161eafe8e8a
--- /dev/null
+++ b/data/UPB_00001449/parts/10.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 10.png
diff --git a/data/UPB_00001449/parts/10.png b/data/UPB_00001449/parts/10.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d3a7205ad002691941a1b5d868531c7e2c72afb
--- /dev/null
+++ b/data/UPB_00001449/parts/10.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c364e2b3ab5267fcd1724b801b71c0edb3894ac189e26acf7bd03e00571f4353
+size 534376
diff --git a/data/UPB_00001449/parts/2.mtl b/data/UPB_00001449/parts/2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..57a1c04a7f3f0f8866abca464506627fead239e6
--- /dev/null
+++ b/data/UPB_00001449/parts/2.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 2.png
diff --git a/data/UPB_00001449/parts/2.png b/data/UPB_00001449/parts/2.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1f1693eb8a65a49cac5d7dfd7bf37a36e8023cb
--- /dev/null
+++ b/data/UPB_00001449/parts/2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e6c7c511140ceb8bbee4897a3913cd761974ee8d5e01a4b889bc1dab2bcb78d
+size 534404
diff --git a/data/UPB_00001449/parts/3.mtl b/data/UPB_00001449/parts/3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f1811c7dbfb695f993b629aa8fa52a2d2fc419b1
--- /dev/null
+++ b/data/UPB_00001449/parts/3.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 3.png
diff --git a/data/UPB_00001449/parts/3.png b/data/UPB_00001449/parts/3.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1f1693eb8a65a49cac5d7dfd7bf37a36e8023cb
--- /dev/null
+++ b/data/UPB_00001449/parts/3.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e6c7c511140ceb8bbee4897a3913cd761974ee8d5e01a4b889bc1dab2bcb78d
+size 534404
diff --git a/data/UPB_00001449/parts/4.mtl b/data/UPB_00001449/parts/4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..09452450b9e8e9282ad1a92706e3e1f6ac239875
--- /dev/null
+++ b/data/UPB_00001449/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_00001449/parts/4.png b/data/UPB_00001449/parts/4.png
new file mode 100644
index 0000000000000000000000000000000000000000..8902d15e8a9b7f490c9ed02fa5073893af5cdbdd
--- /dev/null
+++ b/data/UPB_00001449/parts/4.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd772ef227ff749c97ac8c2ed9aa13b0b2faf4da27d9c8cec8bbb673fd6695dd
+size 1098978
diff --git a/data/UPB_00001449/parts/5.mtl b/data/UPB_00001449/parts/5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d43c57b3f0e98a3e40743b896155cc3aa93ebe6e
--- /dev/null
+++ b/data/UPB_00001449/parts/5.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 5.png
diff --git a/data/UPB_00001449/parts/5.png b/data/UPB_00001449/parts/5.png
new file mode 100644
index 0000000000000000000000000000000000000000..b879635666e59cc76962bde0fb9eba05c60fa5a0
--- /dev/null
+++ b/data/UPB_00001449/parts/5.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acfaf7408303c4541f83380eeb4e5da9c7dac1ed04ecc6fec797fb0558f060f6
+size 554769
diff --git a/data/UPB_00001449/parts/6.mtl b/data/UPB_00001449/parts/6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9bdd1db9ee7771e097f5aeb7f5c8894b845287d3
--- /dev/null
+++ b/data/UPB_00001449/parts/6.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 6.png
diff --git a/data/UPB_00001449/parts/6.png b/data/UPB_00001449/parts/6.png
new file mode 100644
index 0000000000000000000000000000000000000000..b879635666e59cc76962bde0fb9eba05c60fa5a0
--- /dev/null
+++ b/data/UPB_00001449/parts/6.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acfaf7408303c4541f83380eeb4e5da9c7dac1ed04ecc6fec797fb0558f060f6
+size 554769
diff --git a/data/UPB_00001449/parts/7.mtl b/data/UPB_00001449/parts/7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dff8f6f0b5634871fcba48e53c20d8bd728090f2
--- /dev/null
+++ b/data/UPB_00001449/parts/7.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 7.png
diff --git a/data/UPB_00001449/parts/7.png b/data/UPB_00001449/parts/7.png
new file mode 100644
index 0000000000000000000000000000000000000000..b879635666e59cc76962bde0fb9eba05c60fa5a0
--- /dev/null
+++ b/data/UPB_00001449/parts/7.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acfaf7408303c4541f83380eeb4e5da9c7dac1ed04ecc6fec797fb0558f060f6
+size 554769
diff --git a/data/UPB_00001449/parts/8.mtl b/data/UPB_00001449/parts/8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f7dfe358d3622611c2f425634d141f0f26989cbc
--- /dev/null
+++ b/data/UPB_00001449/parts/8.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 8.png
diff --git a/data/UPB_00001449/parts/8.png b/data/UPB_00001449/parts/8.png
new file mode 100644
index 0000000000000000000000000000000000000000..b879635666e59cc76962bde0fb9eba05c60fa5a0
--- /dev/null
+++ b/data/UPB_00001449/parts/8.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acfaf7408303c4541f83380eeb4e5da9c7dac1ed04ecc6fec797fb0558f060f6
+size 554769
diff --git a/data/UPB_00001449/parts/9.mtl b/data/UPB_00001449/parts/9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0059fb715f621e16088af53a3bec599b93f764fc
--- /dev/null
+++ b/data/UPB_00001449/parts/9.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 9.png
diff --git a/data/UPB_00001449/parts/9.png b/data/UPB_00001449/parts/9.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d3a7205ad002691941a1b5d868531c7e2c72afb
--- /dev/null
+++ b/data/UPB_00001449/parts/9.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c364e2b3ab5267fcd1724b801b71c0edb3894ac189e26acf7bd03e00571f4353
+size 534376
diff --git a/data/UPB_00001449/parts/T_66b85e573d07d20001af7ef1_color.jpg b/data/UPB_00001449/parts/T_66b85e573d07d20001af7ef1_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e85a11c72897a77610b8a4ca2e8c407757c9419f
--- /dev/null
+++ b/data/UPB_00001449/parts/T_66b85e573d07d20001af7ef1_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0ad80432cc1a12617e791d0f02844b8a4b0a11858d3947da55832164901cb3e
+size 161450
diff --git a/data/UPB_00001449/parts/T_66b85e573d07d20001af7ef1_normal.jpg b/data/UPB_00001449/parts/T_66b85e573d07d20001af7ef1_normal.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e9556a261164af89b3cae85d6c42e227d72428b5
--- /dev/null
+++ b/data/UPB_00001449/parts/T_66b85e573d07d20001af7ef1_normal.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b720621b6f566db090c985c8c6d65dc89cd7a56264d889803dd223f3ac9801fb
+size 76309
diff --git a/data/UPB_00001449/parts/T_66b85e579a4397000126ea4a_color.jpg b/data/UPB_00001449/parts/T_66b85e579a4397000126ea4a_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..cfde04ed70f732938ee2b3dee29f445db0d15300
--- /dev/null
+++ b/data/UPB_00001449/parts/T_66b85e579a4397000126ea4a_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33f23fb6185dd04fe42770bde6d350d8078063b4f9506b671cfbefe76c3ad75f
+size 197156
diff --git a/data/UPB_00001449/parts/T_66b85e579a4397000126ea4a_normal.jpg b/data/UPB_00001449/parts/T_66b85e579a4397000126ea4a_normal.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3caeeece83dce3b087dc2cca076f2a53af29c40d
--- /dev/null
+++ b/data/UPB_00001449/parts/T_66b85e579a4397000126ea4a_normal.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79111fb5a4dc2543574761695f9a3103696d7aa2a429f43fef45af664fe5eb4e
+size 115512