diff --git a/.gitattributes b/.gitattributes
index 03257ca4346df9c8324f35e91867ef0fca49f2a6..31e5fdee16efc491c98c8d2529fcbe728202c8b9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3326,3 +3326,27 @@ data/UPB_00000804/plys/7.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00000804/plys/8.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00000804/plys/9.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00000804/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000805/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000805/plys/10.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000805/plys/11.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000805/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000805/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000805/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000805/plys/5.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000805/plys/6.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000805/plys/7.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000805/plys/8.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000805/plys/9.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000805/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000806/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000806/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000806/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000806/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000806/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000807/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000807/plys/2.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000807/plys/3.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000807/plys/4.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000807/plys/model.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000808/plys/1.ply filter=lfs diff=lfs merge=lfs -text
+data/UPB_00000808/plys/2.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/data/UPB_00000805/annotations/part_6.json b/data/UPB_00000805/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b95194c20b947c80174e0b04bf33299b7b89a1f
--- /dev/null
+++ b/data/UPB_00000805/annotations/part_6.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000805",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Axle End Caps",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Snap-on polypropylene caps that secure the wheels on the axle ends.",
+        "functional_description": "Prevent wheel and spacers from sliding off the axle; also cover sharp ends.",
+        "movement_description": "Rigidly fixed to the axle; no relative motion.",
+        "grasp_description": "Not touched in normal operation; only during service."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Low_Carbon",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 180,
+        "poisson": 0.29,
+        "friction": 0.25
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000805/annotations/part_7.json b/data/UPB_00000805/annotations/part_7.json
new file mode 100644
index 0000000000000000000000000000000000000000..07d5fac3de3098844908bc3df26fe903180b2e0c
--- /dev/null
+++ b/data/UPB_00000805/annotations/part_7.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000805",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Wheel Rim Disc",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Polypropylene wheel disc that forms one side of the rim.",
+        "functional_description": "Provides structural sidewall of the wheel and supports the tire.",
+        "movement_description": "Rigidly attached to the wheel hub; rotates together with it about the axle.",
+        "grasp_description": "Seldom handled; may be touched when moving or cleaning the bin."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Low_Carbon",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 180,
+        "poisson": 0.29,
+        "friction": 0.25
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000805/annotations/part_8.json b/data/UPB_00000805/annotations/part_8.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce51fdca4bd4393be148acaa1f98852d41d913a4
--- /dev/null
+++ b/data/UPB_00000805/annotations/part_8.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000805",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Wheel Hub and Rim Core",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Molded PP hub with central bore and raised rim for mounting tire and covers.",
+        "functional_description": "Primary rotating element that carries the tire and transmits loads to the axle.",
+        "movement_description": "Rotates freely around the fixed steel axle; any attached rim, tire and cap rotate with it.",
+        "grasp_description": "Not usually grasped; may be touched when repositioning or servicing the wheel."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Low_Carbon",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 180,
+        "poisson": 0.29,
+        "friction": 0.25
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000805/annotations/part_9.json b/data/UPB_00000805/annotations/part_9.json
new file mode 100644
index 0000000000000000000000000000000000000000..64138e1d1d57f107f2e6ee947f843386dd73c531
--- /dev/null
+++ b/data/UPB_00000805/annotations/part_9.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000805",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Wheel Hub Cap",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "ABS cover disc that clips onto the outer face of the wheel.",
+        "functional_description": "Protects the hub/fasteners from dirt and provides a finished appearance.",
+        "movement_description": "Rigid with the wheel hub; rotates with the wheel assembly.",
+        "grasp_description": "Normally untouched; removed only for maintenance."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Low_Carbon",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 180,
+        "poisson": 0.29,
+        "friction": 0.25
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000805/full_model/material.mtl b/data/UPB_00000805/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00000805/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_00000805/full_model/material_0.png b/data/UPB_00000805/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2cddb71c24a568dc69173436c99dbf90662208de
--- /dev/null
+++ b/data/UPB_00000805/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bb3114af3fc8dac3f1dd77df1441d690b9d28a7ded6802a429491fa852ec0d1
+size 117
diff --git a/data/UPB_00000805/full_model/model.obj b/data/UPB_00000805/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7795f882f33f151d8bed80257b68a4ed39681d23
--- /dev/null
+++ b/data/UPB_00000805/full_model/model.obj
@@ -0,0 +1,16396 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/data/UPB_00000805/meta_data.json b/data/UPB_00000805/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..28bdabc85af43ee73613221b89deaf4273c5fbf2
--- /dev/null
+++ b/data/UPB_00000805/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00000805",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "ContainersStorage/WasteRecyclingContainer",
+        "object_name": "Wheelie Recycling Bin"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 11,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000805/model.urdf b/data/UPB_00000805/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..32450499bb49c4730744619f777a82e0f18b01e4
--- /dev/null
+++ b/data/UPB_00000805/model.urdf
@@ -0,0 +1,199 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="1.562896 1.562896 1.562896"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_3"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.292394 0.210963 0.333057" rpy="0 0 0"/>
+    <axis xyz="-1.0 1.2246468525851679e-16 0.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.292394 -0.210963 -0.333057" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00000805/parts/TrashCan_ZBFTT7JVAJ5NAPTUL4888888_tnrLB.mtl b/data/UPB_00000805/parts/TrashCan_ZBFTT7JVAJ5NAPTUL4888888_tnrLB.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c8fdd2513ed6e30a588effd8a41c03088bc3c7dd
--- /dev/null
+++ b/data/UPB_00000805/parts/TrashCan_ZBFTT7JVAJ5NAPTUL4888888_tnrLB.mtl
@@ -0,0 +1,43 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_6475a30bfc64010001ca3e81
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+illum 1
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+illum 1
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+Kd 0.576499999 0.415699989 0.207800001
+illum 1
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diff --git a/data/UPB_00000805/parts/part_1.obj b/data/UPB_00000805/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f124967505956cfd19fa3e884ff0e636358529f
--- /dev/null
+++ b/data/UPB_00000805/parts/part_1.obj
@@ -0,0 +1,4748 @@
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diff --git a/data/UPB_00000805/parts/part_10.obj b/data/UPB_00000805/parts/part_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ad8a30108c68f4e3e702bd1c146002f4296004a
--- /dev/null
+++ b/data/UPB_00000805/parts/part_10.obj
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diff --git a/data/UPB_00000805/parts/part_2.obj b/data/UPB_00000805/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f93fdf5561daafd2a90be2aeb7d589d435a71f8c
--- /dev/null
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diff --git a/data/UPB_00000805/parts/part_3.obj b/data/UPB_00000805/parts/part_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a64fa9e3e4cde47ebc55773c0658b50667e6adca
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diff --git a/data/UPB_00000805/parts/part_5.obj b/data/UPB_00000805/parts/part_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06bf625a15496e9a5de6a5673412761994f7d15e
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diff --git a/data/UPB_00000805/parts/part_6.obj b/data/UPB_00000805/parts/part_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1493a644942b4a34663108231c2f63ea157383b6
--- /dev/null
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diff --git a/data/UPB_00000805/plys/1.ply b/data/UPB_00000805/plys/1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..917b20c75770ba0c0903127124a35a46b3c86ee3
--- /dev/null
+++ b/data/UPB_00000805/plys/1.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1463dc57668ddddf1759bf905b749c3a163cea11330ced97c1d6ede5bdc55286
+size 409810
diff --git a/data/UPB_00000805/plys/10.ply b/data/UPB_00000805/plys/10.ply
new file mode 100644
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--- /dev/null
+++ b/data/UPB_00000805/plys/10.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be453c3e55a056aea5f61aa0e38b22d298bac5cbcc8876662cc39c37c5e90c62
+size 160242
diff --git a/data/UPB_00000805/plys/11.ply b/data/UPB_00000805/plys/11.ply
new file mode 100644
index 0000000000000000000000000000000000000000..26bfb7d3e0089e360c45f4cd93fd1ea3b4dfdcbc
--- /dev/null
+++ b/data/UPB_00000805/plys/11.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 160242
diff --git a/data/UPB_00000805/plys/2.ply b/data/UPB_00000805/plys/2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..505e5e5252c02153879c9562daaafdae031e64d6
--- /dev/null
+++ b/data/UPB_00000805/plys/2.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2e923d4278cb4a787c1cca52b4c67f35d4005d7733a53547077e14f12485fac
+size 160242
diff --git a/data/UPB_00000805/plys/3.ply b/data/UPB_00000805/plys/3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..cdff1ba75f281850a1e26dcb64528a9f7a78b2ae
--- /dev/null
+++ b/data/UPB_00000805/plys/3.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1000034
diff --git a/data/UPB_00000805/plys/4.ply b/data/UPB_00000805/plys/4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..32fc8082afdc5da47adb865d70f14d2846b0062d
--- /dev/null
+++ b/data/UPB_00000805/plys/4.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 160242
diff --git a/data/UPB_00000805/plys/5.ply b/data/UPB_00000805/plys/5.ply
new file mode 100644
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--- /dev/null
+++ b/data/UPB_00000805/plys/5.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 160242
diff --git a/data/UPB_00000805/plys/6.ply b/data/UPB_00000805/plys/6.ply
new file mode 100644
index 0000000000000000000000000000000000000000..30be120a56a70ab3336f9466b4aa2268755c39c8
--- /dev/null
+++ b/data/UPB_00000805/plys/6.ply
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00000805/plys/7.ply b/data/UPB_00000805/plys/7.ply
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 160242
diff --git a/data/UPB_00000805/plys/8.ply b/data/UPB_00000805/plys/8.ply
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 160242
diff --git a/data/UPB_00000805/plys/9.ply b/data/UPB_00000805/plys/9.ply
new file mode 100644
index 0000000000000000000000000000000000000000..50e65aef7fdfcdb23d0a2b54c37b2fb2813ed8f9
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 160242
diff --git a/data/UPB_00000805/plys/model.ply b/data/UPB_00000805/plys/model.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6972d4a6be45ef044e8036a988a4bb5eb1e78970
--- /dev/null
+++ b/data/UPB_00000805/plys/model.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1600243
diff --git a/data/UPB_00000806/annotations/object.json b/data/UPB_00000806/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8530c6ca9160beb384ed6c797b76fb7f30c1ab1
--- /dev/null
+++ b/data/UPB_00000806/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Step Trash Bin",
+    "category": "ContainersStorage/WasteRecyclingContainer",
+    "volume": [
+        25.0,
+        25.0,
+        35.0
+    ],
+    "mass": 1.8
+}
\ No newline at end of file
diff --git a/data/UPB_00000806/annotations/part_1.json b/data/UPB_00000806/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..cad5fc093dc00b3dcafc34a57e3c7272b1012421
--- /dev/null
+++ b/data/UPB_00000806/annotations/part_1.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000806",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Foot Pedal Pad",
+        "affordance": 1,
+        "graspable": false,
+        "basic_description": "Textured foot pedal pad made of nitrile rubber, roughly 6*4*0.8 cm, mounted at the base front of the bin.",
+        "functional_description": "Provides high-friction surface for the user\u2019s foot to actuate the opening mechanism.",
+        "movement_description": "Rotates slightly about a bottom-front pivot relative to the body; fixed rigidly to the internal lever assembly.",
+        "grasp_description": "Operated by foot; typically not grasped by hand."
+    },
+    "basic_info": {
+        "material": "rubber/Nitrile_Rubber",
+        "density": 1.1,
+        "young": 0.01,
+        "hardness": 5,
+        "poisson": 0.49,
+        "friction": 0.75
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.08232591301202774,
+                    -0.11258842796087265
+                ],
+                "range": [
+                    0.0,
+                    0.2617993877991494
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000806/annotations/part_2.json b/data/UPB_00000806/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..ceb8ee7aed34ed173a452fd3b6e969df49a299e4
--- /dev/null
+++ b/data/UPB_00000806/annotations/part_2.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000806",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Top Lid",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Round stainless steel lid (~23 cm diameter, ~2 cm thick at the hinge boss).",
+        "functional_description": "Covers the bin opening to contain odors and conceal waste; opens when linkage is actuated.",
+        "movement_description": "Hinges upward relative to the linkage bracket; rotation is limited by the hinge and stop.",
+        "grasp_description": "Can be lifted by hand for cleaning or manual opening when needed."
+    },
+    "basic_info": {
+        "material": "plastic",
+        "density": 1.0620871407760706,
+        "young": 2.2253158522050236,
+        "hardness": 13.668123427360614,
+        "poisson": 0.3764176930207783,
+        "friction": 0.4458561779896716
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "C": {
+                "axis": [
+                    -1.0,
+                    0.0,
+                    -1.2246468525851679e-16
+                ],
+                "pos": [
+                    0.0,
+                    0.10648465901613235,
+                    0.12737901508808136
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000806/annotations/part_3.json b/data/UPB_00000806/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..24e80bc379a9e663d4546dc6e466a23874aa606c
--- /dev/null
+++ b/data/UPB_00000806/annotations/part_3.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000806",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Internal Linkage (Hinge Ring + Lever Plate)",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Stainless steel assembly consisting of a thin top ring with a hinge bracket and a bottom rocker/lever plate tied by a linkage rod (fits a 22\u201323 cm diameter can).",
+        "functional_description": "Translates pedal motion into lid rotation: the rocker plate pivots with the pedal and pulls the hinge bracket to lift the lid.",
+        "movement_description": "Pivots relative to the body around internal pivots; rigidly carries the pedal and drives the lid via the rear hinge.",
+        "grasp_description": "Hidden inside the bin and not intended for direct handling."
+    },
+    "basic_info": {
+        "material": "plastic",
+        "density": 1.0620871407760706,
+        "young": 2.2253158522050236,
+        "hardness": 13.668123427360614,
+        "poisson": 0.3764176930207783,
+        "friction": 0.4458561779896716
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000806/annotations/part_4.json b/data/UPB_00000806/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..708240ef889d98d39cd1f5fa380dcbec9e0af220
--- /dev/null
+++ b/data/UPB_00000806/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000806",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Outer Body Can",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Cylindrical stainless steel shell (~24 cm diameter, ~33 cm tall) with a front opening slot for the pedal mechanism.",
+        "functional_description": "Houses all components and provides structural support and aesthetic exterior.",
+        "movement_description": "Stationary reference frame; other parts rotate relative to it via hinge and pedal pivots.",
+        "grasp_description": "Touched to move or clean the bin; typically grasped at the rim or sides."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_430",
+        "density": 7.7,
+        "young": 200.0,
+        "hardness": 170,
+        "poisson": 0.3,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000806/full_model/material.mtl b/data/UPB_00000806/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00000806/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_00000806/full_model/material_0.png b/data/UPB_00000806/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1a195df63b7b9f4184b79ca4f1853e07a410474
--- /dev/null
+++ b/data/UPB_00000806/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b8043e114833ca9c0dda29a16a1032765fa89888606cc034bb1a0117ea003ee
+size 97
diff --git a/data/UPB_00000806/full_model/model.obj b/data/UPB_00000806/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ebf22eca6f423d6216bd82dcd9f3f277a8bf8b8
--- /dev/null
+++ b/data/UPB_00000806/full_model/model.obj
@@ -0,0 +1,41550 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.02231970 -0.12469300 -0.11811900
+v 0.02231890 -0.12489600 -0.11699600
+v 0.02166660 -0.12462700 -0.11694700
+v 0.02166740 -0.12442400 -0.11807100
+v 0.02302050 -0.12478600 -0.11813500
+v 0.02110720 -0.12420200 -0.11687100
+v 0.02110800 -0.12399800 -0.11799400
+v 0.02067880 -0.12364800 -0.11677100
+v 0.02067960 -0.12344400 -0.11789400
+v 0.02041070 -0.12300400 -0.11665400
+v 0.02041140 -0.12280000 -0.11777700
+v 0.02032100 -0.12231400 -0.11652900
+v 0.02032180 -0.12211000 -0.11765200
+v 0.02041600 -0.12162400 -0.11640400
+v 0.02041680 -0.12142100 -0.11752700
+v 0.02068910 -0.12098200 -0.11628800
+v 0.02068990 -0.12077900 -0.11741100
+v 0.02112170 -0.12043200 -0.11618800
+v 0.02112250 -0.12022800 -0.11731100
+v 0.02168440 -0.12001000 -0.11611100
+v 0.02168520 -0.11980700 -0.11723400
+v 0.02233880 -0.11974700 -0.11606300
+v 0.02233960 -0.11954300 -0.11718600
+v 0.02304030 -0.11965900 -0.11604600
+v 0.02304110 -0.11945500 -0.11716900
+v 0.02374100 -0.11975200 -0.11606300
+v 0.02374180 -0.11954900 -0.11718600
+v 0.02439340 -0.12002100 -0.11611100
+v 0.02439420 -0.11981700 -0.11723400
+v 0.02495280 -0.12044700 -0.11618800
+v 0.02495360 -0.12024300 -0.11731100
+v 0.02538120 -0.12100000 -0.11628800
+v 0.02538190 -0.12079700 -0.11741100
+v 0.02564930 -0.12164400 -0.11640400
+v 0.02565010 -0.12144100 -0.11752700
+v 0.02573890 -0.12233500 -0.11652900
+v 0.02573970 -0.12213100 -0.11765200
+v 0.02564400 -0.12302400 -0.11665400
+v 0.02564480 -0.12282100 -0.11777700
+v 0.02537090 -0.12366600 -0.11677100
+v 0.02537170 -0.12346200 -0.11789400
+v 0.02493820 -0.12421600 -0.11687100
+v 0.02493900 -0.12401300 -0.11799400
+v 0.02437560 -0.12463800 -0.11694700
+v 0.02437630 -0.12443400 -0.11807100
+v 0.02372120 -0.12490200 -0.11699600
+v 0.02372200 -0.12469800 -0.11811900
+v 0.02301970 -0.12499000 -0.11701200
+v 0.02302050 -0.12478600 -0.11813500
+v 0.02301970 -0.12499000 -0.11701200
+v 0.02231890 -0.12489600 -0.11699600
+v 0.02235000 -0.12488100 -0.11642900
+v 0.02172650 -0.12462400 -0.11638300
+v 0.02166660 -0.12462700 -0.11694700
+v 0.02301970 -0.12499000 -0.11701200
+v 0.02119190 -0.12421700 -0.11631000
+v 0.02110720 -0.12420200 -0.11687100
+v 0.02078240 -0.12368800 -0.11621400
+v 0.02067880 -0.12364800 -0.11677100
+v 0.02052620 -0.12307300 -0.11610300
+v 0.02041070 -0.12300400 -0.11665400
+v 0.02044050 -0.12241300 -0.11598300
+v 0.02032100 -0.12231400 -0.11652900
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diff --git a/data/UPB_00000806/meta_data.json b/data/UPB_00000806/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..395788d5542d1ed9cc32822d834de3f55edad07b
--- /dev/null
+++ b/data/UPB_00000806/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00000806",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "ContainersStorage/WasteRecyclingContainer",
+        "object_name": "Step Trash Bin"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 4,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000806/model.urdf b/data/UPB_00000806/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8060d9ebfa5db5ef027a0c402a5ebd429201fa63
--- /dev/null
+++ b/data/UPB_00000806/model.urdf
@@ -0,0 +1,88 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.106887 1.106887 1.106887"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.106887 1.106887 1.106887"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.106887 1.106887 1.106887"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.106887 1.106887 1.106887"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.106887 1.106887 1.106887"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.106887 1.106887 1.106887"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.106887 1.106887 1.106887"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.106887 1.106887 1.106887"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.091126 -0.124623" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="0.0" upper="0.2617993877991494"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.091126 0.124623" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_3"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 0.117867 0.140994" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 -0.117867 -0.140994" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00000806/parts/TrashCan_ZDFNCMRVAJREEPTULA888888_GFXtj.mtl b/data/UPB_00000806/parts/TrashCan_ZDFNCMRVAJREEPTULA888888_GFXtj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e97e259dad7c33b1bd2e444ee75f82736b088757
--- /dev/null
+++ b/data/UPB_00000806/parts/TrashCan_ZDFNCMRVAJREEPTULA888888_GFXtj.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_64f44bdc3fb8650001b5473c
+Kd 0.0392000005 0.0392000005 0.0392000005
+illum 1
+
+newmtl MI_64f44bdcaab3ba00010c8483
+Kd 0.819599986 0.819599986 0.819599986
+illum 1
+
diff --git a/data/UPB_00000806/parts/part_1.obj b/data/UPB_00000806/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e247d20f7141fb96ef0c4756174b197ca260ab00
--- /dev/null
+++ b/data/UPB_00000806/parts/part_1.obj
@@ -0,0 +1,31183 @@
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diff --git a/data/UPB_00000806/parts/part_2.obj b/data/UPB_00000806/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..348ecc4ec1479bea2b9ab3921747be509173ef85
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diff --git a/data/UPB_00000806/plys/1.ply b/data/UPB_00000806/plys/1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4c0939d8428daa931fd3330442cd91293c2ed6b4
--- /dev/null
+++ b/data/UPB_00000806/plys/1.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3e7fb5198471db43d6f8644a238a3220cb6e517441dba019d1e6dd16810672b
+size 160242
diff --git a/data/UPB_00000806/plys/2.ply b/data/UPB_00000806/plys/2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..deca7fd72e5838bccb64deccbd1dfe98214d65eb
--- /dev/null
+++ b/data/UPB_00000806/plys/2.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9e5cfb4b030a8e78a6f6ed860782503b1244035c9dd6a90fe4638cb32d2cebf
+size 279394
diff --git a/data/UPB_00000806/plys/3.ply b/data/UPB_00000806/plys/3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..07520fc176ca4fa88109e208939c1bdbbb0f80e6
--- /dev/null
+++ b/data/UPB_00000806/plys/3.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bdd4b410e387cea86b25de3da0a79012649e68d37f4db2ea0f0f1a4fa33ab54
+size 321794
diff --git a/data/UPB_00000806/plys/4.ply b/data/UPB_00000806/plys/4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..757e2ac91f869579cea0b10fb43fc2d9b791eb02
--- /dev/null
+++ b/data/UPB_00000806/plys/4.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7b63cae309865433a38c6acd22b6f8d82e2272deccf7af589d88db430182245
+size 940050
diff --git a/data/UPB_00000806/plys/model.ply b/data/UPB_00000806/plys/model.ply
new file mode 100644
index 0000000000000000000000000000000000000000..fc0fa681eb2acb686f6528a5c46da58ab83b9671
--- /dev/null
+++ b/data/UPB_00000806/plys/model.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a85ffc75815aaec61c1b121861871e300f83501243c6386e4219e876856fdeb
+size 1600243
diff --git a/data/UPB_00000807/annotations/object.json b/data/UPB_00000807/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..b10ffce3fb1835cd6d9de2fa173b5ec98e5d15c5
--- /dev/null
+++ b/data/UPB_00000807/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Pedal Trash Can (Step Bin)",
+    "category": "ContainersStorage/WasteRecyclingContainer",
+    "volume": [
+        24.0,
+        24.0,
+        35.0
+    ],
+    "mass": 2.3
+}
\ No newline at end of file
diff --git a/data/UPB_00000807/annotations/part_1.json b/data/UPB_00000807/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..063077f84f43a6f9282f8d25755b235d1196d486
--- /dev/null
+++ b/data/UPB_00000807/annotations/part_1.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000807",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Foot Pedal Pad",
+        "affordance": 1,
+        "graspable": false,
+        "basic_description": "A black textured pedal pad made of nitrile rubber; approx. 6*4*1 cm.",
+        "functional_description": "Provides a high-friction surface for the foot to actuate the opening mechanism without using hands.",
+        "movement_description": "Rotates about a small axle on the lower front bracket fixed to the base assembly (part 4). Its rotation pulls an internal linkage that opens the lid.",
+        "grasp_description": "Operated by foot; rarely grasped by hand except during cleaning."
+    },
+    "basic_info": {
+        "material": "rubber/Nitrile_Rubber",
+        "density": 1.1,
+        "young": 0.02,
+        "hardness": 10,
+        "poisson": 0.49,
+        "friction": 0.7
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    1.0,
+                    0.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.07344049215316772,
+                    -0.10075250267982483
+                ],
+                "range": [
+                    0.0,
+                    0.2617993877991494
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000807/annotations/part_2.json b/data/UPB_00000807/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..4847f3937411df7dae4e9b90cf00f3b1d7fb69b1
--- /dev/null
+++ b/data/UPB_00000807/annotations/part_2.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000807",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Top Lid",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "A circular stainless-steel lid (about \u00d822 cm, 1.5 cm thick) that covers the opening.",
+        "functional_description": "Seals the can to contain odors and provide hygiene; opens when the pedal is pressed and can also be lifted manually.",
+        "movement_description": "Rotates about a rear hinge mounted on the rim bracket of part 4; typical opening travel up to roughly a right angle.",
+        "grasp_description": "Users may lift it by hand when gently placing items or during cleaning."
+    },
+    "basic_info": {
+        "material": "plastic",
+        "density": 1.0620871407760706,
+        "young": 2.2253158522050236,
+        "hardness": 13.668123427360614,
+        "poisson": 0.3764176930207783,
+        "friction": 0.4458561779896716
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "C": {
+                "axis": [
+                    -1.0,
+                    0.0,
+                    -1.2246468525851679e-16
+                ],
+                "pos": [
+                    0.0,
+                    0.09375583380460739,
+                    0.12105222046375275
+                ],
+                "range": [
+                    0.0,
+                    2.6179938779914944
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000807/annotations/part_3.json b/data/UPB_00000807/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..bed3895408164f8598716957384e32629052973b
--- /dev/null
+++ b/data/UPB_00000807/annotations/part_3.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000807",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Outer Body Cylinder",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Cylindrical stainless-steel shell of the can (about \u00d824 cm, height 33 cm) with a lower slot for the pedal linkage.",
+        "functional_description": "Provides the main volume for the trash bag/liner and structural support for the hinge and mechanism via the rim/base assembly.",
+        "movement_description": "Stationary; rigidly fixed to the rim-and-base assembly (part 4).",
+        "grasp_description": "Held by the rim or sides to move the bin, replace liners, or clean."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193.0,
+        "hardness": 170,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000807/annotations/part_4.json b/data/UPB_00000807/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f81e89f8720ecc8bc3e2026daddbb1cb02b6778
--- /dev/null
+++ b/data/UPB_00000807/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000807",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Rim-and-Base Assembly with Hinge Bracket",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Metal circular top rim with an integrated rear hinge block and a round bottom base plate (approx. \u00d824 cm).",
+        "functional_description": "Rigidly ties to the outer shell, provides the hinge support for the lid, and houses the pedal pivot/lever at the base.",
+        "movement_description": "Stationary relative to the body (part 3). It serves as the parent for the pedal\u2019s and lid\u2019s rotational motions.",
+        "grasp_description": "Not directly grasped in normal use; accessed only during maintenance or cleaning."
+    },
+    "basic_info": {
+        "material": "plastic",
+        "density": 1.0620871407760706,
+        "young": 2.2253158522050236,
+        "hardness": 13.668123427360614,
+        "poisson": 0.3764176930207783,
+        "friction": 0.4458561779896716
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000807/full_model/material.mtl b/data/UPB_00000807/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00000807/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_00000807/full_model/material_0.png b/data/UPB_00000807/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1a195df63b7b9f4184b79ca4f1853e07a410474
--- /dev/null
+++ b/data/UPB_00000807/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b8043e114833ca9c0dda29a16a1032765fa89888606cc034bb1a0117ea003ee
+size 97
diff --git a/data/UPB_00000807/full_model/model.obj b/data/UPB_00000807/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..845d396b3a85c3a99c9ae797fbcb4f130ca18089
--- /dev/null
+++ b/data/UPB_00000807/full_model/model.obj
@@ -0,0 +1,41550 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.01982550 -0.11094200 -0.10392500
+v -0.01982620 -0.11076200 -0.10492200
+v -0.01924600 -0.11070400 -0.10388200
+v -0.01924670 -0.11052300 -0.10487900
+v -0.02044870 -0.11084500 -0.10493700
+v -0.01874910 -0.11032500 -0.10381400
+v -0.01874980 -0.11014500 -0.10481100
+v -0.01836860 -0.10983400 -0.10372500
+v -0.01836930 -0.10965300 -0.10472200
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+v -0.01813110 -0.10908100 -0.10461900
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+v -0.01805150 -0.10846800 -0.10450800
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+v -0.01837770 -0.10746600 -0.10329600
+v -0.01837840 -0.10728500 -0.10429300
+v -0.01876200 -0.10697700 -0.10320700
+v -0.01876270 -0.10679600 -0.10420400
+v -0.01926180 -0.10660300 -0.10313900
+v -0.01926250 -0.10642200 -0.10413600
+v -0.01984310 -0.10636800 -0.10309600
+v -0.01984380 -0.10618800 -0.10409300
+v -0.02046620 -0.10629000 -0.10308100
+v -0.02046690 -0.10610900 -0.10407900
+v -0.02108870 -0.10637300 -0.10309600
+v -0.02108940 -0.10619200 -0.10409300
+v -0.02166810 -0.10661200 -0.10313900
+v -0.02166880 -0.10643100 -0.10413600
+v -0.02216510 -0.10699000 -0.10320700
+v -0.02216580 -0.10680900 -0.10420400
+v -0.02254560 -0.10748200 -0.10329600
+v -0.02254630 -0.10730100 -0.10429300
+v -0.02278380 -0.10805400 -0.10339900
+v -0.02278450 -0.10787300 -0.10439700
+v -0.02286340 -0.10866700 -0.10351000
+v -0.02286410 -0.10848600 -0.10450800
+v -0.02277900 -0.10928000 -0.10362100
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diff --git a/data/UPB_00000807/meta_data.json b/data/UPB_00000807/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..7af8eb14c68615438fa0030a985a418c883cc298
--- /dev/null
+++ b/data/UPB_00000807/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00000807",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "ContainersStorage/WasteRecyclingContainer",
+        "object_name": "Pedal Trash Can (Step Bin)"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 4,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000807/model.urdf b/data/UPB_00000807/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2a0b0252455465efe6e8450370a6e8267e3d3ed3
--- /dev/null
+++ b/data/UPB_00000807/model.urdf
@@ -0,0 +1,88 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="helper_link_1"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.246101 1.246101 1.246101"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.246101 1.246101 1.246101"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.246101 1.246101 1.246101"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.246101 1.246101 1.246101"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.246101 1.246101 1.246101"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.246101 1.246101 1.246101"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.246101 1.246101 1.246101"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.246101 1.246101 1.246101"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.091514 -0.125548" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <limit lower="0.0" upper="0.2617993877991494"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.091514 0.125548" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="link_4"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 0.116829 0.150843" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
+    <limit lower="0.0" upper="2.6179938779914944"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 -0.116829 -0.150843" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00000807/parts/TrashCan_ZHIZJBZVAI3D2PTUKE888888_L2TzK.mtl b/data/UPB_00000807/parts/TrashCan_ZHIZJBZVAI3D2PTUKE888888_L2TzK.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..482918c3d4d6eed79eb2b8fb89e4ee31d714bae5
--- /dev/null
+++ b/data/UPB_00000807/parts/TrashCan_ZHIZJBZVAI3D2PTUKE888888_L2TzK.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_65ef1135849c9c0001d61dc1
+Kd 0.819599986 0.819599986 0.819599986
+illum 1
+
+newmtl MI_65ef1135c38ca7000162adf8
+Kd 0.0392000005 0.0392000005 0.0392000005
+illum 1
+
diff --git a/data/UPB_00000807/parts/part_1.obj b/data/UPB_00000807/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52f2f1db404d1393e1ac62f80b22847cfbfbfc2a
--- /dev/null
+++ b/data/UPB_00000807/parts/part_1.obj
@@ -0,0 +1,31236 @@
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diff --git a/data/UPB_00000807/parts/part_3.obj b/data/UPB_00000807/parts/part_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68c3e6fe171525ad54f00bfb1a5f5ef9088f33b4
--- /dev/null
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diff --git a/data/UPB_00000807/parts/part_4.obj b/data/UPB_00000807/parts/part_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a265423f620bbd5271fcf3b1a01ef65c5af313fe
--- /dev/null
+++ b/data/UPB_00000807/parts/part_4.obj
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diff --git a/data/UPB_00000807/plys/1.ply b/data/UPB_00000807/plys/1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ad1c625bc6af0ce6d795588179a39911691708ef
--- /dev/null
+++ b/data/UPB_00000807/plys/1.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:feaca84106e205bfc698a8c378f2dbb3a56689b2a9b1bd8ba608db825f7e989a
+size 160242
diff --git a/data/UPB_00000807/plys/2.ply b/data/UPB_00000807/plys/2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..86759272571a0bbc80af5f7aa94beb6918dbe3fa
--- /dev/null
+++ b/data/UPB_00000807/plys/2.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:423a44bbc5096e1d93ea2b0eea554223c52475bc5ed6a48ab36b9a38d0b393f7
+size 279394
diff --git a/data/UPB_00000807/plys/3.ply b/data/UPB_00000807/plys/3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d8b009f226da551c822b8858b2f550867379402c
--- /dev/null
+++ b/data/UPB_00000807/plys/3.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8829ba7f590781dbb87eb8e9bb7ef8de65e9c2c830c062d10745705406dd99bb
+size 940050
diff --git a/data/UPB_00000807/plys/4.ply b/data/UPB_00000807/plys/4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7ffca5aa4979144c1a415604591941874bb3d0f3
--- /dev/null
+++ b/data/UPB_00000807/plys/4.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:713fb0bffe5f0ba91420ea4d958390cb6cd58c6675f5fa71883e21594c179819
+size 321794
diff --git a/data/UPB_00000807/plys/model.ply b/data/UPB_00000807/plys/model.ply
new file mode 100644
index 0000000000000000000000000000000000000000..116a0732e2a6f4f3bee7e7445ab244675c25f0aa
--- /dev/null
+++ b/data/UPB_00000807/plys/model.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e323855532ffbea117ee16e25614fce5c4a211da4bf2eb6c9d038a751e6ae1d
+size 1600243
diff --git a/data/UPB_00000808/annotations/object.json b/data/UPB_00000808/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..70df6d4c11dd4fe73a0b65e537b68db00084a5ac
--- /dev/null
+++ b/data/UPB_00000808/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Commercial Wheeled Dumpster (sliding-lid)",
+    "category": "ContainersStorage/WasteRecyclingContainer",
+    "volume": [
+        150.0,
+        100.0,
+        120.0
+    ],
+    "mass": 170.0
+}
\ No newline at end of file
diff --git a/data/UPB_00000808/annotations/part_1.json b/data/UPB_00000808/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c66020c2839e1d557da390bb00f49ce7feb1032
--- /dev/null
+++ b/data/UPB_00000808/annotations/part_1.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000808",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Sliding lid panels (pair)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Two corrugated HDPE sliding lid panels covering the dumpster opening; approx. 150*95*4 cm combined.",
+        "functional_description": "Provide weather and odor control, open to allow loading and unloading of waste.",
+        "movement_description": "Each panel translates along rails fixed to the body, sliding fore\u2013aft so one panel can overlap the other.",
+        "grasp_description": "Users grasp the front edge or corrugation ribs to slide a panel open or closed."
+    },
+    "basic_info": {
+        "material": "plastic/HDPE_Plastic",
+        "density": 0.95,
+        "young": 0.9,
+        "hardness": 12,
+        "poisson": 0.42,
+        "friction": 0.28
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    -1.0,
+                    0.0,
+                    -1.2246468525851679e-16
+                ],
+                "pos": [
+                    0.0,
+                    0.8761448860168457,
+                    0.9333899021148682
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000808/annotations/part_2.json b/data/UPB_00000808/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cb70202c4fec747e82cf7a63659ddd42b54b7a8
--- /dev/null
+++ b/data/UPB_00000808/annotations/part_2.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000808",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Main bin body",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Painted steel container with reinforced rim and side pockets; approx. 150*100*100 cm internal cavity.",
+        "functional_description": "Holds and protects collected waste; provides structural mounting for lids and casters.",
+        "movement_description": "Stationary structure; acts as the parent reference for sliding lids and rigidly carries the caster brackets and hardware.",
+        "grasp_description": "Users may push or pull the unit by the rim or side pockets when moving the dumpster."
+    },
+    "basic_info": {
+        "material": "metal/Steel_Sheet_Painted",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.3,
+        "friction": 0.55
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000808/annotations/part_3.json b/data/UPB_00000808/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..3132c7f024443f48fde9e801e13ddeab0eed38b4
--- /dev/null
+++ b/data/UPB_00000808/annotations/part_3.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000808",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Caster wheels (tires)",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Four black rubber wheels mounted to caster forks; typical wheel diameter ~12 cm, width ~4 cm (each).",
+        "functional_description": "Provide rolling support and vibration damping for moving the dumpster on pavement.",
+        "movement_description": "Each wheel rotates about its axle within the caster bracket; rotation is continuous during rolling.",
+        "grasp_description": "Not intended to be grasped; located near ground with potential dirt and pinch points."
+    },
+    "basic_info": {
+        "material": "rubber/Natural_Rubber",
+        "density": 1.1,
+        "young": 0.01,
+        "hardness": 5,
+        "poisson": 0.49,
+        "friction": 0.75
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000808/annotations/part_4.json b/data/UPB_00000808/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..61772249e338adfb5c543c068b6d20c83f5e44b9
--- /dev/null
+++ b/data/UPB_00000808/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00000808",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Caster brackets and lock hardware",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Metal caster forks and mounting plates at the four corners plus a small front hasp/bracket; typical caster bracket ~12*12*10 cm each; hasp ~6*3*2 cm.",
+        "functional_description": "Rigidly mounts to the body to hold the wheels; the front hasp allows securing the lids with a padlock if needed.",
+        "movement_description": "Rigidly fixed to the bin body; serves as the parent for wheel rotation about each axle.",
+        "grasp_description": "Not normally grasped; users interact with the body or lid rather than the hardware."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 193.0,
+        "hardness": 160,
+        "poisson": 0.29,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000808/full_model/material.mtl b/data/UPB_00000808/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00000808/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_00000808/full_model/material_0.png b/data/UPB_00000808/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7089aacde2f3a0d074c733e60cd3e88a5cc6b9c
--- /dev/null
+++ b/data/UPB_00000808/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cceb1c2913a0d3ba17c281fed3c4796279b1c1410b9d5a28bc078a40ec6d2670
+size 1947404
diff --git a/data/UPB_00000808/full_model/model.obj b/data/UPB_00000808/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..279e680c1aa752b0f34e90302824bed4092157c9
--- /dev/null
+++ b/data/UPB_00000808/full_model/model.obj
@@ -0,0 +1,22480 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.04589868 -0.83512348 0.67520249
+v 0.01357233 -0.83126563 0.65033078
+v 0.01396334 0.86305189 0.91262472
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diff --git a/data/UPB_00000808/meta_data.json b/data/UPB_00000808/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4c51e180847bb8956c333152a17f812c561d9ff
--- /dev/null
+++ b/data/UPB_00000808/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00000808",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "ContainersStorage/WasteRecyclingContainer",
+        "object_name": "Commercial Wheeled Dumpster (sliding-lid)"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 4,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00000808/model.urdf b/data/UPB_00000808/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9d4982ce7feb62468457f0caf5cfafd5685ff151
--- /dev/null
+++ b/data/UPB_00000808/model.urdf
@@ -0,0 +1,80 @@
+<?xml version="1.0" ?>
+<robot name="robot">
+  <link name="base_link"/>
+  <link name="helper_link_0"/>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.600407 0.600407 0.600407"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.600407 0.600407 0.600407"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.600407 0.600407 0.600407"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.600407 0.600407 0.600407"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.600407 0.600407 0.600407"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.600407 0.600407 0.600407"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.600407 0.600407 0.600407"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.600407 0.600407 0.600407"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="link_2"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 0.526044 0.560414" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 -1.2246468525851679e-16"/>
+    <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="-0.000000 -0.526044 -0.560414" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00000808/parts/T_6639c54921e86b00014c2aeb_color.jpg b/data/UPB_00000808/parts/T_6639c54921e86b00014c2aeb_color.jpg
new file mode 100644
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--- /dev/null
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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_00000808/parts/T_6639c54921e86b00014c2aeb_metallic.jpg b/data/UPB_00000808/parts/T_6639c54921e86b00014c2aeb_metallic.jpg
new file mode 100644
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--- /dev/null
+++ b/data/UPB_00000808/parts/T_6639c54921e86b00014c2aeb_metallic.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 209351
diff --git a/data/UPB_00000808/parts/T_6639c54921e86b00014c2aeb_roughness.jpg b/data/UPB_00000808/parts/T_6639c54921e86b00014c2aeb_roughness.jpg
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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+size 370252
diff --git a/data/UPB_00000808/parts/T_6639c54951367d00015c1e6a_color.jpg b/data/UPB_00000808/parts/T_6639c54951367d00015c1e6a_color.jpg
new file mode 100644
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--- /dev/null
+++ b/data/UPB_00000808/parts/T_6639c54951367d00015c1e6a_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00000808/parts/T_6639c54951367d00015c1e6a_normal.jpg b/data/UPB_00000808/parts/T_6639c54951367d00015c1e6a_normal.jpg
new file mode 100644
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+++ b/data/UPB_00000808/parts/T_6639c54951367d00015c1e6a_normal.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00000808/parts/T_6639c54951367d00015c1e6a_roughness.jpg b/data/UPB_00000808/parts/T_6639c54951367d00015c1e6a_roughness.jpg
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00000808/parts/T_6639c54961c5ee0001ee4524_color.jpg b/data/UPB_00000808/parts/T_6639c54961c5ee0001ee4524_color.jpg
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00000808/parts/part_2.obj b/data/UPB_00000808/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e3e9f99c8f5792648de077a056d33f44a03e33a
--- /dev/null
+++ b/data/UPB_00000808/parts/part_2.obj
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diff --git a/data/UPB_00000808/parts/part_3.obj b/data/UPB_00000808/parts/part_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f33413b8d326f14917102688455a39dcc640be19
--- /dev/null
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