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diff --git a/data/UPB_00001609/parts/part_2.obj b/data/UPB_00001609/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ce797dcf25e543b842fee8264b0976d21b99632
--- /dev/null
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diff --git a/data/UPB_00001610/annotations/object.json b/data/UPB_00001610/annotations/object.json
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+}
\ No newline at end of file
diff --git a/data/UPB_00001610/annotations/part_1.json b/data/UPB_00001610/annotations/part_1.json
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+        "entity": "UPB_00001610",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Top Drawer Front with Knob",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Small rectangular MDF laminate drawer front with a round metal knob, approx 40*12*1.5 cm.",
+        "functional_description": "Provides the handleable face for the top shallow drawer in the pedestal.",
+        "movement_description": "Slides in and out on rails relative to the pedestal cabinet.",
+        "grasp_description": "Users grasp the knob to pull or push the drawer."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.594386637210846,
+                    -0.3047668933868408,
+                    0.0636325255036354
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001610/annotations/part_2.json b/data/UPB_00001610/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..35547378c8790b1441378daeb3d7b48c6ee434f4
--- /dev/null
+++ b/data/UPB_00001610/annotations/part_2.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001610",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Middle Drawer Front",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Rectangular MDF laminate drawer face, approx 40*18*1.5 cm.",
+        "functional_description": "Front panel for the mid-height drawer of the pedestal.",
+        "movement_description": "Translates relative to the pedestal on slide rails.",
+        "grasp_description": "Pulled by its edge or attached pull to access contents."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.594386637210846,
+                    -0.3047668933868408,
+                    -0.1576521396636963
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001610/annotations/part_3.json b/data/UPB_00001610/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbc4f21d0c353d566c3189640403a0db165ad2ee
--- /dev/null
+++ b/data/UPB_00001610/annotations/part_3.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001610",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Bottom Drawer Front",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Large MDF laminate drawer face, approx 40*22*1.5 cm.",
+        "functional_description": "Front panel for the deep lower drawer (files or bulk storage).",
+        "movement_description": "Slides outward/inward relative to the pedestal body.",
+        "grasp_description": "Pulled by users to access the deep drawer."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                3
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    -0.594386637210846,
+                    -0.3047668933868408,
+                    -0.3585752546787262
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.06
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001610/annotations/part_4.json b/data/UPB_00001610/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..08277729ea2d45f638363b74f7fab58b961ce31e
--- /dev/null
+++ b/data/UPB_00001610/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001610",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Pedestal Cabinet Body",
+        "affordance": 6,
+        "graspable": false,
+        "basic_description": "Box-shaped MDF cabinet shell housing three drawers, approx 45*50*55 cm.",
+        "functional_description": "Supports and guides the drawers; mounts under the left side of the desk.",
+        "movement_description": "Rigidly fixed to the steel frame; internal drawers translate on slides.",
+        "grasp_description": "Not typically grasped; touched only during cleaning or moving."
+    },
+    "basic_info": {
+        "material": "wood/MDF",
+        "density": 0.75,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001610/annotations/part_5.json b/data/UPB_00001610/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfd319ec75a3936e3430e31a82a5f099b46072ed
--- /dev/null
+++ b/data/UPB_00001610/annotations/part_5.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001610",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Steel Frame and Legs",
+        "affordance": 8,
+        "graspable": false,
+        "basic_description": "Rectangular steel tube frame with four legs and cross-members, supports the desktop and attachments.",
+        "functional_description": "Provides structural rigidity and load-bearing support for the desk, pedestal, and back screen.",
+        "movement_description": "No relative motion; all mounted components are rigidly fixed to this frame.",
+        "grasp_description": "Seldom grasped; contacted by feet or during relocation."
+    },
+    "basic_info": {
+        "material": "metal/Steel_PowderCoated",
+        "density": 7.85,
+        "young": 200.0,
+        "hardness": 160,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001610/annotations/part_7.json b/data/UPB_00001610/annotations/part_7.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe5b7e0b8a2de0c2c7b1c0702fb65f5e54d581cb
--- /dev/null
+++ b/data/UPB_00001610/annotations/part_7.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001610",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Desktop Panel (Left Half)",
+        "affordance": 1,
+        "graspable": false,
+        "basic_description": "Melamine-faced particle board desktop slab, approx 75*60*2.5 cm, forming the left half of the work surface.",
+        "functional_description": "Primary contact surface for writing, typing, and placing objects.",
+        "movement_description": "Rigidly fixed to the steel frame; no motion.",
+        "grasp_description": "Touched frequently by hands and forearms; not grasped as a separate piece."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Melamine",
+        "density": 0.65,
+        "young": 2.5,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001610/annotations/part_8.json b/data/UPB_00001610/annotations/part_8.json
new file mode 100644
index 0000000000000000000000000000000000000000..a38cbea344ba2e9283bdc6def5466d88e5be4946
--- /dev/null
+++ b/data/UPB_00001610/annotations/part_8.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001610",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Desktop Panel (Right Half)",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Melamine-faced particle board desktop slab, approx 75*60*2.5 cm, forming the right half of the work surface.",
+        "functional_description": "Completes the main work surface and supports equipment and materials.",
+        "movement_description": "Rigidly attached to the steel frame.",
+        "grasp_description": "Frequently touched during use; not grasped as a separate part."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Melamine",
+        "density": 0.65,
+        "young": 2.5,
+        "hardness": 20,
+        "poisson": 0.3,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001610/annotations/part_9.json b/data/UPB_00001610/annotations/part_9.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bde7cfbb0836a6584bae8595c7bbb4e6b132e19
--- /dev/null
+++ b/data/UPB_00001610/annotations/part_9.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001610",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Back Privacy Screen Panel",
+        "affordance": 7,
+        "graspable": false,
+        "basic_description": "Long narrow laminated MDF panel above the rear edge of the desk, approx 150*2*30 cm, segmented into three sections.",
+        "functional_description": "Acts as a privacy/notice board and visual divider along the back of the desk.",
+        "movement_description": "Rigidly fixed to the steel frame using metal fasteners/brackets.",
+        "grasp_description": "Occasionally touched to pin notes or clean; not grasped during typical use."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate",
+        "density": 0.7,
+        "young": 3.0,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001610/full_model/material.mtl b/data/UPB_00001610/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001610/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_00001610/full_model/material_0.png b/data/UPB_00001610/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..786546eb1c687a9d354a3f144313c436d3f3d249
--- /dev/null
+++ b/data/UPB_00001610/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbaec9afdd29d21c9af1dccca9983ac87162ea59799fbcf4513378e74ede17a6
+size 2969022
diff --git a/data/UPB_00001610/full_model/model.obj b/data/UPB_00001610/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c97d311c16d396344302dbaac70facdd897e22f1
--- /dev/null
+++ b/data/UPB_00001610/full_model/model.obj
@@ -0,0 +1,114540 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.40047863 -0.30500311 0.10991408
+v -0.40058637 -0.30530536 0.10991414
+v -0.40066743 -0.30527556 0.10971852
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+
diff --git a/data/UPB_00001610/meta_data.json b/data/UPB_00001610/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7cd6b3fca7ae33e9990146a2cabac5e974690e9
--- /dev/null
+++ b/data/UPB_00001610/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001610",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/OfficeFurniture",
+        "object_name": "Office Desk with Pedestal and Back Screen"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 8,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001610/model.urdf b/data/UPB_00001610/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7adb84fb7d1c49f7f4f7d69b0e55b730e1c4be2a
--- /dev/null
+++ b/data/UPB_00001610/model.urdf
@@ -0,0 +1,164 @@
+<?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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.869176 0.869176 0.869176"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_4"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.516627 -0.264896 0.055308" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2607527674132768" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0.516627 0.264896 -0.055308" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_4"/>
+    <child link="helper_link_1"/>
+    <origin xyz="-0.516627 -0.264896 -0.137027" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2607527674132768" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0.516627 0.264896 0.137027" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_4"/>
+    <child link="helper_link_2"/>
+    <origin xyz="-0.516627 -0.264896 -0.311665" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.2607527674132768" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0.516627 0.264896 0.311665" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001610/parts/1.mtl b/data/UPB_00001610/parts/1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc
--- /dev/null
+++ b/data/UPB_00001610/parts/1.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 1.png
diff --git a/data/UPB_00001610/parts/1.png b/data/UPB_00001610/parts/1.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c909e04050bd5d1a415bc1d9b1b34095613811a
--- /dev/null
+++ b/data/UPB_00001610/parts/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4fec4b2afea8b40b01698f669443c45a9bfc6f96405e6d003b9ed125a4ae17e
+size 589318
diff --git a/data/UPB_00001610/parts/5.mtl b/data/UPB_00001610/parts/5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d43c57b3f0e98a3e40743b896155cc3aa93ebe6e
--- /dev/null
+++ b/data/UPB_00001610/parts/5.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 5.png
diff --git a/data/UPB_00001610/parts/5.png b/data/UPB_00001610/parts/5.png
new file mode 100644
index 0000000000000000000000000000000000000000..2bc2dd12f72120aa09da18d5cb45f324a02bd868
--- /dev/null
+++ b/data/UPB_00001610/parts/5.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d1d47519b9c0bf76d239ed5ddbb69051ba536edbc3324bc5c8f0f47bc2c6e6d
+size 588736
diff --git a/data/UPB_00001610/parts/Desk_YU6YNLJVALZB6PTUJU888888_zdj9e.mtl b/data/UPB_00001610/parts/Desk_YU6YNLJVALZB6PTUJU888888_zdj9e.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5d2cfd0fb89ea023425c67ffc1d56f4ec54ed7b9
--- /dev/null
+++ b/data/UPB_00001610/parts/Desk_YU6YNLJVALZB6PTUJU888888_zdj9e.mtl
@@ -0,0 +1,49 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
+newmtl MI_6903220d0171f747c996113e
+Kd 0.470600009 0.447100013 0.439200014
+illum 1
+bump ./T_6903220d0171f747c996113e_normal.jpg
+map_bump ./T_6903220d0171f747c996113e_normal.jpg
+
+newmtl MI_6903220d2976ef4c3de1b766
+Kd 0.505900025 0.462700009 0.447100013
+illum 1
+bump ./T_6903220d2976ef4c3de1b766_normal.jpg
+map_bump ./T_6903220d2976ef4c3de1b766_normal.jpg
+
+newmtl MI_6903220da0f3d129e8b9a6d8
+Kd 1 1 1
+illum 1
+map_Kd ./T_6903220da0f3d129e8b9a6d8_color.jpg
+bump ./T_6903220da0f3d129e8b9a6d8_normal.jpg
+map_bump ./T_6903220da0f3d129e8b9a6d8_normal.jpg
+
+newmtl MI_6903220ddc148149a3b8ced9
+Kd 1 1 1
+illum 1
+map_Kd ./T_6903220ddc148149a3b8ced9_color.jpg
+bump ./T_6903220ddc148149a3b8ced9_normal.jpg
+map_bump ./T_6903220ddc148149a3b8ced9_normal.jpg
+
+newmtl MI_6903220d411d12007898da86
+Kd 1 1 1
+illum 1
+map_Kd ./T_6903220d411d12007898da86_color.jpg
+bump ./T_6903220d411d12007898da86_normal.jpg
+map_bump ./T_6903220d411d12007898da86_normal.jpg
+
+newmtl MI_6903220d7afdb46cc85cdb6f
+Kd 1 1 1
+illum 1
+map_Kd ./T_6903220d7afdb46cc85cdb6f_color.jpg
+bump ./T_6903220d7afdb46cc85cdb6f_normal.jpg
+map_bump ./T_6903220d7afdb46cc85cdb6f_normal.jpg
+
+newmtl MI_6903220daa2a39478a990a3d
+Kd 0.462700009 0.443100005 0.439200014
+illum 1
+bump ./T_6903220daa2a39478a990a3d_normal.jpg
+map_bump ./T_6903220daa2a39478a990a3d_normal.jpg
+
diff --git a/data/UPB_00001610/parts/T_6903220d0171f747c996113e_normal.jpg b/data/UPB_00001610/parts/T_6903220d0171f747c996113e_normal.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ff7442b4e84fa5e4f7119e644c7abb29557cb246
--- /dev/null
+++ b/data/UPB_00001610/parts/T_6903220d0171f747c996113e_normal.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1d191251260117f25bf2e835f2ce8a1456ef1d8e55acf370edd2ee5e1af1c62
+size 82106
diff --git a/data/UPB_00001610/parts/T_6903220d0171f747c996113e_roughness.jpg b/data/UPB_00001610/parts/T_6903220d0171f747c996113e_roughness.jpg
new file mode 100644
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--- /dev/null
+++ b/data/UPB_00001610/parts/T_6903220d0171f747c996113e_roughness.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92caaf54b26cde77027e5e8c3f133b4086e27ee1570732b57f7c50450deaac40
+size 142978
diff --git a/data/UPB_00001610/parts/T_6903220d2976ef4c3de1b766_normal.jpg b/data/UPB_00001610/parts/T_6903220d2976ef4c3de1b766_normal.jpg
new file mode 100644
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--- /dev/null
+++ b/data/UPB_00001610/parts/T_6903220d2976ef4c3de1b766_normal.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8b957297ee728c597381567a80f1a4678f5dacf5d71a22adeff21d20436cd89
+size 133455
diff --git a/data/UPB_00001610/parts/T_6903220d411d12007898da86_color.jpg b/data/UPB_00001610/parts/T_6903220d411d12007898da86_color.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e498c02d36ac93ccafe202ba89181f5ecd5d3ff4
--- /dev/null
+++ b/data/UPB_00001610/parts/T_6903220d411d12007898da86_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:516143d51599451c7e132581ca4154a9f2623a72eeb6ba8aeb0d23916206722d
+size 145566
diff --git a/data/UPB_00001610/parts/T_6903220d411d12007898da86_metallic.jpg b/data/UPB_00001610/parts/T_6903220d411d12007898da86_metallic.jpg
new file mode 100644
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--- /dev/null
+++ b/data/UPB_00001610/parts/T_6903220d411d12007898da86_metallic.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb1527b2338c1c8a256c9c257d21767ce5e5f90bcb702a93f2905183852b6cf3
+size 112353
diff --git a/data/UPB_00001610/parts/T_6903220d411d12007898da86_normal.jpg b/data/UPB_00001610/parts/T_6903220d411d12007898da86_normal.jpg
new file mode 100644
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--- /dev/null
+++ b/data/UPB_00001610/parts/T_6903220d411d12007898da86_normal.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5336dc16d567142939440cd4de6232b5b8cb0c0cbbc5b82797094107ce6e00cf
+size 79859
diff --git a/data/UPB_00001610/parts/T_6903220d7afdb46cc85cdb6f_color.jpg b/data/UPB_00001610/parts/T_6903220d7afdb46cc85cdb6f_color.jpg
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+version https://git-lfs.github.com/spec/v1
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+size 247998
diff --git a/data/UPB_00001610/parts/T_6903220d7afdb46cc85cdb6f_normal.jpg b/data/UPB_00001610/parts/T_6903220d7afdb46cc85cdb6f_normal.jpg
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 82106
diff --git a/data/UPB_00001610/parts/T_6903220d7afdb46cc85cdb6f_roughness.jpg b/data/UPB_00001610/parts/T_6903220d7afdb46cc85cdb6f_roughness.jpg
new file mode 100644
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--- /dev/null
+++ b/data/UPB_00001610/parts/T_6903220d7afdb46cc85cdb6f_roughness.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92caaf54b26cde77027e5e8c3f133b4086e27ee1570732b57f7c50450deaac40
+size 142978
diff --git a/data/UPB_00001610/parts/T_6903220da0f3d129e8b9a6d8_color.jpg b/data/UPB_00001610/parts/T_6903220da0f3d129e8b9a6d8_color.jpg
new file mode 100644
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+++ b/data/UPB_00001610/parts/T_6903220da0f3d129e8b9a6d8_color.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:516143d51599451c7e132581ca4154a9f2623a72eeb6ba8aeb0d23916206722d
+size 145566
diff --git a/data/UPB_00001610/parts/T_6903220da0f3d129e8b9a6d8_metallic.jpg b/data/UPB_00001610/parts/T_6903220da0f3d129e8b9a6d8_metallic.jpg
new file mode 100644
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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_00001610/parts/T_6903220da0f3d129e8b9a6d8_normal.jpg b/data/UPB_00001610/parts/T_6903220da0f3d129e8b9a6d8_normal.jpg
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+++ b/data/UPB_00001610/parts/T_6903220da0f3d129e8b9a6d8_normal.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 79859
diff --git a/data/UPB_00001610/parts/T_6903220daa2a39478a990a3d_normal.jpg b/data/UPB_00001610/parts/T_6903220daa2a39478a990a3d_normal.jpg
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00001610/parts/T_6903220ddc148149a3b8ced9_color.jpg b/data/UPB_00001610/parts/T_6903220ddc148149a3b8ced9_color.jpg
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diff --git a/data/UPB_00001610/parts/part_2.obj b/data/UPB_00001610/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d8382df3055b50160fea60fdbcc16a956c3490e
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diff --git a/data/UPB_00001610/parts/part_3.obj b/data/UPB_00001610/parts/part_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0eb0c4ffe0069c790a2fe651bc712b7751dfb440
--- /dev/null
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diff --git a/data/UPB_00001610/parts/part_4.obj b/data/UPB_00001610/parts/part_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57ed4e73eb66451f7328b7cce247e358e7dc459b
--- /dev/null
+++ b/data/UPB_00001610/parts/part_4.obj
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diff --git a/data/UPB_00001610/parts/part_5.obj b/data/UPB_00001610/parts/part_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9586eb2ea9ddf2a7a9f9ee333db95ced4f00e4bd
--- /dev/null
+++ b/data/UPB_00001610/parts/part_5.obj
@@ -0,0 +1,75776 @@
+# https://github.com/mikedh/trimesh
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diff --git a/data/UPB_00001610/parts/part_7.obj b/data/UPB_00001610/parts/part_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16d7f7fada4a3cdc19bf17e7733e600b1fe127c6
--- /dev/null
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diff --git a/data/UPB_00001610/parts/part_8.obj b/data/UPB_00001610/parts/part_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c68db095cdf2d3c13059981c842b9108128f1061
--- /dev/null
+++ b/data/UPB_00001610/parts/part_8.obj
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diff --git a/data/UPB_00001610/parts/part_9.obj b/data/UPB_00001610/parts/part_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01ec9b322c425a258d2c432f0384d7b1226b3dba
--- /dev/null
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diff --git a/data/UPB_00001610/plys/1.ply b/data/UPB_00001610/plys/1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..73e9b1bff23b8f9a316b036410a30d759cc24331
--- /dev/null
+++ b/data/UPB_00001610/plys/1.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dae1d182ca28929ca2491d8fd47d1a3b4b675aaed8885054ae43c954c7c2c2ab
+size 160242
diff --git a/data/UPB_00001610/plys/2.ply b/data/UPB_00001610/plys/2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..02398fb7ea037376bed546505f1f1e23992c1152
--- /dev/null
+++ b/data/UPB_00001610/plys/2.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68c06f21d8a8a2bc7ed03b26f21061a36f0aaa446c2a6b3a584e1e32c16e5993
+size 160242
diff --git a/data/UPB_00001610/plys/3.ply b/data/UPB_00001610/plys/3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c9734c6921ac4aca0db851dd68d2c6c2cec93ae2
--- /dev/null
+++ b/data/UPB_00001610/plys/3.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d47f765c9c2d54d41912c0b0a9b6c63537e14b2c380094146fc6469417f4ffb7
+size 160242
diff --git a/data/UPB_00001610/plys/4.ply b/data/UPB_00001610/plys/4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..af3bf71a03aaf190034b39007de06707270454b6
--- /dev/null
+++ b/data/UPB_00001610/plys/4.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3be17f91ff831fd938c5793493f2df0882908263c606acf19f7b85696f4a77c
+size 556098
diff --git a/data/UPB_00001610/plys/5.ply b/data/UPB_00001610/plys/5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..09423be7b1f58bf23bf8df8a7e3851cb1a6aca86
--- /dev/null
+++ b/data/UPB_00001610/plys/5.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38e4806af57356cf4e90737225134d149065e8813e59329c692fa862b426642f
+size 177346
diff --git a/data/UPB_00001610/plys/7.ply b/data/UPB_00001610/plys/7.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2fd4ab299fee4e0e8c873135c74934b77020db92
--- /dev/null
+++ b/data/UPB_00001610/plys/7.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51ec5b8f7459b5e34d8210e44ef16059692cbc451f974414889735811115ac25
+size 270658
diff --git a/data/UPB_00001610/plys/8.ply b/data/UPB_00001610/plys/8.ply
new file mode 100644
index 0000000000000000000000000000000000000000..221c9a511caf517f4584ed7ad54dcdd9d7cb49a7
--- /dev/null
+++ b/data/UPB_00001610/plys/8.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95e9f0f40bc9c3e32f2a49697b1560d3aa65a758976a72ad7d5a0804df370d04
+size 250690
diff --git a/data/UPB_00001610/plys/9.ply b/data/UPB_00001610/plys/9.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d23affdb727b3bb7f9043ae8e9aa827af81514a0
--- /dev/null
+++ b/data/UPB_00001610/plys/9.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8b44d885189e1bcac45fb7a881eabdf26c5e3ffa8499b2c10a07a881daf2d01
+size 229682
diff --git a/data/UPB_00001610/plys/model.ply b/data/UPB_00001610/plys/model.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4c0ee5558e4a0b925eec5f32144b4b94db03a03e
--- /dev/null
+++ b/data/UPB_00001610/plys/model.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eff8801060cc66a0dfcdb27bbddcf524b6263610eafe298cd4354d78d7c28d7b
+size 1600243
diff --git a/data/UPB_00001611/annotations/object.json b/data/UPB_00001611/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3888affa7a6d325d884f2c32c9680d3a8ea23fe
--- /dev/null
+++ b/data/UPB_00001611/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Desk with Three-Drawer Side Cabinet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        145.0,
+        60.0,
+        75.0
+    ],
+    "mass": 38.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001611/annotations/part_1.json b/data/UPB_00001611/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6c12ec585bc17924472ad9f2578db17c1c0c605
--- /dev/null
+++ b/data/UPB_00001611/annotations/part_1.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001611",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Top Drawer",
+        "affordance": 2,
+        "graspable": true,
+        "basic_description": "Uppermost drawer assembly with a rounded-corner front panel and a small central pull; made of painted MDF. Approx. front size 42*17*1.5 cm.",
+        "functional_description": "Provides shallow storage for small items; the front panel carries the pull and covers the drawer box.",
+        "movement_description": "Slides in and out of the cabinet on runners relative to the main desk body.",
+        "grasp_description": "Typically grasped by the pull/edge to open and close the drawer."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.7,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.35,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.5739977359771729,
+                    -0.2522931396961212,
+                    0.15109993517398834
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.04
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001611/annotations/part_2.json b/data/UPB_00001611/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfe5c0b0ed084664ecd041249614cbcd9688f90f
--- /dev/null
+++ b/data/UPB_00001611/annotations/part_2.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001611",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Middle Drawer",
+        "affordance": 3,
+        "graspable": true,
+        "basic_description": "Middle drawer with a rectangular front panel and pull; painted MDF. Approx. front size 42*19*1.5 cm.",
+        "functional_description": "General-purpose storage; supports moderate loads with box sides and runners.",
+        "movement_description": "Translates along linear slides relative to the cabinet frame of the desk.",
+        "grasp_description": "Pulled by the central knob/handle for access."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.7,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.35,
+        "friction": 0.34
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.5739977359771729,
+                    -0.2522931396961212,
+                    -0.029783274978399277
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001611/annotations/part_3.json b/data/UPB_00001611/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..e149793836f4f4e07e18c44bd1ee91a550f83a3b
--- /dev/null
+++ b/data/UPB_00001611/annotations/part_3.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001611",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Bottom Drawer",
+        "affordance": 4,
+        "graspable": true,
+        "basic_description": "Lowest and deepest drawer with a rounded lower edge front; painted MDF. Approx. front size 42*21*1.5 cm.",
+        "functional_description": "Stores bulkier items such as files; deepest travel of the three drawers.",
+        "movement_description": "Slides on runners in translation relative to the desk body.",
+        "grasp_description": "Grasp the pull or lower edge to operate; heavier when loaded."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Painted",
+        "density": 0.7,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.35,
+        "friction": 0.36
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "B"
+        ],
+        "motion_info": {
+            "dependency": [
+                3
+            ],
+            "B": {
+                "axis": [
+                    0.0,
+                    1.0,
+                    0.0
+                ],
+                "pos": [
+                    0.5739977359771729,
+                    -0.2522931396961212,
+                    -0.21074962615966797
+                ],
+                "range": [
+                    -0.30000001192092896,
+                    0.0
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001611/annotations/part_4.json b/data/UPB_00001611/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f96b14295a533cf9010df86ad56f1b6e6730f53
--- /dev/null
+++ b/data/UPB_00001611/annotations/part_4.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001611",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Desk Body (Top + Right Cabinet Frame)",
+        "affordance": 1,
+        "graspable": false,
+        "basic_description": "Main wooden structure combining the desktop and a curved right-side cabinet cavity that houses three drawers. Veneered plywood, top approx. 145*60*3 cm; cabinet outer height ~60 cm.",
+        "functional_description": "Provides work surface and structural support; the cabinet guides the drawers and bears loads transferred from the top and left leg.",
+        "movement_description": "Stationary reference frame for the drawers; rigidly connected to the left support leg.",
+        "grasp_description": "Users place objects and rest arms on the top; edges may be touched but the body itself is not typically grasped."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Veneer",
+        "density": 0.6,
+        "young": 8.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001611/annotations/part_5.json b/data/UPB_00001611/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..d793654339fe1151b0206df990cecaff513d4f58
--- /dev/null
+++ b/data/UPB_00001611/annotations/part_5.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001611",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Left Support Leg",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Ribbed vertical aluminum leg with top and base plates supporting the left side of the desktop. Approx. 70*6*4 cm column with a 60*20 cm cap plate.",
+        "functional_description": "Carries vertical loads from the desktop and stabilizes the assembly; offers high stiffness at low weight.",
+        "movement_description": "Rigidly fixed to the desk body with screws or brackets; no relative motion.",
+        "grasp_description": "Rarely touched except when moving the desk; not intended for regular handling."
+    },
+    "basic_info": {
+        "material": "wood/Plywood_Veneer",
+        "density": 0.6,
+        "young": 8.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001611/full_model/material.mtl b/data/UPB_00001611/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001611/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_00001611/full_model/material_0.png b/data/UPB_00001611/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed1f3db6e88169da24b319dc4ed9dc51501849d6
--- /dev/null
+++ b/data/UPB_00001611/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7df36620230a78f7c24fa26a725e8911ccd32a59df153a31f40aa77b010ac369
+size 1009056
diff --git a/data/UPB_00001611/full_model/model.obj b/data/UPB_00001611/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..218499b4115d8409aaea102ca380207346e3fa7b
--- /dev/null
+++ b/data/UPB_00001611/full_model/model.obj
@@ -0,0 +1,208584 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.56478798 -0.26944700 0.16011800
+v 0.56498301 -0.26861700 0.15977000
+v 0.56200999 -0.26888999 0.15769500
+v 0.56173301 -0.26963299 0.15805100
+v 0.55946600 -0.26896301 0.15486000
+v 0.55910200 -0.26965901 0.15515301
+v 0.55745798 -0.26926500 0.15198900
+v 0.55703199 -0.27001000 0.15218300
+v 0.55607897 -0.26959699 0.14938199
+v 0.55563599 -0.27033299 0.14943101
+v 0.55543500 -0.26971099 0.14664200
+v 0.55501199 -0.27045801 0.14670300
+v 0.55557400 -0.26962000 0.14436699
+v 0.55519003 -0.27039501 0.14451399
+v 0.55632800 -0.26940700 0.14248000
+v 0.55598497 -0.27024701 0.14262700
+v 0.55769700 -0.26915300 0.14078700
+v 0.55738902 -0.27006200 0.14088599
+v 0.55969602 -0.26892099 0.13931400
+v 0.55943698 -0.26989499 0.13935900
+v 0.56235802 -0.26884499 0.13840300
+v 0.56214100 -0.26983100 0.13836800
+v 0.56556600 -0.26906100 0.13865399
+v 0.56539202 -0.26999500 0.13865000
+v 0.56917697 -0.26930600 0.13933000
+v 0.56906497 -0.27017400 0.13935199
+v 0.57305402 -0.26941499 0.13957200
+v 0.57301801 -0.27025399 0.13959500
+v 0.57708502 -0.26943600 0.13940901
+v 0.57713097 -0.27026799 0.13943000
+v 0.58109498 -0.26941100 0.13906001
+v 0.58122200 -0.27024600 0.13907801
+v 0.58483201 -0.26937401 0.13875000
+v 0.58503300 -0.27021501 0.13874400
+v 0.58809501 -0.26940000 0.13901301
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+v 0.59073597 -0.26947200 0.13972101
+v 0.59105098 -0.27028599 0.13977100
+v 0.59270298 -0.26956299 0.14072600
+v 0.59305298 -0.27034900 0.14076699
+v 0.59390098 -0.26965901 0.14211100
+v 0.59426397 -0.27041799 0.14214700
+v 0.59426999 -0.26970699 0.14405701
+v 0.59463698 -0.27045301 0.14402699
+v 0.59384900 -0.26963002 0.14690900
+v 0.59420299 -0.27036500 0.14683899
+v 0.59265298 -0.26930401 0.15034901
+v 0.59295899 -0.27004299 0.15045200
+v 0.59077501 -0.26897001 0.15393899
+v 0.59100902 -0.26966900 0.15415099
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+v 0.57899100 -0.26766300 0.16249800
+v 0.57540000 -0.26753199 0.16280000
+v 0.57198602 -0.26717600 0.16127101
+v 0.57176697 -0.26772401 0.16235800
+v 0.57540000 -0.26753199 0.16280000
+v 0.57544601 -0.26695901 0.16169401
+v 0.57544601 -0.26695901 0.16169401
+v 0.56865501 -0.26765499 0.16024800
+v 0.56826198 -0.26814899 0.16130701
+v 0.56555498 -0.26813301 0.15874900
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+v 0.55853200 -0.26870701 0.15166099
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+v 0.55859602 -0.26830199 0.14039101
+v 0.56048602 -0.26800001 0.13902199
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+
diff --git a/data/UPB_00001611/meta_data.json b/data/UPB_00001611/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..caa18426cfcc5a083db3abe6c9813b928aa34e36
--- /dev/null
+++ b/data/UPB_00001611/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001611",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Desk with Three-Drawer Side Cabinet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 5,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001611/model.urdf b/data/UPB_00001611/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b95ffaa569bd355a7f236646322a23d4ecc478aa
--- /dev/null
+++ b/data/UPB_00001611/model.urdf
@@ -0,0 +1,113 @@
+<?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="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.878765 0.878765 0.878765"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.878765 0.878765 0.878765"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.878765 0.878765 0.878765"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.878765 0.878765 0.878765"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.878765 0.878765 0.878765"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.878765 0.878765 0.878765"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.878765 0.878765 0.878765"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.878765 0.878765 0.878765"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.878765 0.878765 0.878765"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.878765 0.878765 0.878765"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="prismatic">
+    <parent link="link_4"/>
+    <child link="helper_link_0"/>
+    <origin xyz="0.504409 -0.221707 0.132781" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.26362965427233187" upper="0.0"/>
+  </joint>
+  <joint name="joint_1" type="fixed">
+    <parent link="helper_link_0"/>
+    <child link="link_1"/>
+    <origin xyz="-0.504409 0.221707 -0.132781" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="prismatic">
+    <parent link="link_4"/>
+    <child link="helper_link_1"/>
+    <origin xyz="0.504409 -0.221707 -0.026173" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.26362965427233187" upper="0.0"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.504409 0.221707 0.026173" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="prismatic">
+    <parent link="link_4"/>
+    <child link="helper_link_2"/>
+    <origin xyz="0.504409 -0.221707 -0.185199" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit lower="-0.26362965427233187" upper="0.0"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.504409 0.221707 0.185199" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/UPB_00001611/parts/1.mtl b/data/UPB_00001611/parts/1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac4f99c16b267125ff580d96a2f81df2b30079fc
--- /dev/null
+++ b/data/UPB_00001611/parts/1.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 1.png
diff --git a/data/UPB_00001611/parts/1.png b/data/UPB_00001611/parts/1.png
new file mode 100644
index 0000000000000000000000000000000000000000..ada5c282c5d0248f6f12e315feb020782762a17f
--- /dev/null
+++ b/data/UPB_00001611/parts/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fd0930304ff275c772467f9d89306b7c32a17b100d25ca5607d0d763b2730e3
+size 96
diff --git a/data/UPB_00001611/parts/2.mtl b/data/UPB_00001611/parts/2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..57a1c04a7f3f0f8866abca464506627fead239e6
--- /dev/null
+++ b/data/UPB_00001611/parts/2.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 2.png
diff --git a/data/UPB_00001611/parts/2.png b/data/UPB_00001611/parts/2.png
new file mode 100644
index 0000000000000000000000000000000000000000..ada5c282c5d0248f6f12e315feb020782762a17f
--- /dev/null
+++ b/data/UPB_00001611/parts/2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fd0930304ff275c772467f9d89306b7c32a17b100d25ca5607d0d763b2730e3
+size 96
diff --git a/data/UPB_00001611/parts/3.mtl b/data/UPB_00001611/parts/3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f1811c7dbfb695f993b629aa8fa52a2d2fc419b1
--- /dev/null
+++ b/data/UPB_00001611/parts/3.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd 3.png