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diff --git a/data/UPB_00001387/parts/part_9.obj b/data/UPB_00001387/parts/part_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2980925e933ff93620bbc7f584f2150ec2bafac9
--- /dev/null
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diff --git a/data/UPB_00001387/parts/wardrobe_YVIOTZ4TQ3VMAPTULQ888888_eaAu4.mtl b/data/UPB_00001387/parts/wardrobe_YVIOTZ4TQ3VMAPTULQ888888_eaAu4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c6006147fb29c87173329274d4446d510893751d
--- /dev/null
+++ b/data/UPB_00001387/parts/wardrobe_YVIOTZ4TQ3VMAPTULQ888888_eaAu4.mtl
@@ -0,0 +1,17 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_696e739b624a173ccfed846f
+Kd 1 1 1
+illum 1
+map_Kd ./T_696e739b624a173ccfed846f_color.jpg
+
+newmtl MI_696e739b6958b97aeca92f57
+Kd 0.0471264012 0.0471264012 0.0471264012
+illum 1
+
+newmtl MI_696e739b2c9c1c6b9214b091
+Kd 1 1 1
+illum 1
+map_Kd ./T_696e739b2c9c1c6b9214b091_color.jpg
+
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new file mode 100644
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--- /dev/null
+++ b/data/UPB_00001387/plys/1.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/data/UPB_00001387/plys/10.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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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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--- /dev/null
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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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+version https://git-lfs.github.com/spec/v1
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new file mode 100644
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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_00001387/plys/model.ply b/data/UPB_00001387/plys/model.ply
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00001388/annotations/object.json b/data/UPB_00001388/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..a78a8a663fcee4d3acba9d29ee940f17ed2628ba
--- /dev/null
+++ b/data/UPB_00001388/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Six-door Wardrobe with Three Drawers",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        240.0,
+        60.0,
+        220.0
+    ],
+    "mass": 160.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001388/annotations/part_1.json b/data/UPB_00001388/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b7fafdd39632284324862fe0c8a07d8474afd49
--- /dev/null
+++ b/data/UPB_00001388/annotations/part_1.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Top Drawer Box",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Rectangular wood drawer box with decorative front; approx 75*45*18 cm; plywood with melamine finish.",
+        "functional_description": "Provides storage space for small clothing or accessories in the wardrobe.",
+        "movement_description": "Slides in and out of the carcass on runners, translating along the depth direction.",
+        "grasp_description": "Typically pulled via the horizontal handle attached to the front."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Melamine",
+        "density": 0.65,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                16
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.20253422856330872,
+                    -0.5043580532073975
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001388/annotations/part_10.json b/data/UPB_00001388/annotations/part_10.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf42a3ad024a0b6b33f1476e9f613c03e0036ae5
--- /dev/null
+++ b/data/UPB_00001388/annotations/part_10.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Handle - Leftmost Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Vertical bar pull, stainless steel, about 28*2*3 cm.",
+        "functional_description": "Provides a grip to open and close the leftmost door.",
+        "movement_description": "No independent movement; rigidly fixed to its door.",
+        "grasp_description": "Grabbed by fingers with a pulling action."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001388/annotations/part_11.json b/data/UPB_00001388/annotations/part_11.json
new file mode 100644
index 0000000000000000000000000000000000000000..15e3410ec2d188311b43e20c8fefc775f4769231
--- /dev/null
+++ b/data/UPB_00001388/annotations/part_11.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Handle - Left Inner Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Vertical bar pull for the second door; stainless steel, ~28 cm long.",
+        "functional_description": "Used to open/close the left inner door.",
+        "movement_description": "Rigidly mounted to its door.",
+        "grasp_description": "Typically pinched and pulled outward."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001388/annotations/part_12.json b/data/UPB_00001388/annotations/part_12.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff735bfd4e30d9aead3b0994c5b99d184891c1e1
--- /dev/null
+++ b/data/UPB_00001388/annotations/part_12.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Handle - Right Inner Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Vertical door pull, stainless steel, ~28 cm length.",
+        "functional_description": "Allows opening of the right inner door.",
+        "movement_description": "No motion relative to the door; rigid joint.",
+        "grasp_description": "User wraps fingers around and pulls."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001388/annotations/part_13.json b/data/UPB_00001388/annotations/part_13.json
new file mode 100644
index 0000000000000000000000000000000000000000..34f41bc83b8a5673dd2ac2460f8b8f4deb4de1bb
--- /dev/null
+++ b/data/UPB_00001388/annotations/part_13.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "13"
+    },
+    "part_level": {
+        "part_name": "Handle - Rightmost Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Rightmost door pull; stainless steel bar, ~28 cm.",
+        "functional_description": "Primary hand interface to open the rightmost door.",
+        "movement_description": "Rigid to the door leaf.",
+        "grasp_description": "Grasped with whole hand and pulled."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001388/annotations/part_14.json b/data/UPB_00001388/annotations/part_14.json
new file mode 100644
index 0000000000000000000000000000000000000000..a86154bb5664c5ff143a9f019f7a2c6ebb4acaa5
--- /dev/null
+++ b/data/UPB_00001388/annotations/part_14.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "14"
+    },
+    "part_level": {
+        "part_name": "Handle - Left Glass Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Slim vertical pull for the left glass-panel door; stainless steel, ~28 cm.",
+        "functional_description": "Enables comfortable gripping without contacting glass.",
+        "movement_description": "Rigid attachment; no relative motion.",
+        "grasp_description": "Pulled with fingertips or full hand."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001388/annotations/part_15.json b/data/UPB_00001388/annotations/part_15.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ecef40f5c226a81bd6df35df3722a6f14c6f12a
--- /dev/null
+++ b/data/UPB_00001388/annotations/part_15.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "15"
+    },
+    "part_level": {
+        "part_name": "Handle - Right Glass Door",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Vertical bar pull for the right glass-panel door; stainless steel, ~28 cm.",
+        "functional_description": "Operates the right glass door.",
+        "movement_description": "Rigidly secured to the door frame.",
+        "grasp_description": "Gripped and pulled to swing the door open."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001388/annotations/part_16.json b/data/UPB_00001388/annotations/part_16.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b00719892f744fa9203c285e27d0e0bb773e6e9
--- /dev/null
+++ b/data/UPB_00001388/annotations/part_16.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "16"
+    },
+    "part_level": {
+        "part_name": "Handle - Top Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Horizontal bow handle about 35 cm long for the top drawer.",
+        "functional_description": "Primary grip to pull the top drawer.",
+        "movement_description": "No movement relative to the drawer front.",
+        "grasp_description": "Pulled with one or two hands to translate the drawer."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001388/annotations/part_17.json b/data/UPB_00001388/annotations/part_17.json
new file mode 100644
index 0000000000000000000000000000000000000000..2da6d925309a914eb60437097285dd8ae87d8bdf
--- /dev/null
+++ b/data/UPB_00001388/annotations/part_17.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "17"
+    },
+    "part_level": {
+        "part_name": "Handle - Middle Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Horizontal stainless handle for middle drawer, ~35 cm.",
+        "functional_description": "Used to open the middle drawer smoothly.",
+        "movement_description": "Fixed to the drawer; no relative motion.",
+        "grasp_description": "Grasped with a pulling motion."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001388/annotations/part_18.json b/data/UPB_00001388/annotations/part_18.json
new file mode 100644
index 0000000000000000000000000000000000000000..e441b8ec91ae582eee8cecc1cbc4447ef9adcae4
--- /dev/null
+++ b/data/UPB_00001388/annotations/part_18.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "18"
+    },
+    "part_level": {
+        "part_name": "Handle - Bottom Drawer",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Horizontal drawer pull for bottom drawer, stainless steel, ~35 cm.",
+        "functional_description": "Provides leverage to open the heaviest drawer.",
+        "movement_description": "Rigidly mounted to the drawer front.",
+        "grasp_description": "Pulled outward; may be used with two hands for heavy loads."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 150,
+        "poisson": 0.29,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001388/annotations/part_19.json b/data/UPB_00001388/annotations/part_19.json
new file mode 100644
index 0000000000000000000000000000000000000000..39e3da039a76824a5fb8c5ea6ef92b4114f6735e
--- /dev/null
+++ b/data/UPB_00001388/annotations/part_19.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "19"
+    },
+    "part_level": {
+        "part_name": "Wardrobe Carcass",
+        "affordance": 9,
+        "graspable": false,
+        "basic_description": "Main structural body of the wardrobe with vertical partitions, top/bottom panels and back; particle board with melamine surface; overall size about 240*60*220 cm.",
+        "functional_description": "Provides structural support, mounts the hinges and drawer slides, and divides storage into compartments.",
+        "movement_description": "Stationary reference part; all doors rotate from it and drawers translate relative to it.",
+        "grasp_description": "Not directly grasped in normal use except during assembly or moving."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Melamine",
+        "density": 0.65,
+        "young": 2.8,
+        "hardness": 22,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001388/annotations/part_2.json b/data/UPB_00001388/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..858ffa6482c069fa1537e69662a5d1bf59c55ccf
--- /dev/null
+++ b/data/UPB_00001388/annotations/part_2.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Middle Drawer Box",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Middle storage drawer, plywood/melamine; approx 75*45*18 cm.",
+        "functional_description": "General storage for folded garments or accessories.",
+        "movement_description": "Translates outward on slides relative to the wardrobe body.",
+        "grasp_description": "Pulled using its dedicated handle."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Melamine",
+        "density": 0.65,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                17
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    -0.21954567730426788,
+                    -0.6990265846252441
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001388/annotations/part_3.json b/data/UPB_00001388/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..3178c5d9f629aaa0897bbd09b78bccb6845193e7
--- /dev/null
+++ b/data/UPB_00001388/annotations/part_3.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Bottom Drawer Box",
+        "affordance": 4,
+        "graspable": false,
+        "basic_description": "Lowest drawer box, plywood/melamine; approx 75*45*18 cm.",
+        "functional_description": "Holds heavier items such as linens or sweaters.",
+        "movement_description": "Slides out along linear rails.",
+        "grasp_description": "Operated through the front handle."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Melamine",
+        "density": 0.65,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                18
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.0,
+                    0.0,
+                    -0.9079948663711548
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001388/annotations/part_4.json b/data/UPB_00001388/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d63ef3df24bffb4d72dfcf1070eee5036dc53fb
--- /dev/null
+++ b/data/UPB_00001388/annotations/part_4.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Leftmost Solid Door",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Tall MDF door panel, approx 40*2*200 cm with simple rim profile.",
+        "functional_description": "Encloses the left storage compartment of the wardrobe.",
+        "movement_description": "Rotates about vertical hinges mounted to the carcass.",
+        "grasp_description": "User grasps the metal handle; the door surface itself is rarely held."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Lacquered",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                10
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -1.0514205694198608,
+                    -0.18905067443847656,
+                    0.35024526715278625
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001388/annotations/part_5.json b/data/UPB_00001388/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..af04ea2dc918d64383c39c6797923632e7ae4be0
--- /dev/null
+++ b/data/UPB_00001388/annotations/part_5.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Left Inner Solid Door",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Second solid door from the left, MDF lacquered; approx 40*2*200 cm.",
+        "functional_description": "Closes an inner hanging or shelving bay.",
+        "movement_description": "Swings on hinges relative to the carcass.",
+        "grasp_description": "Operated via its vertical handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Lacquered",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                5,
+                11
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    -0.37295815348625183,
+                    -0.185942143201828,
+                    1.276581595988091e-08
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001388/annotations/part_6.json b/data/UPB_00001388/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd74a6e508c43303f90d9c04ae00e10b526065e8
--- /dev/null
+++ b/data/UPB_00001388/annotations/part_6.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Right Inner Solid Door",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Third solid door from the left, MDF; approx 40*2*200 cm.",
+        "functional_description": "Closes another inner bay.",
+        "movement_description": "Opens by rotating about a vertical hinge axis.",
+        "grasp_description": "Handled through its attached pull."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Lacquered",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                6,
+                12
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    1.0475571155548096,
+                    -0.19337143003940582,
+                    -3.5856356106478415e-08
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001388/annotations/part_7.json b/data/UPB_00001388/annotations/part_7.json
new file mode 100644
index 0000000000000000000000000000000000000000..534426dd4c48faf0a1555936df2e77ee9ffa74a6
--- /dev/null
+++ b/data/UPB_00001388/annotations/part_7.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Rightmost Solid Door",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Rightmost tall MDF door; approx 40*2*200 cm.",
+        "functional_description": "Closes the right storage bay.",
+        "movement_description": "Rotates open on hinges.",
+        "grasp_description": "Pulled via its rigidly mounted handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Lacquered",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                7,
+                13
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    0.37022867798805237,
+                    -0.18547441065311432,
+                    0.3070511221885681
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001388/annotations/part_8.json b/data/UPB_00001388/annotations/part_8.json
new file mode 100644
index 0000000000000000000000000000000000000000..73d7471e9ad8430b84bbf169b5b0148829f52ea0
--- /dev/null
+++ b/data/UPB_00001388/annotations/part_8.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Left Glass-panel Door",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Tall narrow door with multiple glass panes set in a frame; approx 35*2*200 cm.",
+        "functional_description": "Provides a view into the central compartment while keeping dust out.",
+        "movement_description": "Swings about vertical hinges attached to the carcass.",
+        "grasp_description": "Operated by its vertical pull handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Lacquered",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                8,
+                14
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.3638440668582916,
+                    -0.18475040793418884,
+                    -1.2453851283567019e-08
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001388/annotations/part_9.json b/data/UPB_00001388/annotations/part_9.json
new file mode 100644
index 0000000000000000000000000000000000000000..d711995f5b70cc9411249cfcb6e76ce14f7a3b91
--- /dev/null
+++ b/data/UPB_00001388/annotations/part_9.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001388",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Right Glass-panel Door",
+        "affordance": 5,
+        "graspable": false,
+        "basic_description": "Companion glass door with pane grid; approx 35*2*200 cm.",
+        "functional_description": "Closes the other central compartment and aligns visually with the left glass door.",
+        "movement_description": "Rotates open about a vertical hinge axis.",
+        "grasp_description": "Pulled by the handle fixed to its edge."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Lacquered",
+        "density": 0.75,
+        "young": 3.2,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.4
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                9,
+                15
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.3666469156742096,
+                    -0.19210171699523926,
+                    0.43062031269073486
+                ],
+                "range": [
+                    0.0,
+                    1.5707963267948966
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001388/full_model/material.mtl b/data/UPB_00001388/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001388/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_00001388/full_model/material_0.png b/data/UPB_00001388/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5fa2e4bf8cefeec9c095509984eeacf91e072be5
--- /dev/null
+++ b/data/UPB_00001388/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4257710abba4204de7f72bc1baacb34ae9cea414b9a33a6c4f647fbac372d1ce
+size 116
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diff --git a/data/UPB_00001388/meta_data.json b/data/UPB_00001388/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..b88871b3a00445d89f426cc28664de888e7d4f58
--- /dev/null
+++ b/data/UPB_00001388/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001388",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Six-door Wardrobe with Three Drawers"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 19,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001388/model.urdf b/data/UPB_00001388/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..be1ab1d20a3e516c9945b943d1c15f6fa9917e0c
--- /dev/null
+++ b/data/UPB_00001388/model.urdf
@@ -0,0 +1,399 @@
+<?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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_10.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_12.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_13.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_14">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_14.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_15">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_15.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_16">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_16.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_17">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_17.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_18">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_18.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_18.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_19">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_19.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_19.obj" scale="1.115685 1.115685 1.115685"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_19"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.000000 -0.225964 -0.562705" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.3347056365897014" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.000000 0.225964 0.562705" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_19"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.000000 -0.244944 -0.779894" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.3347056365897014" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.000000 0.244944 0.779894" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_19"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.000000 0.000000 -1.013037" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.3347056365897014" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.000000 -0.000000 1.013037" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_3"/>
+    <origin xyz="-1.173055 -0.210921 0.390764" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="1.173055 0.210921 -0.390764" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_4"/>
+    <origin xyz="-0.416104 -0.207453 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_5"/>
+    <origin xyz="0.416104 0.207453 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_5"/>
+    <origin xyz="1.168744 -0.215742 -0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="helper_link_5"/>
+    <child link="link_6"/>
+    <origin xyz="-1.168744 0.215742 0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_6"/>
+    <origin xyz="0.413059 -0.206931 0.342572" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="helper_link_6"/>
+    <child link="link_7"/>
+    <origin xyz="-0.413059 0.206931 -0.342572" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_7"/>
+    <origin xyz="0.405936 -0.206123 -0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="helper_link_7"/>
+    <child link="link_8"/>
+    <origin xyz="-0.405936 0.206123 0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_16" type="revolute">
+    <parent link="link_19"/>
+    <child link="helper_link_8"/>
+    <origin xyz="-0.409063 -0.214325 0.480437" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.5707963267948966"/>
+  </joint>
+  <joint name="joint_17" type="fixed">
+    <parent link="helper_link_8"/>
+    <child link="link_9"/>
+    <origin xyz="0.409063 0.214325 -0.480437" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_18" type="fixed">
+    <parent link="link_4"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_19" type="fixed">
+    <parent link="link_5"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_20" type="fixed">
+    <parent link="link_6"/>
+    <child link="link_12"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_21" type="fixed">
+    <parent link="link_7"/>
+    <child link="link_13"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_22" type="fixed">
+    <parent link="link_8"/>
+    <child link="link_14"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_23" type="fixed">
+    <parent link="link_9"/>
+    <child link="link_15"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_24" type="fixed">
+    <parent link="link_1"/>
+    <child link="link_16"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_25" type="fixed">
+    <parent link="link_2"/>
+    <child link="link_17"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_26" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_18"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_27" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_19"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001388/parts/8.mtl b/data/UPB_00001388/parts/8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f7dfe358d3622611c2f425634d141f0f26989cbc
--- /dev/null
+++ b/data/UPB_00001388/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_00001388/parts/8.png b/data/UPB_00001388/parts/8.png
new file mode 100644
index 0000000000000000000000000000000000000000..b5f11990e84745e4d356368d98234762d2567481
--- /dev/null
+++ b/data/UPB_00001388/parts/8.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98cfac16b45a428b4698894ff5148270f809c8913583dedb049f77f7519ba46e
+size 91
diff --git a/data/UPB_00001388/parts/9.mtl b/data/UPB_00001388/parts/9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0059fb715f621e16088af53a3bec599b93f764fc
--- /dev/null
+++ b/data/UPB_00001388/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_00001388/parts/9.png b/data/UPB_00001388/parts/9.png
new file mode 100644
index 0000000000000000000000000000000000000000..b5f11990e84745e4d356368d98234762d2567481
--- /dev/null
+++ b/data/UPB_00001388/parts/9.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98cfac16b45a428b4698894ff5148270f809c8913583dedb049f77f7519ba46e
+size 91
diff --git a/data/UPB_00001388/parts/part_1.obj b/data/UPB_00001388/parts/part_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18e99535128b192fc78c7c4fc0bc425302d29e6c
--- /dev/null
+++ b/data/UPB_00001388/parts/part_1.obj
@@ -0,0 +1,6447 @@
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diff --git a/data/UPB_00001388/parts/part_10.obj b/data/UPB_00001388/parts/part_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c50d6d30de2b273cf15622d7482e32d65c8964f3
--- /dev/null
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diff --git a/data/UPB_00001388/parts/part_11.obj b/data/UPB_00001388/parts/part_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..499d2734d821da14a321dbcfc6a0ca434e4a25e6
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diff --git a/data/UPB_00001388/parts/part_12.obj b/data/UPB_00001388/parts/part_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb21a58425dacab06983bd7ff17053b3bcb62562
--- /dev/null
+++ b/data/UPB_00001388/parts/part_12.obj
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diff --git a/data/UPB_00001388/parts/part_13.obj b/data/UPB_00001388/parts/part_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ebfbec76f06f13717b0406a8b78e1880ccc18e0
--- /dev/null
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diff --git a/data/UPB_00001388/parts/part_14.obj b/data/UPB_00001388/parts/part_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06d89307488704a17c33ad7446ff7f246437b932
--- /dev/null
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diff --git a/data/UPB_00001388/parts/part_15.obj b/data/UPB_00001388/parts/part_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5676089e323c52505d10fd1adbc0219f4d4440dd
--- /dev/null
+++ b/data/UPB_00001388/parts/part_15.obj
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diff --git a/data/UPB_00001388/parts/part_16.obj b/data/UPB_00001388/parts/part_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..782130f851b9c376c77aae74c9ba5acab5d03c5b
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diff --git a/data/UPB_00001388/parts/part_17.obj b/data/UPB_00001388/parts/part_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93343d2a037d28cbbd1c77000e670d7a240a0178
--- /dev/null
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diff --git a/data/UPB_00001388/parts/part_18.obj b/data/UPB_00001388/parts/part_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f971f4a2a4947fe9aa2dc68bac6bfbbceba0dfb
--- /dev/null
+++ b/data/UPB_00001388/parts/part_18.obj
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diff --git a/data/UPB_00001388/parts/part_19.obj b/data/UPB_00001388/parts/part_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d92f211e7eabec1ac20b9002c6b457b42dca0bc0
--- /dev/null
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diff --git a/data/UPB_00001388/parts/part_2.obj b/data/UPB_00001388/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cd999fadfc42c60677a14b9075002db4fc76227
--- /dev/null
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diff --git a/data/UPB_00001388/parts/part_4.obj b/data/UPB_00001388/parts/part_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7d23f68366bc44c302e3f2c1fb0e59d9a38c719
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index 0000000000000000000000000000000000000000..987fd119286ea9d64fe4ca3c8e83f4beba284b12
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diff --git a/data/UPB_00001388/parts/part_8.obj b/data/UPB_00001388/parts/part_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9cea87d5d35477343ec1ebfe5db7ce90f377750
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..8cf15f6bf61f1310df5a1ae7339131d25b8be140
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