diff --git a/.gitattributes b/.gitattributes
index c4b0224103218bd45f10109b7362904a01c01fcb..ca34d34a1b35ebfe4dd82f973e1f62c6077bc545 100644
--- a/.gitattributes
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@@ -9981,3 +9981,21 @@ data/UPB_00001441/plys/7.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001441/plys/8.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001441/plys/9.ply filter=lfs diff=lfs merge=lfs -text
 data/UPB_00001441/plys/model.ply filter=lfs diff=lfs merge=lfs -text
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+version https://git-lfs.github.com/spec/v1
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index 0000000000000000000000000000000000000000..09452450b9e8e9282ad1a92706e3e1f6ac239875
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+
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diff --git a/data/UPB_00001442/parts/part_2.obj b/data/UPB_00001442/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b83598c979083dd7ea602390561caa4ba21439d8
--- /dev/null
+++ b/data/UPB_00001442/parts/part_2.obj
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diff --git a/data/UPB_00001442/parts/part_3.obj b/data/UPB_00001442/parts/part_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13f5d4c3b4055f18289926f01ce4172774345d0b
--- /dev/null
+++ b/data/UPB_00001442/parts/part_3.obj
@@ -0,0 +1,11056 @@
+# https://github.com/mikedh/trimesh
+mtllib 3.mtl
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diff --git a/data/UPB_00001442/parts/part_4.obj b/data/UPB_00001442/parts/part_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f182fa85506df6313a4fc5ffa79c4d7004ec732
--- /dev/null
+++ b/data/UPB_00001442/parts/part_4.obj
@@ -0,0 +1,11056 @@
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diff --git a/data/UPB_00001442/parts/part_5.obj b/data/UPB_00001442/parts/part_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f58e46b96c85802e0859844dd989cd358f3e3f1
--- /dev/null
+++ b/data/UPB_00001442/parts/part_5.obj
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diff --git a/data/UPB_00001442/parts/wardrobe_Z6ITKZJVAJRAAPTUKA888888_REZqr.mtl b/data/UPB_00001442/parts/wardrobe_Z6ITKZJVAJRAAPTUKA888888_REZqr.mtl
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--- /dev/null
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+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v5.4.0)
+
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/UPB_00001443/annotations/object.json b/data/UPB_00001443/annotations/object.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb800cd0b5dfc42aaebf5c21426676213ee8d0f1
--- /dev/null
+++ b/data/UPB_00001443/annotations/object.json
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+{
+    "object_name": "Segmented Front Cabinet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        80.0,
+        40.0,
+        120.0
+    ],
+    "mass": 32.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001443/annotations/part_1.json b/data/UPB_00001443/annotations/part_1.json
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+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001443",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Front Panel Segment 1 (far left)",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Tall narrow MDF laminate board, approx 10*1.5*116 cm, forming the far-left vertical front strip of the cabinet.",
+        "functional_description": "Decorative/covering segment of the cabinet\u2019s front face; helps protect and finish the fa\u00e7ade.",
+        "movement_description": "Rigidly fixed to the cabinet body with glue and dowels; no relative motion.",
+        "grasp_description": "Can be touched or used as a surface to push the cabinet during repositioning, but not intended as a handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate_Oak",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.52
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.9146162271499634,
+                    -0.2785067856311798,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.7453292519943295
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001443/annotations/part_10.json b/data/UPB_00001443/annotations/part_10.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6205f07bab4a21c4f2c058f2c71267a2d08a2ae
--- /dev/null
+++ b/data/UPB_00001443/annotations/part_10.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001443",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Front Corner Edge Trim",
+        "affordance": 7,
+        "graspable": true,
+        "basic_description": "Slim L-shaped aluminum corner guard running along the front edge; approx 118*3*3 cm leg lengths.",
+        "functional_description": "Protects the exposed front corner from impacts and wear; also provides a crisp visual edge.",
+        "movement_description": "Rigidly fixed to the cabinet body with screws/adhesive; no motion.",
+        "grasp_description": "Can be held as a sturdy edge when repositioning; not a handle."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_6061_Extrusion",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001443/annotations/part_11.json b/data/UPB_00001443/annotations/part_11.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfed3be650895069242bf69472a991e727d99fee
--- /dev/null
+++ b/data/UPB_00001443/annotations/part_11.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001443",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Main Cabinet Body (Carcass)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Primary MDF-laminate cabinet carcass (top, bottom, internal back, and structural frame), approx 80*40*120 cm overall.",
+        "functional_description": "Houses and supports all attached panels and trim; provides storage volume and structural integrity.",
+        "movement_description": "Stationary structure; all other parts are rigidly fixed to it.",
+        "grasp_description": "Users grasp the sides, top edges, or bottom to carry or reposition the cabinet; surfaces are smooth wood laminate."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate_Oak",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001443/annotations/part_2.json b/data/UPB_00001443/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..3734aa7e8690ed7e26edd87eae8a2f3ac0c07183
--- /dev/null
+++ b/data/UPB_00001443/annotations/part_2.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001443",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Front Panel Segment 2",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Front vertical MDF-laminate strip, approx 10*1.5*116 cm.",
+        "functional_description": "Acts as part of the decorative front cladding, distributing light impacts and hiding joints.",
+        "movement_description": "Rigidly attached to the main carcass; no motion.",
+        "grasp_description": "Occasionally touched; not a dedicated handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate_Oak",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.52
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    -0.003001993056386709,
+                    -0.2785067856311798,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001443/annotations/part_3.json b/data/UPB_00001443/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..68c482de9bf86711a96430789d5e5c7b68092270
--- /dev/null
+++ b/data/UPB_00001443/annotations/part_3.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001443",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Front Panel Segment 3",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Narrow laminated wood strip, approx 10*1.5*116 cm, located left-center on the fa\u00e7ade.",
+        "functional_description": "Completes the segmented front appearance and provides minor surface protection.",
+        "movement_description": "Rigidly secured to the body with fasteners/adhesive.",
+        "grasp_description": "Touchable surface when moving or cleaning the cabinet."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate_Oak",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.52
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                3
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    0.003919872920960188,
+                    -0.2785067856311798,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001443/annotations/part_4.json b/data/UPB_00001443/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..d056d2b44f77c5998960ba929fe98783c8e48363
--- /dev/null
+++ b/data/UPB_00001443/annotations/part_4.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001443",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Front Panel Segment 4",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Vertical MDF laminate front strip, mid-left position, approx 10*1.5*116 cm.",
+        "functional_description": "Front cladding segment improving stiffness and appearance.",
+        "movement_description": "Rigid joint to the main carcass; no relative movement.",
+        "grasp_description": "Surface may be used to steady the hand; not a handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate_Oak",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.52
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                4
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.91159588098526,
+                    -0.2785067856311798,
+                    -1.5409444387159965e-08
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001443/annotations/part_5.json b/data/UPB_00001443/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..84a60662924d598c7a07a1e28d3effe2eaffbe57
--- /dev/null
+++ b/data/UPB_00001443/annotations/part_5.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001443",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Front Panel Segment 5",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Central front laminated panel strip, approx 10*1.5*116 cm.",
+        "functional_description": "Part of the segmented decorative fa\u00e7ade; also guards the inner panel joints.",
+        "movement_description": "Rigidly bonded and pinned to the cabinet body.",
+        "grasp_description": "Touchable during cleaning or when shifting the unit."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate_Oak",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                5
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    0.9108636379241943,
+                    0.2812871038913727,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001443/annotations/part_6.json b/data/UPB_00001443/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5be303ac8c179d058daebb378d4f6803d4f8552
--- /dev/null
+++ b/data/UPB_00001443/annotations/part_6.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001443",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Front Panel Segment 6",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Right-center vertical fa\u00e7ade strip, approx 10*1.5*116 cm.",
+        "functional_description": "Completes the front segmentation and contributes minor front rigidity.",
+        "movement_description": "No motion; rigid connection to carcass.",
+        "grasp_description": "May be touched but is not a purposeful handle."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate_Oak",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                6
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.00588134303689003,
+                    0.2812871038913727,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001443/annotations/part_7.json b/data/UPB_00001443/annotations/part_7.json
new file mode 100644
index 0000000000000000000000000000000000000000..1daa80308c6ae8de2230122b7595bd3404bc8463
--- /dev/null
+++ b/data/UPB_00001443/annotations/part_7.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001443",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Front Panel Segment 7",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Near-right laminated front strip, approx 10*1.5*116 cm.",
+        "functional_description": "Front cladding; protects edges of adjacent panels.",
+        "movement_description": "Rigidly fixed; no motion.",
+        "grasp_description": "Only incidental contact expected."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate_Oak",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                7
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.00491593312472105,
+                    0.2812871038913727,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001443/annotations/part_8.json b/data/UPB_00001443/annotations/part_8.json
new file mode 100644
index 0000000000000000000000000000000000000000..71e6ebc0475eaac366f000a94dd2f56b86886244
--- /dev/null
+++ b/data/UPB_00001443/annotations/part_8.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001443",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Front Panel Segment 8 (far right)",
+        "affordance": 6,
+        "graspable": true,
+        "basic_description": "Far-right vertical fa\u00e7ade strip, approx 10*1.5*116 cm.",
+        "functional_description": "Edge segment finishing the right side of the front panel assembly.",
+        "movement_description": "Rigid with the main cabinet body.",
+        "grasp_description": "Edge area can be held when repositioning the unit."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate_Oak",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.5
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                8
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    -0.9140281081199646,
+                    0.2812871038913727,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001443/annotations/part_9.json b/data/UPB_00001443/annotations/part_9.json
new file mode 100644
index 0000000000000000000000000000000000000000..1220efbec1018c2adcc74e2667ff5537c752e161
--- /dev/null
+++ b/data/UPB_00001443/annotations/part_9.json
@@ -0,0 +1,51 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001443",
+        "label": "9"
+    },
+    "part_level": {
+        "part_name": "Left Side Panel",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Full-height MDF laminated side wall panel with a beveled lower front edge; approx 120*40*1.5 cm.",
+        "functional_description": "Provides structural support, resisting racking and enclosing the cabinet.",
+        "movement_description": "Rigidly fastened (screws/dowels) to the carcass and other panels.",
+        "grasp_description": "Commonly grasped at the side edges when lifting or moving the cabinet."
+    },
+    "basic_info": {
+        "material": "wood/MDF_Laminate_Oak",
+        "density": 0.75,
+        "young": 3.5,
+        "hardness": 25,
+        "poisson": 0.3,
+        "friction": 0.48
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                9
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    -0.9135352969169617,
+                    -0.264295369386673,
+                    3.1268982070287166e-08
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.03
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001443/full_model/material.mtl b/data/UPB_00001443/full_model/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/data/UPB_00001443/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_00001443/full_model/material_0.png b/data/UPB_00001443/full_model/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f84591aec8300e335f6340547da1176bca3554f
--- /dev/null
+++ b/data/UPB_00001443/full_model/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90a400cb34e79653bdce52c1b89100208b094d050596d421a4938d2c2e2b8986
+size 334701
diff --git a/data/UPB_00001443/full_model/model.obj b/data/UPB_00001443/full_model/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27111213e4e2c5a153fd87fcdc37611d6c3e6687
--- /dev/null
+++ b/data/UPB_00001443/full_model/model.obj
@@ -0,0 +1,17392 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.91475099 -0.29785800 1.21500003
+v -0.91452801 -0.29847801 1.21598995
+v -0.91452801 -0.29785800 1.21610999
+v -0.91275102 -0.29785800 -1.21700001
+v -0.91373801 -0.29847601 -1.21677995
+v -0.91386199 -0.29785800 -1.21677995
+v -0.46025100 -0.29785800 -1.21500003
+v -0.46047300 -0.29847801 -1.21598995
+v -0.46047300 -0.29785800 -1.21610999
+v -0.46225101 -0.29785800 1.21700001
+v -0.46126300 -0.29847500 1.21677995
+v -0.46114001 -0.29785800 1.21677995
+v -0.91452801 -0.28074700 1.21500003
+v -0.91386199 -0.28007999 1.21500003
+v -0.91386199 -0.28008100 -1.21500003
+v -0.91386199 -0.28007999 1.21500003
+v -0.91452801 -0.28074700 1.21500003
+v -0.91452801 -0.28086999 1.21562004
+v -0.91275102 -0.27985799 -1.21500003
+v -0.91386199 -0.28008100 -1.21500003
+v -0.91275102 -0.27985799 1.21500003
+v -0.46225101 -0.28007999 1.21610999
+v -0.46225101 -0.28074700 1.21677995
+v -0.46163300 -0.28086999 1.21677995
+v -0.46225101 -0.27985799 1.21500003
+v -0.91275102 -0.28007999 1.21610999
+v -0.46114001 -0.28007999 -1.21500003
+v -0.46225101 -0.27985799 -1.21500003
+v -0.46114001 -0.28007999 1.21500003
+v -0.46225101 -0.28007999 -1.21610999
+v -0.91275102 -0.28008100 -1.21610999
+v -0.91275102 -0.29964000 1.21610999
+v -0.91275102 -0.29985800 1.21500003
+v -0.46225101 -0.29985800 1.21500003
+v -0.46225101 -0.29963601 1.21610999
+v -0.91386199 -0.29963601 -1.21500003
+v -0.91275102 -0.29985800 -1.21500003
+v -0.91386199 -0.29963601 1.21500003
+v -0.46225101 -0.29964000 -1.21610999
+v -0.46225101 -0.29985800 -1.21500003
+v -0.91275102 -0.29963601 -1.21610999
+v -0.46114001 -0.29963601 1.21500003
+v -0.46114001 -0.29963601 -1.21500003
+v -0.91452801 -0.29785800 -1.21610999
+v -0.91386199 -0.29785800 -1.21677995
+v -0.91373801 -0.29847601 -1.21677995
+v -0.91475099 -0.29785800 -1.21500003
+v -0.91475099 -0.28185800 -1.21500003
+v -0.91452801 -0.28185800 -1.21610999
+v -0.91452801 -0.28185800 1.21610999
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diff --git a/data/UPB_00001443/meta_data.json b/data/UPB_00001443/meta_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbf9a881b609d7c3e4c4bee7743f7b9e15033746
--- /dev/null
+++ b/data/UPB_00001443/meta_data.json
@@ -0,0 +1,22 @@
+{
+    "id": "UPB_00001443",
+    "source": [
+        {
+            "dataset": "UniPhys-Bench",
+            "organization": "Manycore Tech Inc.",
+            "license_ref": "UniPhys-Bench"
+        }
+    ],
+    "object": {
+        "category": "Furniture/StorageFurniture",
+        "object_name": "Segmented Front Cabinet"
+    },
+    "geometry": {
+        "asset_type": "decomposed_parts",
+        "num_parts": 11,
+        "format": "obj"
+    },
+    "annotation": {
+        "version": "v1.0"
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001443/model.urdf b/data/UPB_00001443/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ae20f366a29b920da67999c001b4fddaa365d4e9
--- /dev/null
+++ b/data/UPB_00001443/model.urdf
@@ -0,0 +1,263 @@
+<?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="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_1.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_2.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_3.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_4.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_5.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_6.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_7.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_8.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_9.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_10">
+    <visual>
+      <geometry>
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+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
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+      </geometry>
+    </collision>
+  </link>
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+    <visual>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="parts/part_11.obj" scale="0.491803 0.491803 0.491803"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <parent link="base_link"/>
+    <child link="helper_link_0"/>
+    <origin xyz="-0.449811 -0.136971 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.7453292519943295"/>
+  </joint>
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+    <child link="link_1"/>
+    <origin xyz="0.449811 0.136971 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <parent link="base_link"/>
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+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_3" type="fixed">
+    <parent link="helper_link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0.001476 0.136971 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <parent link="base_link"/>
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+    <origin xyz="0.001928 -0.136971 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_5" type="fixed">
+    <parent link="helper_link_2"/>
+    <child link="link_3"/>
+    <origin xyz="-0.001928 0.136971 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_6" type="revolute">
+    <parent link="base_link"/>
+    <child link="helper_link_3"/>
+    <origin xyz="0.448326 -0.136971 -0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_7" type="fixed">
+    <parent link="helper_link_3"/>
+    <child link="link_4"/>
+    <origin xyz="-0.448326 0.136971 0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_8" type="revolute">
+    <parent link="base_link"/>
+    <child link="helper_link_4"/>
+    <origin xyz="0.447966 0.138338 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_9" type="fixed">
+    <parent link="helper_link_4"/>
+    <child link="link_5"/>
+    <origin xyz="-0.447966 -0.138338 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_10" type="revolute">
+    <parent link="base_link"/>
+    <child link="helper_link_5"/>
+    <origin xyz="0.002892 0.138338 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_11" type="fixed">
+    <parent link="helper_link_5"/>
+    <child link="link_6"/>
+    <origin xyz="-0.002892 -0.138338 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_12" type="revolute">
+    <parent link="base_link"/>
+    <child link="helper_link_6"/>
+    <origin xyz="-0.002418 0.138338 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_13" type="fixed">
+    <parent link="helper_link_6"/>
+    <child link="link_7"/>
+    <origin xyz="0.002418 -0.138338 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_14" type="revolute">
+    <parent link="base_link"/>
+    <child link="helper_link_7"/>
+    <origin xyz="-0.449522 0.138338 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_15" type="fixed">
+    <parent link="helper_link_7"/>
+    <child link="link_8"/>
+    <origin xyz="0.449522 -0.138338 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_16" type="revolute">
+    <parent link="base_link"/>
+    <child link="helper_link_8"/>
+    <origin xyz="-0.449280 -0.129981 0.000000" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit lower="0.0" upper="1.9198621771937625"/>
+  </joint>
+  <joint name="joint_17" type="fixed">
+    <parent link="helper_link_8"/>
+    <child link="link_9"/>
+    <origin xyz="0.449280 0.129981 -0.000000" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_18" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="joint_19" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
\ No newline at end of file
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diff --git a/data/UPB_00001443/parts/part_2.obj b/data/UPB_00001443/parts/part_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..550afc1cc2492e04ebefd9eaa37266935746ec26
--- /dev/null
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diff --git a/data/UPB_00001443/parts/part_3.obj b/data/UPB_00001443/parts/part_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4b0c1281019c4c74c34b486419499665deeecdb
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diff --git a/data/UPB_00001443/parts/part_4.obj b/data/UPB_00001443/parts/part_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd96dc08aebf62bf135eec4f948c66eb68e811ce
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diff --git a/data/UPB_00001443/parts/part_5.obj b/data/UPB_00001443/parts/part_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03dd532f3a7459a2f3c8cbd2e593fcac24be5c71
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diff --git a/data/UPB_00001443/parts/part_6.obj b/data/UPB_00001443/parts/part_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75ba12f03f95736686ad90373c48bd96e8ef00b0
--- /dev/null
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diff --git a/data/UPB_00001443/parts/part_7.obj b/data/UPB_00001443/parts/part_7.obj
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index 0000000000000000000000000000000000000000..8102f093d310956a6cd5669b6f109261b474b63b
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diff --git a/data/UPB_00001443/parts/part_8.obj b/data/UPB_00001443/parts/part_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79093e275c40a2ce9edeae34a1009c12c17012fe
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diff --git a/data/UPB_00001443/parts/wardrobe_Z6TSW5JVAIBHSPTULU888888_vCpdo.mtl b/data/UPB_00001443/parts/wardrobe_Z6TSW5JVAIBHSPTULU888888_vCpdo.mtl
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diff --git a/data/UPB_00001443/plys/model.ply b/data/UPB_00001443/plys/model.ply
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diff --git a/data/UPB_00001444/annotations/object.json b/data/UPB_00001444/annotations/object.json
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index 0000000000000000000000000000000000000000..8bb87284adbc5c1c5e0d17bce14b89c90415c681
--- /dev/null
+++ b/data/UPB_00001444/annotations/object.json
@@ -0,0 +1,10 @@
+{
+    "object_name": "Six-door Wardrobe Closet",
+    "category": "Furniture/StorageFurniture",
+    "volume": [
+        180.0,
+        60.0,
+        210.0
+    ],
+    "mass": 110.0
+}
\ No newline at end of file
diff --git a/data/UPB_00001444/annotations/part_1.json b/data/UPB_00001444/annotations/part_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..a416741a67d1e05fcd3711cfea9dfb950879873b
--- /dev/null
+++ b/data/UPB_00001444/annotations/part_1.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001444",
+        "label": "1"
+    },
+    "part_level": {
+        "part_name": "Door Panel A (far left)",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Leftmost wardrobe door panel made of melamine-faced particle board, approximately 30*2*200 cm.",
+        "functional_description": "Covers the left compartment and provides access when opened.",
+        "movement_description": "Rotates about a vertical hinge axis relative to the cabinet body (soft-close hinges assumed).",
+        "grasp_description": "Users pull the attached handle rather than the panel edge."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Melamine",
+        "density": 0.65,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                1,
+                7
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -1.3676834106445312,
+                    -0.2738085687160492,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001444/annotations/part_10.json b/data/UPB_00001444/annotations/part_10.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef0246b0c0152cb6e4494caaa020a130f6fa2df9
--- /dev/null
+++ b/data/UPB_00001444/annotations/part_10.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001444",
+        "label": "10"
+    },
+    "part_level": {
+        "part_name": "Vertical Handle D (for Door D)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Stainless vertical handle, ~40 cm length.",
+        "functional_description": "User interface for Door D.",
+        "movement_description": "Rigidly attached to Door D.",
+        "grasp_description": "One-hand pull to swing door."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.3,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001444/annotations/part_11.json b/data/UPB_00001444/annotations/part_11.json
new file mode 100644
index 0000000000000000000000000000000000000000..353a9a69ebbce020e68552de80deb8b9a42e1002
--- /dev/null
+++ b/data/UPB_00001444/annotations/part_11.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001444",
+        "label": "11"
+    },
+    "part_level": {
+        "part_name": "Vertical Handle E (for Door E)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Stainless steel pull handle, ~40 cm long.",
+        "functional_description": "Primary grasping feature for Door E.",
+        "movement_description": "Fixed to the door with bolts.",
+        "grasp_description": "Comfortable cylindrical grip."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.3,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001444/annotations/part_12.json b/data/UPB_00001444/annotations/part_12.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4e2aa21ff9ba51f188117aba242d3f84bfbb2d0
--- /dev/null
+++ b/data/UPB_00001444/annotations/part_12.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001444",
+        "label": "12"
+    },
+    "part_level": {
+        "part_name": "Vertical Handle F (for Door F)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Stainless handle, ~40 cm.",
+        "functional_description": "Used to open the far-right door.",
+        "movement_description": "No relative motion; bolted through door.",
+        "grasp_description": "Standard handle grasp."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.3,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001444/annotations/part_16.json b/data/UPB_00001444/annotations/part_16.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f0b50e8a3bdcdcf825fa3e872871991d3fba5f5
--- /dev/null
+++ b/data/UPB_00001444/annotations/part_16.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001444",
+        "label": "16"
+    },
+    "part_level": {
+        "part_name": "Hanging Rail Set A (short rods)",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Set of hanging rods (3 pieces, each ~60-70 cm long, 2.5 cm diameter) for smaller bays.",
+        "functional_description": "Carry hangers for shirts and light garments.",
+        "movement_description": "Rigidly supported by brackets on the cabinet.",
+        "grasp_description": "Occasionally grasped when placing or removing hangers."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001444/annotations/part_19.json b/data/UPB_00001444/annotations/part_19.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f39c75daa37af9367e5c897f374a10b238fbe47
--- /dev/null
+++ b/data/UPB_00001444/annotations/part_19.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001444",
+        "label": "19"
+    },
+    "part_level": {
+        "part_name": "Cabinet Body (carcass, shelves, back)",
+        "affordance": 10,
+        "graspable": false,
+        "basic_description": "Main wardrobe carcass with side panels, fixed shelves, dividers and a full back panel; melamine-faced particle board. Overall about 180*60*210 cm.",
+        "functional_description": "Provides structure and storage compartments for hanging and folded clothes, shoes and accessories.",
+        "movement_description": "Rigid reference frame for all doors and internal hardware.",
+        "grasp_description": "Not typically grasped except when moving the furniture."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Melamine",
+        "density": 0.65,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001444/annotations/part_2.json b/data/UPB_00001444/annotations/part_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d86ebbc18d5814f38b155a0aa00540cdfd459b08
--- /dev/null
+++ b/data/UPB_00001444/annotations/part_2.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001444",
+        "label": "2"
+    },
+    "part_level": {
+        "part_name": "Door Panel B",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Second door from the left, melamine particle board, about 30*2*200 cm.",
+        "functional_description": "Covers the adjacent compartment and opens for access.",
+        "movement_description": "Vertical-axis hinged rotation relative to the main body.",
+        "grasp_description": "Pulled via its handle."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Melamine",
+        "density": 0.65,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                2,
+                8
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    -0.47532105445861816,
+                    -0.2738085687160492,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001444/annotations/part_22.json b/data/UPB_00001444/annotations/part_22.json
new file mode 100644
index 0000000000000000000000000000000000000000..230dca8e66e029d03e9c65a529a68db4e916b3cf
--- /dev/null
+++ b/data/UPB_00001444/annotations/part_22.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001444",
+        "label": "22"
+    },
+    "part_level": {
+        "part_name": "Hanging Rail Set B (medium rods)",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Set of hanging rails (3 pieces, each ~80-90 cm long, 2.5 cm diameter).",
+        "functional_description": "Supports hangers for jackets and trousers.",
+        "movement_description": "Rigidly supported by brackets fixed to side panels.",
+        "grasp_description": "Touched when sliding hangers or steadying during loading."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001444/annotations/part_24.json b/data/UPB_00001444/annotations/part_24.json
new file mode 100644
index 0000000000000000000000000000000000000000..056fd692f7596472273aaa98c45a8c0ac5883f16
--- /dev/null
+++ b/data/UPB_00001444/annotations/part_24.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001444",
+        "label": "24"
+    },
+    "part_level": {
+        "part_name": "Hanging Rail Set C (long rods)",
+        "affordance": 5,
+        "graspable": true,
+        "basic_description": "Longest hanging rail set (3 long + 1 short; typical long pieces ~100-110 cm length, 2.5 cm diameter).",
+        "functional_description": "For long garments and bulk hanging zones.",
+        "movement_description": "Rigidly attached to the body through brackets.",
+        "grasp_description": "Users may stead the rod while moving hangers."
+    },
+    "basic_info": {
+        "material": "metal/Aluminum_Alloy_6061",
+        "density": 2.7,
+        "young": 69.0,
+        "hardness": 95,
+        "poisson": 0.33,
+        "friction": 0.35
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001444/annotations/part_3.json b/data/UPB_00001444/annotations/part_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..980aa54ef2732b9e335f9f47aa56843b34b38a6c
--- /dev/null
+++ b/data/UPB_00001444/annotations/part_3.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001444",
+        "label": "3"
+    },
+    "part_level": {
+        "part_name": "Door Panel C",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Third door from the left, melamine-faced particle board, approx. 30*2*200 cm.",
+        "functional_description": "Covers a middle storage bay.",
+        "movement_description": "Opens by rotating about a vertical hinge line on the cabinet.",
+        "grasp_description": "Usually not grasped directly\u2014use the handle."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Melamine",
+        "density": 0.65,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                3,
+                9
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    -0.42120543122291565,
+                    -0.2738085687160492,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001444/annotations/part_4.json b/data/UPB_00001444/annotations/part_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..36b4edccb8d69a9bfec33b68940b7e124898eb6c
--- /dev/null
+++ b/data/UPB_00001444/annotations/part_4.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001444",
+        "label": "4"
+    },
+    "part_level": {
+        "part_name": "Door Panel D",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Fourth door from the left, melamine particle board, ~30*2*200 cm.",
+        "functional_description": "Provides closure and access for the right-middle bay.",
+        "movement_description": "Hinged rotation relative to the cabinet body.",
+        "grasp_description": "Pulled by its handle."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Melamine",
+        "density": 0.65,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                4,
+                10
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    0.4702421724796295,
+                    -0.2738085687160492,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001444/annotations/part_5.json b/data/UPB_00001444/annotations/part_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..52232d2f0d49745102fe5e0e8c881d94c5361066
--- /dev/null
+++ b/data/UPB_00001444/annotations/part_5.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001444",
+        "label": "5"
+    },
+    "part_level": {
+        "part_name": "Door Panel E",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Fifth door, melamine particle board, about 30*2*200 cm.",
+        "functional_description": "Covers a tall compartment near the right side.",
+        "movement_description": "Swings open on concealed hinges fixed to the body.",
+        "grasp_description": "Handle is grasped rather than the edge."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Melamine",
+        "density": 0.65,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                5,
+                11
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    -1.0
+                ],
+                "pos": [
+                    0.47574493288993835,
+                    -0.2738085687160492,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001444/annotations/part_6.json b/data/UPB_00001444/annotations/part_6.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e07a6f1da2b8020987432e98d5fc55e787451ff
--- /dev/null
+++ b/data/UPB_00001444/annotations/part_6.json
@@ -0,0 +1,52 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001444",
+        "label": "6"
+    },
+    "part_level": {
+        "part_name": "Door Panel F (far right)",
+        "affordance": 2,
+        "graspable": false,
+        "basic_description": "Rightmost door panel, melamine particle board, approx. 30*2*200 cm.",
+        "functional_description": "Closes the far-right storage bay.",
+        "movement_description": "Rotates about a vertical axis on the cabinet.",
+        "grasp_description": "Operated using the attached handle."
+    },
+    "basic_info": {
+        "material": "wood/Particle_Board_Melamine",
+        "density": 0.65,
+        "young": 3.0,
+        "hardness": 20,
+        "poisson": 0.35,
+        "friction": 0.45
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "C"
+        ],
+        "motion_info": {
+            "dependency": [
+                6,
+                12
+            ],
+            "C": {
+                "axis": [
+                    0.0,
+                    0.0,
+                    1.0
+                ],
+                "pos": [
+                    1.3675689697265625,
+                    -0.2738085687160492,
+                    0.0
+                ],
+                "range": [
+                    0.0,
+                    1.9198621771937625
+                ],
+                "damping": 0.05
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001444/annotations/part_7.json b/data/UPB_00001444/annotations/part_7.json
new file mode 100644
index 0000000000000000000000000000000000000000..28c5887a8e4428e3fb2f5ad90b43d007b678a215
--- /dev/null
+++ b/data/UPB_00001444/annotations/part_7.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001444",
+        "label": "7"
+    },
+    "part_level": {
+        "part_name": "Vertical Handle A (for Door A)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Stainless steel bar handle ~40 cm long, 1.5 cm diameter, brushed finish.",
+        "functional_description": "Provides a robust grip for opening Door A.",
+        "movement_description": "Rigidly fixed to Door A with screws from the back.",
+        "grasp_description": "Common pinch or power grip with one hand."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.3,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file
diff --git a/data/UPB_00001444/annotations/part_8.json b/data/UPB_00001444/annotations/part_8.json
new file mode 100644
index 0000000000000000000000000000000000000000..d17965efa8cadab39bad3d3c50ed9066320240dd
--- /dev/null
+++ b/data/UPB_00001444/annotations/part_8.json
@@ -0,0 +1,30 @@
+{
+    "index": {
+        "type_name": "default",
+        "entity": "UPB_00001444",
+        "label": "8"
+    },
+    "part_level": {
+        "part_name": "Vertical Handle B (for Door B)",
+        "affordance": 1,
+        "graspable": true,
+        "basic_description": "Stainless steel vertical pull handle, ~40 cm long.",
+        "functional_description": "Grip point for opening Door B.",
+        "movement_description": "Bolted through the door; no relative motion.",
+        "grasp_description": "Comfortably grabbed by adult hand."
+    },
+    "basic_info": {
+        "material": "metal/Stainless_Steel_304",
+        "density": 7.9,
+        "young": 200.0,
+        "hardness": 200,
+        "poisson": 0.3,
+        "friction": 0.3
+    },
+    "kinematic_info": {
+        "motion_types": [
+            "D"
+        ],
+        "motion_info": {}
+    }
+}
\ No newline at end of file