diff --git a/assets/urdf/Kettle/101305/bounding_box.json b/assets/urdf/Kettle/101305/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf3c5940f2d53473854cc397e4fbfb57c37f57f3
--- /dev/null
+++ b/assets/urdf/Kettle/101305/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.557643, -0.368836, -0.850167], "max": [0.584201, 0.525641, 0.986247]}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/101305/grasp_poses.json b/assets/urdf/Kettle/101305/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b4150cd44f96cdf418de88d9e476e25bd4669ec
--- /dev/null
+++ b/assets/urdf/Kettle/101305/grasp_poses.json
@@ -0,0 +1,70 @@
+{
+    "object_name": "101305",
+    "scale": 0.2,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.5,
+                        0.0,
+                        -0.8660200238227844,
+                        0.8069599866867065
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        0.8660200238227844,
+                        0.0,
+                        -0.5,
+                        0.10638999938964844
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        -0.08715999871492386,
+                        0.0,
+                        -0.9961900115013123,
+                        0.7124500274658203
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        0.9961900115013123,
+                        0.0,
+                        -0.08715999871492386,
+                        -0.10216999799013138
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/101305/meta.json b/assets/urdf/Kettle/101305/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..987ac314dea3d7262984be5e488b40a2c756c897
--- /dev/null
+++ b/assets/urdf/Kettle/101305/meta.json
@@ -0,0 +1 @@
+{"user_id": "haozhu", "model_cat": "Kettle", "model_id": "13961f08fe5b4c549ef60e9225cbea3a", "version": "1", "anno_id": "1305", "time_in_sec": "15"}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/101305/mobility.urdf b/assets/urdf/Kettle/101305/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f4ef0c950e792f567bb781f6355f530c851d944d
--- /dev/null
+++ b/assets/urdf/Kettle/101305/mobility.urdf
@@ -0,0 +1,68 @@
+<?xml version="1.0" ?>
+<robot name="partnet_13961f08fe5b4c549ef60e9225cbea3a">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.03200000000000003"/>
+	</joint>
+	<link name="link_1">
+		<visual name="handle-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Kettle/101305/mobility_v2.json b/assets/urdf/Kettle/101305/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..57aac6f6c4e611254b412e3639894e15bfde0ce6
--- /dev/null
+++ b/assets/urdf/Kettle/101305/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":1,"name":"lid"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.03200000000000003,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":2,"name":"handle"},{"id":3,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/101305/model_data.json b/assets/urdf/Kettle/101305/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..37633b480a4351c317760c3f4a775420b5f6625f
--- /dev/null
+++ b/assets/urdf/Kettle/101305/model_data.json
@@ -0,0 +1,96 @@
+{
+    "scale": 0.2,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "init_qpos": [],
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.5,
+                        0.0,
+                        -0.8660200238227844,
+                        0.8069599866867065
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        0.8660200238227844,
+                        0.0,
+                        -0.5,
+                        0.10638999938964844
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        -0.08715999871492386,
+                        0.0,
+                        -0.9961900115013123,
+                        0.7124500274658203
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        0.9961900115013123,
+                        0.0,
+                        -0.08715999871492386,
+                        -0.10216999799013138
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/101305/result.json b/assets/urdf/Kettle/101305/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..04466c019f8236ae7f77a7fa379293ac9a6138af
--- /dev/null
+++ b/assets/urdf/Kettle/101305/result.json
@@ -0,0 +1 @@
+[{"text": "Kettle", "name": "Kettle", "id": 0, "children": [{"text": "lid", "name": "lid", "id": 1, "objs": ["original-4"]}, {"text": "handle", "name": "handle", "id": 2, "objs": ["original-2"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-3", "original-1"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/101305/result_original.json b/assets/urdf/Kettle/101305/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..89343077423aac52f29c20276371d3286a378eb2
--- /dev/null
+++ b/assets/urdf/Kettle/101305/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Kettle", "text": "Kettle", "children": [{"id": 1, "name": "lid", "text": "lid", "objs": ["original-4"]}, {"id": 2, "name": "handle", "text": "handle", "objs": ["original-2"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/101305/semantics.txt b/assets/urdf/Kettle/101305/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..972cda456cf72d97b08de7df21d21fd9fb85a11b
--- /dev/null
+++ b/assets/urdf/Kettle/101305/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider lid
+link_1 free kettle_body
diff --git a/assets/urdf/Kettle/101305/textured_objs/original-1.mtl b/assets/urdf/Kettle/101305/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/101305/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/101305/textured_objs/original-1.obj b/assets/urdf/Kettle/101305/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95d99913931eb8cf4a591d2194e048d6d6d5712f
--- /dev/null
+++ b/assets/urdf/Kettle/101305/textured_objs/original-1.obj
@@ -0,0 +1,7105 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o mesh1/mesh1-geometry#mesh1-geometry
+v -0.067206 0.327602 0.393333
+v 0.013279 0.315308 0.405861
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diff --git a/assets/urdf/Kettle/101305/textured_objs/original-2.mtl b/assets/urdf/Kettle/101305/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/101305/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/101305/textured_objs/original-2.obj b/assets/urdf/Kettle/101305/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53344d41462214d7b505c571c3203d902d7dcb77
--- /dev/null
+++ b/assets/urdf/Kettle/101305/textured_objs/original-2.obj
@@ -0,0 +1,1845 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
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diff --git a/assets/urdf/Kettle/101305/textured_objs/original-3.mtl b/assets/urdf/Kettle/101305/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/101305/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/101305/textured_objs/original-3.obj b/assets/urdf/Kettle/101305/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0edbb1510b7385f1a4d48c1666d9cb2589e65116
--- /dev/null
+++ b/assets/urdf/Kettle/101305/textured_objs/original-3.obj
@@ -0,0 +1,1845 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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diff --git a/assets/urdf/Kettle/101305/textured_objs/original-4.mtl b/assets/urdf/Kettle/101305/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/101305/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/101305/textured_objs/original-4.obj b/assets/urdf/Kettle/101305/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d911eb2be21d27700a6942530141febd89c4c4d9
--- /dev/null
+++ b/assets/urdf/Kettle/101305/textured_objs/original-4.obj
@@ -0,0 +1,3521 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
+o mesh4/mesh4-geometry#mesh4-geometry
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diff --git a/assets/urdf/Kettle/101313/bounding_box.json b/assets/urdf/Kettle/101313/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e18645600427272add7d0480c9cc1d7f96debb3
--- /dev/null
+++ b/assets/urdf/Kettle/101313/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.538691, -0.269092, -0.547967], "max": [0.536297, 1.011364, 0.691336]}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/101313/grasp_poses.json b/assets/urdf/Kettle/101313/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..b02fe8bdb217bbf97da3a573b27d3af78377bc7e
--- /dev/null
+++ b/assets/urdf/Kettle/101313/grasp_poses.json
@@ -0,0 +1,132 @@
+{
+    "object_name": "101313",
+    "scale": 0.2,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.49786999821662903,
+                        0.6786999702453613,
+                        0.539900004863739,
+                        -0.1902099996805191
+                    ],
+                    [
+                        0.08657000213861465,
+                        0.6583200097084045,
+                        -0.7477399706840515,
+                        0.3195199966430664
+                    ],
+                    [
+                        -0.8629199862480164,
+                        -0.3255400061607361,
+                        -0.38651999831199646,
+                        0.6917999982833862
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        -0.15000000596046448
+                    ],
+                    [
+                        0.3420200049877167,
+                        -0.0,
+                        0.9396899938583374,
+                        -0.30000001192092896
+                    ],
+                    [
+                        0.9396899938583374,
+                        0.0,
+                        -0.3420200049877167,
+                        0.6499999761581421
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 2,
+                "matrix": [
+                    [
+                        -0.5735800266265869,
+                        0.0,
+                        -0.8191499710083008,
+                        0.3809800148010254
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        0.8191499710083008,
+                        0.0,
+                        -0.5735800266265869,
+                        0.5674200057983398
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 3,
+                "matrix": [
+                    [
+                        -0.9961900115013123,
+                        -0.0,
+                        0.08715999871492386,
+                        0.00872000027447939
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        -0.08715999871492386,
+                        0.0,
+                        -0.9961900115013123,
+                        1.000380039215088
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/101313/meta.json b/assets/urdf/Kettle/101313/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d86106d56114851b8ddb70857acb9c75d4ffab0
--- /dev/null
+++ b/assets/urdf/Kettle/101313/meta.json
@@ -0,0 +1 @@
+{"user_id": "haozhu", "model_cat": "Kettle", "model_id": "3630022147222c39189226f9c63ba590", "version": "1", "anno_id": "1313", "time_in_sec": "14"}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/101313/mobility.urdf b/assets/urdf/Kettle/101313/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7cf9c66c4f8604f44931efb8027012376fb4984f
--- /dev/null
+++ b/assets/urdf/Kettle/101313/mobility.urdf
@@ -0,0 +1,92 @@
+<?xml version="1.0" ?>
+<robot name="partnet_3630022147222c39189226f9c63ba590">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.12400000000000011" upper="-0.1080000000000001"/>
+	</joint>
+	<link name="link_1">
+		<visual name="handle-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Kettle/101313/mobility_v2.json b/assets/urdf/Kettle/101313/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dd13c198c2157a898e6b7c401f8e78319885ffb
--- /dev/null
+++ b/assets/urdf/Kettle/101313/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":1,"name":"lid"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":-0.12400000000000011,"b":-0.1080000000000001,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":2,"name":"handle"},{"id":3,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/101313/model_data.json b/assets/urdf/Kettle/101313/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..f548d7bbd787c84d2b193ed09473283f13aa049c
--- /dev/null
+++ b/assets/urdf/Kettle/101313/model_data.json
@@ -0,0 +1,158 @@
+{
+    "scale": 0.2,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "init_qpos": [],
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.49786999821662903,
+                        0.6786999702453613,
+                        0.539900004863739,
+                        -0.1902099996805191
+                    ],
+                    [
+                        0.08657000213861465,
+                        0.6583200097084045,
+                        -0.7477399706840515,
+                        0.3195199966430664
+                    ],
+                    [
+                        -0.8629199862480164,
+                        -0.3255400061607361,
+                        -0.38651999831199646,
+                        0.6917999982833862
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        -0.15000000596046448
+                    ],
+                    [
+                        0.3420200049877167,
+                        -0.0,
+                        0.9396899938583374,
+                        -0.30000001192092896
+                    ],
+                    [
+                        0.9396899938583374,
+                        0.0,
+                        -0.3420200049877167,
+                        0.6499999761581421
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 2,
+                "matrix": [
+                    [
+                        -0.5735800266265869,
+                        0.0,
+                        -0.8191499710083008,
+                        0.3809800148010254
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        0.8191499710083008,
+                        0.0,
+                        -0.5735800266265869,
+                        0.5674200057983398
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 3,
+                "matrix": [
+                    [
+                        -0.9961900115013123,
+                        -0.0,
+                        0.08715999871492386,
+                        0.00872000027447939
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        -0.08715999871492386,
+                        0.0,
+                        -0.9961900115013123,
+                        1.000380039215088
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/101313/result.json b/assets/urdf/Kettle/101313/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0ee0ff8456418922e5ffac83cf3017b86a81f5b
--- /dev/null
+++ b/assets/urdf/Kettle/101313/result.json
@@ -0,0 +1 @@
+[{"text": "Kettle", "name": "Kettle", "id": 0, "children": [{"text": "lid", "name": "lid", "id": 1, "objs": ["original-3"]}, {"text": "handle", "name": "handle", "id": 2, "objs": ["original-8", "original-7", "original-6"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-4", "original-2"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/101313/result_original.json b/assets/urdf/Kettle/101313/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fa63056804dab513940eeadae87bf9160be6dfd
--- /dev/null
+++ b/assets/urdf/Kettle/101313/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Kettle", "text": "Kettle", "children": [{"id": 1, "name": "lid", "text": "lid", "objs": ["original-3"]}, {"id": 2, "name": "handle", "text": "handle", "objs": ["original-8", "original-7", "original-6"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/101313/semantics.txt b/assets/urdf/Kettle/101313/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..972cda456cf72d97b08de7df21d21fd9fb85a11b
--- /dev/null
+++ b/assets/urdf/Kettle/101313/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider lid
+link_1 free kettle_body
diff --git a/assets/urdf/Kettle/101313/textured_objs/original-2.mtl b/assets/urdf/Kettle/101313/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0b2fd45c8d22fe3f3d842b6dd142898de6e448f3
--- /dev/null
+++ b/assets/urdf/Kettle/101313/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.23137254901960785 0.10980392156862745 0.0196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/101313/textured_objs/original-2.obj b/assets/urdf/Kettle/101313/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27c24e543e77df2a04a634ac0fa1fb73be84e9a0
--- /dev/null
+++ b/assets/urdf/Kettle/101313/textured_objs/original-2.obj
@@ -0,0 +1,10585 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o mesh1/mesh1-geometry#mesh1-geometry
+v -0.001197 -0.253300 0.444721
+v -0.126133 -0.231700 0.455797
+v -0.119010 -0.253300 0.429211
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+v -0.242556 -0.231700 0.407573
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+v 0.123739 -0.231700 0.455797
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+v -0.132024 -0.205128 0.477782
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+v 0.116616 -0.253300 0.429211
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+v -0.253936 -0.205128 0.427285
+v -0.001197 -0.250475 -0.010472
+v 0.108535 -0.269092 0.399054
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+v 0.129631 -0.205128 0.477782
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diff --git a/assets/urdf/Kettle/101313/textured_objs/original-3.mtl b/assets/urdf/Kettle/101313/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0b2fd45c8d22fe3f3d842b6dd142898de6e448f3
--- /dev/null
+++ b/assets/urdf/Kettle/101313/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.23137254901960785 0.10980392156862745 0.0196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/101313/textured_objs/original-3.obj b/assets/urdf/Kettle/101313/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cffa1ff3ad8f94b947673d9d3146fa85c838b32
--- /dev/null
+++ b/assets/urdf/Kettle/101313/textured_objs/original-3.obj
@@ -0,0 +1,4492 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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diff --git a/assets/urdf/Kettle/101313/textured_objs/original-4.mtl b/assets/urdf/Kettle/101313/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f62ac5a50c240f3cac13cce856e116b26a3d8bc2
--- /dev/null
+++ b/assets/urdf/Kettle/101313/textured_objs/original-4.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+
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diff --git a/assets/urdf/Kettle/101313/textured_objs/original-4.obj b/assets/urdf/Kettle/101313/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..321140bfc676cfffda8c79674f922b1b1774ff9d
--- /dev/null
+++ b/assets/urdf/Kettle/101313/textured_objs/original-4.obj
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diff --git a/assets/urdf/Kettle/101313/textured_objs/original-6.mtl b/assets/urdf/Kettle/101313/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0b2fd45c8d22fe3f3d842b6dd142898de6e448f3
--- /dev/null
+++ b/assets/urdf/Kettle/101313/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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diff --git a/assets/urdf/Kettle/101313/textured_objs/original-6.obj b/assets/urdf/Kettle/101313/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ba01fa9e394c89c780604bf3e4dd240bd6d0ba8
--- /dev/null
+++ b/assets/urdf/Kettle/101313/textured_objs/original-6.obj
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diff --git a/assets/urdf/Kettle/101313/textured_objs/original-7.mtl b/assets/urdf/Kettle/101313/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0b2fd45c8d22fe3f3d842b6dd142898de6e448f3
--- /dev/null
+++ b/assets/urdf/Kettle/101313/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.23137254901960785 0.10980392156862745 0.0196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/101313/textured_objs/original-7.obj b/assets/urdf/Kettle/101313/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e25553886c7a496330078d2b419d8d92c09d1a67
--- /dev/null
+++ b/assets/urdf/Kettle/101313/textured_objs/original-7.obj
@@ -0,0 +1,3149 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
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diff --git a/assets/urdf/Kettle/101313/textured_objs/original-8.mtl b/assets/urdf/Kettle/101313/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0b2fd45c8d22fe3f3d842b6dd142898de6e448f3
--- /dev/null
+++ b/assets/urdf/Kettle/101313/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/assets/urdf/Kettle/101313/textured_objs/original-8.obj b/assets/urdf/Kettle/101313/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c34ea4cd0524f38216fa1d24ecbb7a27ed3b4ca2
--- /dev/null
+++ b/assets/urdf/Kettle/101313/textured_objs/original-8.obj
@@ -0,0 +1,3149 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
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diff --git a/assets/urdf/Kettle/102714/textured_objs/original-1.mtl b/assets/urdf/Kettle/102714/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..085c9ef36bbb994230a703aeaafc4f7cf4517948
--- /dev/null
+++ b/assets/urdf/Kettle/102714/textured_objs/original-1.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.8862745098039215 0.8862745098039215 0.8862745098039215 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102714/textured_objs/original-1.obj b/assets/urdf/Kettle/102714/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f87d0c930a2700bd70292205b0a28d81bd7b6f9
--- /dev/null
+++ b/assets/urdf/Kettle/102714/textured_objs/original-1.obj
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+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
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diff --git a/assets/urdf/Kettle/102714/textured_objs/original-2.mtl b/assets/urdf/Kettle/102714/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd578d44b61167d517b6e299cbca7f08311d9061
--- /dev/null
+++ b/assets/urdf/Kettle/102714/textured_objs/original-2.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8862745098039215 0.8862745098039215 0.8862745098039215 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.39215686274509803 0.19215686274509805 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102714/textured_objs/original-2.obj b/assets/urdf/Kettle/102714/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8684730d398486a26273c31645fc0af85db2ef4d
--- /dev/null
+++ b/assets/urdf/Kettle/102714/textured_objs/original-2.obj
@@ -0,0 +1,882 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
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diff --git a/assets/urdf/Kettle/102714/textured_objs/original-3.mtl b/assets/urdf/Kettle/102714/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b2cf8e53607a755f4406d4502b904e9c63c663b5
--- /dev/null
+++ b/assets/urdf/Kettle/102714/textured_objs/original-3.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102714/textured_objs/original-3.obj b/assets/urdf/Kettle/102714/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cef0bdd7b1b77366bf1ca63a813c408abbf872e7
--- /dev/null
+++ b/assets/urdf/Kettle/102714/textured_objs/original-3.obj
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+# SSTK version 0.8.0
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+mtllib original-3.mtl
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diff --git a/assets/urdf/Kettle/102714/textured_objs/original-4.mtl b/assets/urdf/Kettle/102714/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..085c9ef36bbb994230a703aeaafc4f7cf4517948
--- /dev/null
+++ b/assets/urdf/Kettle/102714/textured_objs/original-4.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Kettle/102714/textured_objs/original-4.obj b/assets/urdf/Kettle/102714/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17535b0b763cd04141426ae689c690b67c8e4b72
--- /dev/null
+++ b/assets/urdf/Kettle/102714/textured_objs/original-4.obj
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diff --git a/assets/urdf/Kettle/102714/textured_objs/original-5.mtl b/assets/urdf/Kettle/102714/textured_objs/original-5.mtl
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index 0000000000000000000000000000000000000000..eb8fddde5eb3ad822ff832bca4b6c939f696e0de
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diff --git a/assets/urdf/Kettle/102714/textured_objs/original-5.obj b/assets/urdf/Kettle/102714/textured_objs/original-5.obj
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index 0000000000000000000000000000000000000000..2ee8f06a5a5aaa74663698f8252af5d65c57aee8
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/102714/textured_objs/original-6.mtl
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diff --git a/assets/urdf/Kettle/102714/textured_objs/original-6.obj b/assets/urdf/Kettle/102714/textured_objs/original-6.obj
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index 0000000000000000000000000000000000000000..66b45fe2482a2985fe9a0000d713838a6e4818ea
--- /dev/null
+++ b/assets/urdf/Kettle/102714/textured_objs/original-6.obj
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diff --git a/assets/urdf/Kettle/102715/textured_objs/original-2.mtl b/assets/urdf/Kettle/102715/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d1cf8d01865de735972fc65bba44e1d330500fa2
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diff --git a/assets/urdf/Kettle/102715/textured_objs/original-2.obj b/assets/urdf/Kettle/102715/textured_objs/original-2.obj
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index 0000000000000000000000000000000000000000..775e0259f7a863bca952d00f6792202342489425
--- /dev/null
+++ b/assets/urdf/Kettle/102715/textured_objs/original-2.obj
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diff --git a/assets/urdf/Kettle/102715/textured_objs/original-3.mtl b/assets/urdf/Kettle/102715/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d1cf8d01865de735972fc65bba44e1d330500fa2
--- /dev/null
+++ b/assets/urdf/Kettle/102715/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7294117647058823 0.6274509803921569 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102715/textured_objs/original-3.obj b/assets/urdf/Kettle/102715/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c877b25fa561fbe50c68854f4e2d1df78cfecea2
--- /dev/null
+++ b/assets/urdf/Kettle/102715/textured_objs/original-3.obj
@@ -0,0 +1,11146 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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diff --git a/assets/urdf/Kettle/102715/textured_objs/original-4.mtl b/assets/urdf/Kettle/102715/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d1cf8d01865de735972fc65bba44e1d330500fa2
--- /dev/null
+++ b/assets/urdf/Kettle/102715/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102715/textured_objs/original-4.obj b/assets/urdf/Kettle/102715/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c105d6a78dfc7b20a0fecf90bffa375432dce033
--- /dev/null
+++ b/assets/urdf/Kettle/102715/textured_objs/original-4.obj
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diff --git a/assets/urdf/Kettle/102715/textured_objs/original-5.mtl b/assets/urdf/Kettle/102715/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d1cf8d01865de735972fc65bba44e1d330500fa2
--- /dev/null
+++ b/assets/urdf/Kettle/102715/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7294117647058823 0.6274509803921569 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102715/textured_objs/original-5.obj b/assets/urdf/Kettle/102715/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aca1392ebb3129850acbf730cfe357d16b9a9133
--- /dev/null
+++ b/assets/urdf/Kettle/102715/textured_objs/original-5.obj
@@ -0,0 +1,4833 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
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diff --git a/assets/urdf/Kettle/102720/textured_objs/original-2.mtl b/assets/urdf/Kettle/102720/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/assets/urdf/Kettle/102720/textured_objs/original-2.mtl
@@ -0,0 +1,8 @@
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+map_Kd ../images/texture_0.jpg
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diff --git a/assets/urdf/Kettle/102720/textured_objs/original-2.obj b/assets/urdf/Kettle/102720/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e980f5f7f91570f97dc5656b4d8030b6dc323d68
--- /dev/null
+++ b/assets/urdf/Kettle/102720/textured_objs/original-2.obj
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
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+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
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diff --git a/assets/urdf/Kettle/102720/textured_objs/original-3.obj b/assets/urdf/Kettle/102720/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dcb23f1ccfa38d73a1d70ea0134265b94dc504b
--- /dev/null
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
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diff --git a/assets/urdf/Kettle/102720/textured_objs/original-4.obj b/assets/urdf/Kettle/102720/textured_objs/original-4.obj
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index 0000000000000000000000000000000000000000..a59e8a05defe13b67b3281516f6defd4a24b4333
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
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diff --git a/assets/urdf/Kettle/102720/textured_objs/original-6.obj b/assets/urdf/Kettle/102720/textured_objs/original-6.obj
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index 0000000000000000000000000000000000000000..6e1bfd7d7615fdb55de463badb41b79e8c51b395
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index 0000000000000000000000000000000000000000..daaab619b34073e123db3040764f0ffc20224eb8
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diff --git a/assets/urdf/Kettle/102720/textured_objs/original-8.obj b/assets/urdf/Kettle/102720/textured_objs/original-8.obj
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index 0000000000000000000000000000000000000000..e0a1979904fea47e7205119600fc997d49d7b38b
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diff --git a/assets/urdf/Kettle/102724/mobility.urdf b/assets/urdf/Kettle/102724/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..43d3f0332f67f918f83863e15bbfe15541a4fef8
--- /dev/null
+++ b/assets/urdf/Kettle/102724/mobility.urdf
@@ -0,0 +1,68 @@
+<?xml version="1.0" ?>
+<robot name="partnet_3e47ee246f89d6cdeb5a654451d3cffd-0">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-1">
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0.0 0.0 0.0"/>
+		<axis xyz="0.0 1.0 0.0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_1">
+		<visual name="handle-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Kettle/102724/result.json b/assets/urdf/Kettle/102724/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0468d92f7e3820d51f0a726d44201a57c423c0e
--- /dev/null
+++ b/assets/urdf/Kettle/102724/result.json
@@ -0,0 +1 @@
+[{"text": "Kettle", "name": "Kettle", "id": 0, "children": [{"text": "lid", "name": "lid", "id": 1, "objs": ["original-3"]}, {"text": "handle", "name": "handle", "id": 2, "objs": ["original-2"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-4", "original-1"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102724/textured_objs/original-1.mtl b/assets/urdf/Kettle/102724/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dc1695be1c0f02f855a74e82ae72c92b788142a2
--- /dev/null
+++ b/assets/urdf/Kettle/102724/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.5098039215686274 0.5098039215686274 0.5098039215686274 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102724/textured_objs/original-1.obj b/assets/urdf/Kettle/102724/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..997c4329ab15a98608861c2fbe0bb5c66e09235e
--- /dev/null
+++ b/assets/urdf/Kettle/102724/textured_objs/original-1.obj
@@ -0,0 +1,11170 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
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diff --git a/assets/urdf/Kettle/102724/textured_objs/original-2.mtl b/assets/urdf/Kettle/102724/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dc1695be1c0f02f855a74e82ae72c92b788142a2
--- /dev/null
+++ b/assets/urdf/Kettle/102724/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.5098039215686274 0.5098039215686274 0.5098039215686274 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102724/textured_objs/original-2.obj b/assets/urdf/Kettle/102724/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..add4c6a6e6a0cfe45bcf669c4c78a5dbbf7a8b9e
--- /dev/null
+++ b/assets/urdf/Kettle/102724/textured_objs/original-2.obj
@@ -0,0 +1,2886 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
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diff --git a/assets/urdf/Kettle/102724/textured_objs/original-3.mtl b/assets/urdf/Kettle/102724/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dc1695be1c0f02f855a74e82ae72c92b788142a2
--- /dev/null
+++ b/assets/urdf/Kettle/102724/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.5098039215686274 0.5098039215686274 0.5098039215686274 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102724/textured_objs/original-3.obj b/assets/urdf/Kettle/102724/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40c76218c4d39a4543e3c086df4d7881ddbc033b
--- /dev/null
+++ b/assets/urdf/Kettle/102724/textured_objs/original-3.obj
@@ -0,0 +1,5528 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
+o mesh4/mesh4-geometry#mesh4-geometry
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diff --git a/assets/urdf/Kettle/102724/textured_objs/original-4.mtl b/assets/urdf/Kettle/102724/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dc1695be1c0f02f855a74e82ae72c92b788142a2
--- /dev/null
+++ b/assets/urdf/Kettle/102724/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102724/textured_objs/original-4.obj b/assets/urdf/Kettle/102724/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b841957aea8d829601d24797b3735cf576dccd6
--- /dev/null
+++ b/assets/urdf/Kettle/102724/textured_objs/original-4.obj
@@ -0,0 +1,2890 @@
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diff --git a/assets/urdf/Kettle/102726/bounding_box.json b/assets/urdf/Kettle/102726/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..94b09f72802894f81b41a8767e94bfc4e6ae1e8b
--- /dev/null
+++ b/assets/urdf/Kettle/102726/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.604975, -0.307242, -0.623261], "max": [0.583455, 0.884494, 0.730939]}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102726/grasp_poses.json b/assets/urdf/Kettle/102726/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..6085acbce02e56ca502570b28093f209d20aee43
--- /dev/null
+++ b/assets/urdf/Kettle/102726/grasp_poses.json
@@ -0,0 +1,70 @@
+{
+    "object_name": "102726",
+    "scale": 0.2,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9848099946975708,
+                        -0.0,
+                        0.17364999651908875,
+                        -0.16306999325752258
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        -0.17364999651908875,
+                        0.0,
+                        -0.9848099946975708,
+                        0.9005699753761292
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        -0.6427900195121765,
+                        0.0,
+                        -0.766040027141571,
+                        0.2079000025987625
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        0.766040027141571,
+                        0.0,
+                        -0.6427900195121765,
+                        0.7744500041007996
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102726/meta.json b/assets/urdf/Kettle/102726/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..14b794bdc1c376aa69f584f4722c887a4e833a78
--- /dev/null
+++ b/assets/urdf/Kettle/102726/meta.json
@@ -0,0 +1 @@
+{"user_id": "haozhu", "model_cat": "Kettle", "model_id": "41957ca9e1383f4f27a11dcb35000f7a-0", "version": "1", "anno_id": "2726", "time_in_sec": "18"}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102726/mobility_v2.json b/assets/urdf/Kettle/102726/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3550f2e7a1e41cbe0ec937e9bbf70cff16912e5
--- /dev/null
+++ b/assets/urdf/Kettle/102726/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 2, "joint": "slider", "name": "lid", "parts": [{"id": 1, "name": "lid", "children": []}], "jointData": {"axis": {"origin": [0.0, 0.0, 0.0], "direction": [0.0, 1.0, 0.0]}, "limit": {"a": 0, "b": 0.04800000000000004, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 1, "parent": 2, "joint": "hinge", "name": "handle", "parts": [{"id": 2, "name": "handle", "children": []}], "jointData": {"axis": {"origin": [-0.01247854799032213, 0.16853686362532766, 0.0], "direction": [0.0, 0.0, -1.0]}, "limit": {"a": -60, "b": 60, "noLimit": false}}}, {"id": 2, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102726/result_original.json b/assets/urdf/Kettle/102726/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..65e2780d7b19ad06eb37f649d7921e6fb52c5f94
--- /dev/null
+++ b/assets/urdf/Kettle/102726/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Kettle", "text": "Kettle", "children": [{"id": 1, "name": "lid", "text": "lid", "objs": ["original-1"]}, {"id": 2, "name": "handle", "text": "handle", "objs": ["original-3"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102726/semantics.txt b/assets/urdf/Kettle/102726/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0708eb3421edd4d7bcaa26de2988badf28ba5550
--- /dev/null
+++ b/assets/urdf/Kettle/102726/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider lid
+link_1 hinge handle
+link_2 free kettle_body
diff --git a/assets/urdf/Kettle/102726/textured_objs/original-1.mtl b/assets/urdf/Kettle/102726/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46b9590435beb363a769aee035973caf54e9113a
--- /dev/null
+++ b/assets/urdf/Kettle/102726/textured_objs/original-1.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.30980392156862746 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102726/textured_objs/original-1.obj b/assets/urdf/Kettle/102726/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c946ea842d36c2c1408a3e455c38e57e78ab6746
--- /dev/null
+++ b/assets/urdf/Kettle/102726/textured_objs/original-1.obj
@@ -0,0 +1,13369 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
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diff --git a/assets/urdf/Kettle/102726/textured_objs/original-2.mtl b/assets/urdf/Kettle/102726/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/102726/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102726/textured_objs/original-2.obj b/assets/urdf/Kettle/102726/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..903ee58b7a32304e3701fc4a46e6d2d5fd0a02ce
--- /dev/null
+++ b/assets/urdf/Kettle/102726/textured_objs/original-2.obj
@@ -0,0 +1,6433 @@
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diff --git a/assets/urdf/Kettle/102726/textured_objs/original-3.mtl b/assets/urdf/Kettle/102726/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/assets/urdf/Kettle/102726/textured_objs/original-3.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102726/textured_objs/original-3.obj b/assets/urdf/Kettle/102726/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fbd169ee5811188945573aa0d97f614175ae1b8
--- /dev/null
+++ b/assets/urdf/Kettle/102726/textured_objs/original-3.obj
@@ -0,0 +1,2849 @@
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diff --git a/assets/urdf/Kettle/102726/textured_objs/original-4.mtl b/assets/urdf/Kettle/102726/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/102726/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102726/textured_objs/original-4.obj b/assets/urdf/Kettle/102726/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abab279f9fe80361d6cc3d482278faa8866dd91f
--- /dev/null
+++ b/assets/urdf/Kettle/102726/textured_objs/original-4.obj
@@ -0,0 +1,1063 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
+o Group4/mesh25/mesh25-geometry#mesh25-geometry
+v 0.044748 0.112671 0.379983
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diff --git a/assets/urdf/Kettle/102730/textured_objs/original-2.mtl b/assets/urdf/Kettle/102730/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a2fa8dbd4f160b8be5d42177a33529dbdb57725d
--- /dev/null
+++ b/assets/urdf/Kettle/102730/textured_objs/original-2.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 0.4 0.8 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102730/textured_objs/original-2.obj b/assets/urdf/Kettle/102730/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b4b2c2206d80f70c996254ed47bed48b93a628e
--- /dev/null
+++ b/assets/urdf/Kettle/102730/textured_objs/original-2.obj
@@ -0,0 +1,2958 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
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diff --git a/assets/urdf/Kettle/102730/textured_objs/original-3.mtl b/assets/urdf/Kettle/102730/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0100e2a6c69b1af5e106ceb74e33c0bc8866268
--- /dev/null
+++ b/assets/urdf/Kettle/102730/textured_objs/original-3.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4 0.8 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
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diff --git a/assets/urdf/Kettle/102730/textured_objs/original-3.obj b/assets/urdf/Kettle/102730/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9722ecea799c0d2ed409f63de20798c68ea7363
--- /dev/null
+++ b/assets/urdf/Kettle/102730/textured_objs/original-3.obj
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index 0000000000000000000000000000000000000000..3e6c30860b84a19557e5882ca8f8245729d51d1d
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diff --git a/assets/urdf/Kettle/102730/textured_objs/original-5.mtl b/assets/urdf/Kettle/102730/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/102730/textured_objs/original-5.mtl
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diff --git a/assets/urdf/Kettle/102730/textured_objs/original-5.obj b/assets/urdf/Kettle/102730/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f0209cc61411af757fa7d9b0171c89204bb3e3b
--- /dev/null
+++ b/assets/urdf/Kettle/102730/textured_objs/original-5.obj
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diff --git a/assets/urdf/Kettle/102730/textured_objs/original-6.mtl b/assets/urdf/Kettle/102730/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8958dc6bb1d286b8ded70208d9d673087fa6fa66
--- /dev/null
+++ b/assets/urdf/Kettle/102730/textured_objs/original-6.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.33725490196078434 0.33725490196078434 0.33725490196078434 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102730/textured_objs/original-6.obj b/assets/urdf/Kettle/102730/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b681ee8d6db3fc7e59706d62fb00ea01c68504a
--- /dev/null
+++ b/assets/urdf/Kettle/102730/textured_objs/original-6.obj
@@ -0,0 +1,3398 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
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diff --git a/assets/urdf/Kettle/102732/bounding_box.json b/assets/urdf/Kettle/102732/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4a369dd6d5d79725d0a0c0f843b0e3b0f08abf7
--- /dev/null
+++ b/assets/urdf/Kettle/102732/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.573532, -0.332655, -0.545496], "max": [0.981951, 0.414783, 0.779774]}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102732/grasp_poses.json b/assets/urdf/Kettle/102732/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5faa38679125a87cff4a7012a1eddc3344987d0
--- /dev/null
+++ b/assets/urdf/Kettle/102732/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "102732",
+    "scale": 0.2,
+    "grasp_parts": {
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+                "matrix": [
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+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102732/meta.json b/assets/urdf/Kettle/102732/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2d51641dbf1b9e79f15d3c43e7233091e522ed7
--- /dev/null
+++ b/assets/urdf/Kettle/102732/meta.json
@@ -0,0 +1 @@
+{"user_id": "haozhu", "model_cat": "Kettle", "model_id": "50771bde64eff3ac27a11dcb35000f7a-0", "version": "1", "anno_id": "2732", "time_in_sec": "29"}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102732/mobility.urdf b/assets/urdf/Kettle/102732/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..87d3beafd75f2aa22a61aaef3c2ca93bd78ccad2
--- /dev/null
+++ b/assets/urdf/Kettle/102732/mobility.urdf
@@ -0,0 +1,80 @@
+<?xml version="1.0" ?>
+<robot name="partnet_50771bde64eff3ac27a11dcb35000f7a-0">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.03200000000000003"/>
+	</joint>
+	<link name="link_1">
+		<visual name="handle-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Kettle/102732/mobility_v2.json b/assets/urdf/Kettle/102732/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..57aac6f6c4e611254b412e3639894e15bfde0ce6
--- /dev/null
+++ b/assets/urdf/Kettle/102732/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":1,"name":"lid"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.03200000000000003,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":2,"name":"handle"},{"id":3,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102732/model_data.json b/assets/urdf/Kettle/102732/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..d35c7d3026a001f805084b64431e5e2f4ff48011
--- /dev/null
+++ b/assets/urdf/Kettle/102732/model_data.json
@@ -0,0 +1,65 @@
+{
+    "scale": 0.2,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "init_qpos": [],
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        0.9961900115013123,
+                        0.0,
+                        0.08715999871492386,
+                        -0.7527400255203247
+                    ],
+                    [
+                        0.08715999871492386,
+                        0.0,
+                        -0.9961900115013123,
+                        0.32785001397132874
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102732/result.json b/assets/urdf/Kettle/102732/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..acfddd7acf97763b89108fc32c60c32adb42f546
--- /dev/null
+++ b/assets/urdf/Kettle/102732/result.json
@@ -0,0 +1 @@
+[{"text": "Kettle", "name": "Kettle", "id": 0, "children": [{"text": "lid", "name": "lid", "id": 1, "objs": ["original-1"]}, {"text": "handle", "name": "handle", "id": 2, "objs": ["original-2"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-4", "original-3", "original-5"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102732/result_original.json b/assets/urdf/Kettle/102732/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..d39c65b42537c9144c460dc8ef9f7252f93d8027
--- /dev/null
+++ b/assets/urdf/Kettle/102732/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Kettle", "text": "Kettle", "children": [{"id": 1, "name": "lid", "text": "lid", "objs": ["original-1"]}, {"id": 2, "name": "handle", "text": "handle", "objs": ["original-2"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102732/semantics.txt b/assets/urdf/Kettle/102732/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..972cda456cf72d97b08de7df21d21fd9fb85a11b
--- /dev/null
+++ b/assets/urdf/Kettle/102732/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider lid
+link_1 free kettle_body
diff --git a/assets/urdf/Kettle/102732/textured_objs/original-1.mtl b/assets/urdf/Kettle/102732/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..23c02f5948daa92487241aa3c3550fa27bd2e0ba
--- /dev/null
+++ b/assets/urdf/Kettle/102732/textured_objs/original-1.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8588235294117647 0.6039215686274509 0.4745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102732/textured_objs/original-1.obj b/assets/urdf/Kettle/102732/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84aba3d9c36d53352588efef0b3eea5992da0805
--- /dev/null
+++ b/assets/urdf/Kettle/102732/textured_objs/original-1.obj
@@ -0,0 +1,17146 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o Group2/mesh1/mesh1-geometry#mesh1-geometry
+v -0.053756 0.330764 -0.009884
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diff --git a/assets/urdf/Kettle/102732/textured_objs/original-2.mtl b/assets/urdf/Kettle/102732/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..23c02f5948daa92487241aa3c3550fa27bd2e0ba
--- /dev/null
+++ b/assets/urdf/Kettle/102732/textured_objs/original-2.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102732/textured_objs/original-2.obj b/assets/urdf/Kettle/102732/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90447501856b74563bee674cd672208f6c703664
--- /dev/null
+++ b/assets/urdf/Kettle/102732/textured_objs/original-2.obj
@@ -0,0 +1,3528 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
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diff --git a/assets/urdf/Kettle/102732/textured_objs/original-3.mtl b/assets/urdf/Kettle/102732/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..725f70bb9fadbef3f39a110953208a4180cae0b0
--- /dev/null
+++ b/assets/urdf/Kettle/102732/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 4
+d 0.30000000000000016
+Ns 30
+Kd 0.9294117647058824 1 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102732/textured_objs/original-3.obj b/assets/urdf/Kettle/102732/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a499d449eaf2183cdc0817695760d436e9661ae
--- /dev/null
+++ b/assets/urdf/Kettle/102732/textured_objs/original-3.obj
@@ -0,0 +1,5711 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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diff --git a/assets/urdf/Kettle/102732/textured_objs/original-4.mtl b/assets/urdf/Kettle/102732/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..23c02f5948daa92487241aa3c3550fa27bd2e0ba
--- /dev/null
+++ b/assets/urdf/Kettle/102732/textured_objs/original-4.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
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+
diff --git a/assets/urdf/Kettle/102732/textured_objs/original-4.obj b/assets/urdf/Kettle/102732/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..354c9607ff555a8da36c6cf3a64dfeb832a8664d
--- /dev/null
+++ b/assets/urdf/Kettle/102732/textured_objs/original-4.obj
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diff --git a/assets/urdf/Kettle/102732/textured_objs/original-5.mtl b/assets/urdf/Kettle/102732/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..23c02f5948daa92487241aa3c3550fa27bd2e0ba
--- /dev/null
+++ b/assets/urdf/Kettle/102732/textured_objs/original-5.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8588235294117647 0.6039215686274509 0.4745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102732/textured_objs/original-5.obj b/assets/urdf/Kettle/102732/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..044a776821ce0858df03e0e8ac1562dc3582b3ce
--- /dev/null
+++ b/assets/urdf/Kettle/102732/textured_objs/original-5.obj
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diff --git a/assets/urdf/Kettle/102739/bounding_box.json b/assets/urdf/Kettle/102739/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..857e5b53caa4e963d49d76c1716e06c4b5fe9f5d
--- /dev/null
+++ b/assets/urdf/Kettle/102739/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.58877, -0.47974, -0.629718], "max": [0.598024, 0.936169, 0.935444]}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102739/grasp_poses.json b/assets/urdf/Kettle/102739/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..78cfcf7f08e9bbb5986f4029dbdab64bb1975d68
--- /dev/null
+++ b/assets/urdf/Kettle/102739/grasp_poses.json
@@ -0,0 +1,70 @@
+{
+    "object_name": "102739",
+    "scale": 0.2,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9396899938583374,
+                        -0.0,
+                        0.3420200049877167,
+                        -0.15000000596046448
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        -0.3420200049877167,
+                        0.0,
+                        -0.9396899938583374,
+                        0.8999999761581421
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        -0.9063100218772888,
+                        0.0,
+                        -0.4226199984550476,
+                        0.20000000298023224
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        0.4226199984550476,
+                        0.0,
+                        -0.9063100218772888,
+                        0.8999999761581421
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102739/meta.json b/assets/urdf/Kettle/102739/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f01aefd2e1c306da2182a43c5ede52112e006f3
--- /dev/null
+++ b/assets/urdf/Kettle/102739/meta.json
@@ -0,0 +1 @@
+{"user_id": "haozhu", "model_cat": "Kettle", "model_id": "5ece281de0d8b41bedfd2a89fff3f91", "version": "2", "anno_id": "2739", "time_in_sec": "38"}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102739/mobility.urdf b/assets/urdf/Kettle/102739/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fa3321c0dc3a518253c629af6baabba2a4f17d4f
--- /dev/null
+++ b/assets/urdf/Kettle/102739/mobility.urdf
@@ -0,0 +1,173 @@
+<?xml version="1.0" ?>
+<robot name="partnet_5ece281de0d8b41bedfd2a89fff3f91">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.03"/>
+	</joint>
+	<link name="link_1">
+		<visual name="handle-2">
+			<origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-2">
+			<origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-2">
+			<origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-2">
+			<origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-2">
+			<origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.03388731351447829 -0.15627376785184727 0.5817229081812827"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.03388731351447829 0.15627376785184727 -0.5817229081812827"/>
+		<axis xyz="-0.08 0 0.8563613259934222"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="-0.5235987755982988" upper="0.5235987755982988"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Kettle/102739/mobility_v2.json b/assets/urdf/Kettle/102739/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..405ff9d30f2a83d386861ff227107f2e3e2bfb42
--- /dev/null
+++ b/assets/urdf/Kettle/102739/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":2,"joint":"slider","name":"lid","parts":[{"id":1,"name":"lid"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.03,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":2,"joint":"hinge","name":"handle","parts":[{"id":2,"name":"handle"}],"jointData":{"axis":{"origin":[0.03388731351447829,0.15627376785184727,-0.5817229081812827],"direction":[-0.08,0,0.8563613259934222]},"limit":{"a":-30,"b":30,"noLimit":false}}},{"id":2,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":3,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102739/model_data.json b/assets/urdf/Kettle/102739/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..48982fd9da0eac1489579cc882ba9ba1cf228e98
--- /dev/null
+++ b/assets/urdf/Kettle/102739/model_data.json
@@ -0,0 +1,96 @@
+{
+    "scale": 0.2,
+    "transform_matrix": [
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+            0.0
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+    "init_qpos": [],
+    "grasp_parts": {
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+                "base": "base",
+                "description": ""
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+        ]
+    }
+}
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diff --git a/assets/urdf/Kettle/102739/result.json b/assets/urdf/Kettle/102739/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..80500ebf0b456c465a414ed9f0afc71028f0c732
--- /dev/null
+++ b/assets/urdf/Kettle/102739/result.json
@@ -0,0 +1 @@
+[{"text": "Kettle", "name": "Kettle", "id": 0, "children": [{"text": "lid", "name": "lid", "id": 1, "objs": ["original-8", "original-2"]}, {"text": "handle", "name": "handle", "id": 2, "objs": ["original-1", "original-11", "original-3", "original-5", "original-4"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-9", "original-6", "original-12", "original-7", "original-10"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102739/semantics.txt b/assets/urdf/Kettle/102739/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0708eb3421edd4d7bcaa26de2988badf28ba5550
--- /dev/null
+++ b/assets/urdf/Kettle/102739/semantics.txt
@@ -0,0 +1,3 @@
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+link_1 hinge handle
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diff --git a/assets/urdf/Kettle/102739/textured_objs/original-1.mtl b/assets/urdf/Kettle/102739/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/assets/urdf/Kettle/102739/textured_objs/original-1.mtl
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+map_Kd ../images/texture_0.jpg
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diff --git a/assets/urdf/Kettle/102739/textured_objs/original-1.obj b/assets/urdf/Kettle/102739/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8a199986db0eb1f1026887656f6277e92519ab9
--- /dev/null
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index 0000000000000000000000000000000000000000..4529010a4494f59b8b73bb81ab5936780eab2d6b
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diff --git a/assets/urdf/Kettle/102739/textured_objs/original-10.obj b/assets/urdf/Kettle/102739/textured_objs/original-10.obj
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index 0000000000000000000000000000000000000000..345eb9e3f4e4b60360797937256ffe797caf4153
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diff --git a/assets/urdf/Kettle/102739/textured_objs/original-11.mtl b/assets/urdf/Kettle/102739/textured_objs/original-11.mtl
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index 0000000000000000000000000000000000000000..9652faa42073e1993e66030d222dcaaf577d3900
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diff --git a/assets/urdf/Kettle/102739/textured_objs/original-11.obj b/assets/urdf/Kettle/102739/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ffca2eb423686146f3a752aa1f74b42c70ca20a
--- /dev/null
+++ b/assets/urdf/Kettle/102739/textured_objs/original-11.obj
@@ -0,0 +1,4084 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
+o mesh11/mesh11-geometry#mesh11-geometry
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diff --git a/assets/urdf/Kettle/102739/textured_objs/original-12.mtl b/assets/urdf/Kettle/102739/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/assets/urdf/Kettle/102739/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7764705882352941 0.7764705882352941 0.7764705882352941 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102739/textured_objs/original-12.obj b/assets/urdf/Kettle/102739/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ea114528099969d407909ebecf878e3ec2b0853
--- /dev/null
+++ b/assets/urdf/Kettle/102739/textured_objs/original-12.obj
@@ -0,0 +1,127 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
+o mesh12/mesh12-geometry#mesh12-geometry
+v -0.024809 -0.018327 0.522535
+v -0.041074 -0.031684 0.487392
+v -0.023276 -0.029563 0.487489
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+v 0.010929 -0.037914 0.491659
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diff --git a/assets/urdf/Kettle/102739/textured_objs/original-3.mtl b/assets/urdf/Kettle/102739/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/assets/urdf/Kettle/102739/textured_objs/original-3.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/assets/urdf/Kettle/102739/textured_objs/original-3.obj b/assets/urdf/Kettle/102739/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7063289f922508d39c652f763353648f1b8f01ed
--- /dev/null
+++ b/assets/urdf/Kettle/102739/textured_objs/original-3.obj
@@ -0,0 +1,506 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
+o Group4/mesh3/mesh3-geometry#mesh3-geometry
+v 0.011494 0.132004 0.508080
+v 0.012347 0.184736 0.488523
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+v -0.047145 0.184736 0.485926
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diff --git a/assets/urdf/Kettle/102739/textured_objs/original-5.mtl b/assets/urdf/Kettle/102739/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/assets/urdf/Kettle/102739/textured_objs/original-5.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/assets/urdf/Kettle/102739/textured_objs/original-5.obj b/assets/urdf/Kettle/102739/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ec820eb0679bf7aeb444fe837808f31c5d317b6
--- /dev/null
+++ b/assets/urdf/Kettle/102739/textured_objs/original-5.obj
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diff --git a/assets/urdf/Kettle/102739/textured_objs/original-7.mtl b/assets/urdf/Kettle/102739/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/assets/urdf/Kettle/102739/textured_objs/original-7.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/assets/urdf/Kettle/102739/textured_objs/original-7.obj b/assets/urdf/Kettle/102739/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97bf88df640b9fd2aac42d14e6c5ee758f01485d
--- /dev/null
+++ b/assets/urdf/Kettle/102739/textured_objs/original-7.obj
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diff --git a/assets/urdf/Kettle/102739/textured_objs/original-8.mtl b/assets/urdf/Kettle/102739/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcd161981cb57261e0d8b10fa9167bb46091a6b5
--- /dev/null
+++ b/assets/urdf/Kettle/102739/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102739/textured_objs/original-8.obj b/assets/urdf/Kettle/102739/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85147f68678af622ee31c49ec676a7bbdbe1060e
--- /dev/null
+++ b/assets/urdf/Kettle/102739/textured_objs/original-8.obj
@@ -0,0 +1,3132 @@
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diff --git a/assets/urdf/Kettle/102739/textured_objs/original-9.mtl b/assets/urdf/Kettle/102739/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f89f969682df1824afdbe0eff94cbc8b95c5320c
--- /dev/null
+++ b/assets/urdf/Kettle/102739/textured_objs/original-9.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.7764705882352941 0.7764705882352941 0.7764705882352941 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102739/textured_objs/original-9.obj b/assets/urdf/Kettle/102739/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd118ae7cb344090ea8235cd36c3cdbf0056a1ea
--- /dev/null
+++ b/assets/urdf/Kettle/102739/textured_objs/original-9.obj
@@ -0,0 +1,10111 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
+o mesh9/mesh9-geometry#mesh9-geometry
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diff --git a/assets/urdf/Kettle/102753/mobility_v2.json b/assets/urdf/Kettle/102753/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6f67b53a422b5f580e3956106cb7c10bc313518
--- /dev/null
+++ b/assets/urdf/Kettle/102753/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "slider", "name": "lid", "parts": [{"id": 1, "name": "lid", "children": []}], "jointData": {"axis": {"origin": [0.0, 0.0, 0.0], "direction": [0.0, 1.0, 0.0]}, "limit": {"a": -0.3799999999999999, "b": -0.32800000000000007, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 1, "parent": -1, "joint": "free", "name": "handle", "parts": [{"id": 2, "name": "handle", "children": []}, {"id": 3, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102753/textured_objs/original-10.mtl b/assets/urdf/Kettle/102753/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8d10d64ad2ae35929ff8c1dced8a00d1ffa72366
--- /dev/null
+++ b/assets/urdf/Kettle/102753/textured_objs/original-10.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2 0.09411764705882353 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102753/textured_objs/original-10.obj b/assets/urdf/Kettle/102753/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7398e977eb04312f0af88eddabac10d650ba40f
--- /dev/null
+++ b/assets/urdf/Kettle/102753/textured_objs/original-10.obj
@@ -0,0 +1,1004 @@
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diff --git a/assets/urdf/Kettle/102753/textured_objs/original-11.mtl b/assets/urdf/Kettle/102753/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8d10d64ad2ae35929ff8c1dced8a00d1ffa72366
--- /dev/null
+++ b/assets/urdf/Kettle/102753/textured_objs/original-11.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2 0.09411764705882353 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102753/textured_objs/original-11.obj b/assets/urdf/Kettle/102753/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dbb52f0623a8f4f9da541aadb8b70e7c9c618f5
--- /dev/null
+++ b/assets/urdf/Kettle/102753/textured_objs/original-11.obj
@@ -0,0 +1,6093 @@
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diff --git a/assets/urdf/Kettle/102753/textured_objs/original-12.mtl b/assets/urdf/Kettle/102753/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8d10d64ad2ae35929ff8c1dced8a00d1ffa72366
--- /dev/null
+++ b/assets/urdf/Kettle/102753/textured_objs/original-12.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2 0.09411764705882353 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102753/textured_objs/original-12.obj b/assets/urdf/Kettle/102753/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5c13a9ac0e832469d4abf0d0c9d637bd53d3abf
--- /dev/null
+++ b/assets/urdf/Kettle/102753/textured_objs/original-12.obj
@@ -0,0 +1,2562 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
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diff --git a/assets/urdf/Kettle/102753/textured_objs/original-13.mtl b/assets/urdf/Kettle/102753/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bc566e26b943303dda6eb3aeddd370aea8cd165
--- /dev/null
+++ b/assets/urdf/Kettle/102753/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2 0.09411764705882353 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102753/textured_objs/original-13.obj b/assets/urdf/Kettle/102753/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7abad0142bb4a342ed08158bd44ec93fae3a568
--- /dev/null
+++ b/assets/urdf/Kettle/102753/textured_objs/original-13.obj
@@ -0,0 +1,10844 @@
+# SSTK version 0.8.0
+# 13
+mtllib original-13.mtl
+o teapotm1_1/teapotm1/mesh26/mesh26-geometry#mesh26-geometry
+v -0.016226 0.363515 0.70769
+v 0.007455 0.361984 0.710818
+v -0.016226 0.361984 0.710818
+v 0.007455 0.363515 0.70769
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+v -0.016226 0.36755 0.697363
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diff --git a/assets/urdf/Kettle/102753/textured_objs/original-14.mtl b/assets/urdf/Kettle/102753/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8d10d64ad2ae35929ff8c1dced8a00d1ffa72366
--- /dev/null
+++ b/assets/urdf/Kettle/102753/textured_objs/original-14.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.2 0.09411764705882353 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
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+d 1
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+Kd 1 1 1 
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+
diff --git a/assets/urdf/Kettle/102753/textured_objs/original-14.obj b/assets/urdf/Kettle/102753/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5c44eb993dd6a46975ec36a3fccd929b7b875c8
--- /dev/null
+++ b/assets/urdf/Kettle/102753/textured_objs/original-14.obj
@@ -0,0 +1,11877 @@
+# SSTK version 0.8.0
+# 14
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diff --git a/assets/urdf/Kettle/102753/textured_objs/original-3.mtl b/assets/urdf/Kettle/102753/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bc566e26b943303dda6eb3aeddd370aea8cd165
--- /dev/null
+++ b/assets/urdf/Kettle/102753/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2 0.09411764705882353 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102753/textured_objs/original-3.obj b/assets/urdf/Kettle/102753/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b323c8823843fe9146c6f96f152628ed4ae6706
--- /dev/null
+++ b/assets/urdf/Kettle/102753/textured_objs/original-3.obj
@@ -0,0 +1,861 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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diff --git a/assets/urdf/Kettle/102753/textured_objs/original-4.mtl b/assets/urdf/Kettle/102753/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bc566e26b943303dda6eb3aeddd370aea8cd165
--- /dev/null
+++ b/assets/urdf/Kettle/102753/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.2 0.09411764705882353 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102753/textured_objs/original-4.obj b/assets/urdf/Kettle/102753/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cf63c31b82e0a07c9e791050f7fd0450824e0e1
--- /dev/null
+++ b/assets/urdf/Kettle/102753/textured_objs/original-4.obj
@@ -0,0 +1,191 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..6bc566e26b943303dda6eb3aeddd370aea8cd165
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diff --git a/assets/urdf/Kettle/102753/textured_objs/original-5.obj b/assets/urdf/Kettle/102753/textured_objs/original-5.obj
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index 0000000000000000000000000000000000000000..c014e17b6a962e16623f54e1dcb924c0ffbcee1a
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diff --git a/assets/urdf/Kettle/102753/textured_objs/original-6.mtl b/assets/urdf/Kettle/102753/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bc566e26b943303dda6eb3aeddd370aea8cd165
--- /dev/null
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diff --git a/assets/urdf/Kettle/102753/textured_objs/original-6.obj b/assets/urdf/Kettle/102753/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c5080e358201d7f248b4ffeaf02af9c42058a71
--- /dev/null
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diff --git a/assets/urdf/Kettle/102753/textured_objs/original-7.mtl b/assets/urdf/Kettle/102753/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bc566e26b943303dda6eb3aeddd370aea8cd165
--- /dev/null
+++ b/assets/urdf/Kettle/102753/textured_objs/original-7.mtl
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+illum 3
+d 1
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+
diff --git a/assets/urdf/Kettle/102753/textured_objs/original-7.obj b/assets/urdf/Kettle/102753/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..048c6591722d850708343e839391103adcd1a0d5
--- /dev/null
+++ b/assets/urdf/Kettle/102753/textured_objs/original-7.obj
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diff --git a/assets/urdf/Kettle/102753/textured_objs/original-8.mtl b/assets/urdf/Kettle/102753/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bc566e26b943303dda6eb3aeddd370aea8cd165
--- /dev/null
+++ b/assets/urdf/Kettle/102753/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2 0.09411764705882353 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102753/textured_objs/original-8.obj b/assets/urdf/Kettle/102753/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a26cb52527368c5e81b5026740c38800cc6ce70e
--- /dev/null
+++ b/assets/urdf/Kettle/102753/textured_objs/original-8.obj
@@ -0,0 +1,925 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/Kettle/102753/textured_objs/original-9.mtl b/assets/urdf/Kettle/102753/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bc566e26b943303dda6eb3aeddd370aea8cd165
--- /dev/null
+++ b/assets/urdf/Kettle/102753/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+
diff --git a/assets/urdf/Kettle/102753/textured_objs/original-9.obj b/assets/urdf/Kettle/102753/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d98bd211b43ad36211f07e1dde6fb91a1b0fad68
--- /dev/null
+++ b/assets/urdf/Kettle/102753/textured_objs/original-9.obj
@@ -0,0 +1,595 @@
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diff --git a/assets/urdf/Kettle/102761/bounding_box.json b/assets/urdf/Kettle/102761/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcf48cdc2a6aa4b26c4ca254e431a4d7b2a87381
--- /dev/null
+++ b/assets/urdf/Kettle/102761/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.516577, -0.383142, -0.762733], "max": [0.535493, 0.574504, 0.871534]}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102761/grasp_poses.json b/assets/urdf/Kettle/102761/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..89a1cef7b1ee4e548fcbb0fdd534b3bc4f789bcd
--- /dev/null
+++ b/assets/urdf/Kettle/102761/grasp_poses.json
@@ -0,0 +1,70 @@
+{
+    "object_name": "102761",
+    "scale": 0.2,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.3420200049877167,
+                        -0.0,
+                        -0.9396899938583374,
+                        0.7285799980163574
+                    ],
+                    [
+                        -0.0,
+                        -1.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        -0.9396899938583374,
+                        -0.0,
+                        -0.3420200049877167,
+                        0.20503999292850494
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        0.08715999871492386,
+                        -0.0,
+                        -0.9961900115013123,
+                        0.75
+                    ],
+                    [
+                        -0.0,
+                        -1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        -0.9961900115013123,
+                        0.0,
+                        -0.08715999871492386,
+                        0.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102761/meta.json b/assets/urdf/Kettle/102761/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..565c201d28f8eb1759680003040b681a730de7e8
--- /dev/null
+++ b/assets/urdf/Kettle/102761/meta.json
@@ -0,0 +1 @@
+{"user_id": "haozhu", "model_cat": "Kettle", "model_id": "a98eaa3ee807dca1a17269e21e09b13f", "version": "1", "anno_id": "2761", "time_in_sec": "8"}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102761/mobility.urdf b/assets/urdf/Kettle/102761/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3ae1b43e09c8b218aa93edce1f169c4e747c2544
--- /dev/null
+++ b/assets/urdf/Kettle/102761/mobility.urdf
@@ -0,0 +1,68 @@
+<?xml version="1.0" ?>
+<robot name="partnet_a98eaa3ee807dca1a17269e21e09b13f">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.03200000000000003"/>
+	</joint>
+	<link name="link_1">
+		<visual name="handle-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Kettle/102761/mobility_v2.json b/assets/urdf/Kettle/102761/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..57aac6f6c4e611254b412e3639894e15bfde0ce6
--- /dev/null
+++ b/assets/urdf/Kettle/102761/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":1,"name":"lid"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.03200000000000003,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":2,"name":"handle"},{"id":3,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102761/model_data.json b/assets/urdf/Kettle/102761/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..172888df1eadbcce8124e323edbf5f6e29b124e4
--- /dev/null
+++ b/assets/urdf/Kettle/102761/model_data.json
@@ -0,0 +1,96 @@
+{
+    "scale": 0.2,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "init_qpos": [],
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.3420200049877167,
+                        -0.0,
+                        -0.9396899938583374,
+                        0.7285799980163574
+                    ],
+                    [
+                        -0.0,
+                        -1.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        -0.9396899938583374,
+                        -0.0,
+                        -0.3420200049877167,
+                        0.20503999292850494
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        0.08715999871492386,
+                        -0.0,
+                        -0.9961900115013123,
+                        0.75
+                    ],
+                    [
+                        -0.0,
+                        -1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        -0.9961900115013123,
+                        0.0,
+                        -0.08715999871492386,
+                        0.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102761/result.json b/assets/urdf/Kettle/102761/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..c847992f9004b899f735e66eb3e146ed9907f0f0
--- /dev/null
+++ b/assets/urdf/Kettle/102761/result.json
@@ -0,0 +1 @@
+[{"text": "Kettle", "name": "Kettle", "id": 0, "children": [{"text": "lid", "name": "lid", "id": 1, "objs": ["original-1"]}, {"text": "handle", "name": "handle", "id": 2, "objs": ["original-2"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-4", "original-3"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102765/semantics.txt b/assets/urdf/Kettle/102765/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..972cda456cf72d97b08de7df21d21fd9fb85a11b
--- /dev/null
+++ b/assets/urdf/Kettle/102765/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider lid
+link_1 free kettle_body
diff --git a/assets/urdf/Kettle/102765/textured_objs/original-1.mtl b/assets/urdf/Kettle/102765/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9feed8c3490a09436ee1c2169cf393829fc9770a
--- /dev/null
+++ b/assets/urdf/Kettle/102765/textured_objs/original-1.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102765/textured_objs/original-1.obj b/assets/urdf/Kettle/102765/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca91a5226f6eaf45e2de2af4cdacc22293dfbabd
--- /dev/null
+++ b/assets/urdf/Kettle/102765/textured_objs/original-1.obj
@@ -0,0 +1,3361 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o Group1/mesh1/mesh1-geometry#mesh1-geometry
+v 0.064701 0.999444 -0.016711
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new file mode 100644
index 0000000000000000000000000000000000000000..a5a2698cb8d12d35c6393b4bd657ed3d3603cfda
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diff --git a/assets/urdf/Kettle/102765/textured_objs/original-2.obj b/assets/urdf/Kettle/102765/textured_objs/original-2.obj
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index 0000000000000000000000000000000000000000..5160375cf0c0d343a452a5e47767fd2764d910f7
--- /dev/null
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index 0000000000000000000000000000000000000000..9feed8c3490a09436ee1c2169cf393829fc9770a
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diff --git a/assets/urdf/Kettle/102765/textured_objs/original-3.obj b/assets/urdf/Kettle/102765/textured_objs/original-3.obj
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index 0000000000000000000000000000000000000000..35eaab5273356a7a466a70381f6fb1c1ce60c749
--- /dev/null
+++ b/assets/urdf/Kettle/102765/textured_objs/original-3.obj
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diff --git a/assets/urdf/Kettle/102773/bounding_box.json b/assets/urdf/Kettle/102773/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee35e0bdc89177c03dc00f1c5646b65002e96742
--- /dev/null
+++ b/assets/urdf/Kettle/102773/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.698397, -0.372883, -1.027583], "max": [0.67682, 0.525966, 0.841121]}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102773/grasp_poses.json b/assets/urdf/Kettle/102773/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..31b4a1de1d46b19b000b6a788199a8ffb0f6bcac
--- /dev/null
+++ b/assets/urdf/Kettle/102773/grasp_poses.json
@@ -0,0 +1,70 @@
+{
+    "object_name": "102773",
+    "scale": 0.2,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9921500086784363,
+                        -0.12292999774217606,
+                        -0.022849999368190765,
+                        0.7802000045776367
+                    ],
+                    [
+                        -0.12354999780654907,
+                        0.9919400215148926,
+                        0.028049999848008156,
+                        0.032999999821186066
+                    ],
+                    [
+                        0.019220000132918358,
+                        0.030649999156594276,
+                        -0.9993500113487244,
+                        0.18709999322891235
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        0.2588199973106384,
+                        -0.0,
+                        -0.9659299850463867,
+                        0.9397799968719482
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        -0.0,
+                        0.05000000074505806
+                    ],
+                    [
+                        0.9659299850463867,
+                        -0.0,
+                        0.2588199973106384,
+                        -0.07765000313520432
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102773/meta.json b/assets/urdf/Kettle/102773/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdd88a04907f5801d2846c5ac0a81025866903c3
--- /dev/null
+++ b/assets/urdf/Kettle/102773/meta.json
@@ -0,0 +1 @@
+{"user_id": "haozhu", "model_cat": "Kettle", "model_id": "c7a70db33a8c900dab5b523beb03efcd", "version": "1", "anno_id": "2773", "time_in_sec": "10"}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102773/mobility.urdf b/assets/urdf/Kettle/102773/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e3a035840fd0d2ca1593281b1832a49db4cad8ca
--- /dev/null
+++ b/assets/urdf/Kettle/102773/mobility.urdf
@@ -0,0 +1,56 @@
+<?xml version="1.0" ?>
+<robot name="partnet_c7a70db33a8c900dab5b523beb03efcd">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.03200000000000003" upper="0.0040000000000000036"/>
+	</joint>
+	<link name="link_1">
+		<visual name="handle-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Kettle/102773/mobility_v2.json b/assets/urdf/Kettle/102773/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e78957bf43b1d6c424e05015a9872e08c512794
--- /dev/null
+++ b/assets/urdf/Kettle/102773/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":1,"name":"lid"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":-0.03200000000000003,"b":0.0040000000000000036,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":2,"name":"handle"},{"id":3,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102773/model_data.json b/assets/urdf/Kettle/102773/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf1e3bb48bd1ee67233aa43804e511d3433c5a1c
--- /dev/null
+++ b/assets/urdf/Kettle/102773/model_data.json
@@ -0,0 +1,96 @@
+{
+    "scale": 0.2,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "init_qpos": [],
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9921500086784363,
+                        -0.12292999774217606,
+                        -0.022849999368190765,
+                        0.7802000045776367
+                    ],
+                    [
+                        -0.12354999780654907,
+                        0.9919400215148926,
+                        0.028049999848008156,
+                        0.032999999821186066
+                    ],
+                    [
+                        0.019220000132918358,
+                        0.030649999156594276,
+                        -0.9993500113487244,
+                        0.18709999322891235
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        0.2588199973106384,
+                        -0.0,
+                        -0.9659299850463867,
+                        0.9397799968719482
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        -0.0,
+                        0.05000000074505806
+                    ],
+                    [
+                        0.9659299850463867,
+                        -0.0,
+                        0.2588199973106384,
+                        -0.07765000313520432
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102773/result.json b/assets/urdf/Kettle/102773/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c149c34c80ba3d9c4e1e9c2d87febb1b4a12c00
--- /dev/null
+++ b/assets/urdf/Kettle/102773/result.json
@@ -0,0 +1 @@
+[{"text": "Kettle", "name": "Kettle", "id": 0, "children": [{"text": "lid", "name": "lid", "id": 1, "objs": ["original-2"]}, {"text": "handle", "name": "handle", "id": 2, "objs": ["original-4"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-3"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102773/result_original.json b/assets/urdf/Kettle/102773/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5bfce6de32448a3015589a8a87deca250814c95
--- /dev/null
+++ b/assets/urdf/Kettle/102773/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Kettle", "text": "Kettle", "children": [{"id": 1, "name": "lid", "text": "lid", "objs": ["original-2"]}, {"id": 2, "name": "handle", "text": "handle", "objs": ["original-4"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/102773/semantics.txt b/assets/urdf/Kettle/102773/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..972cda456cf72d97b08de7df21d21fd9fb85a11b
--- /dev/null
+++ b/assets/urdf/Kettle/102773/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider lid
+link_1 free kettle_body
diff --git a/assets/urdf/Kettle/102773/textured_objs/original-2.mtl b/assets/urdf/Kettle/102773/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1c26cb9ab63750dd3b9b294e9af07cc0a9fd81c2
--- /dev/null
+++ b/assets/urdf/Kettle/102773/textured_objs/original-2.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4823529411764706 0.30980392156862746 0.23137254901960785 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102773/textured_objs/original-2.obj b/assets/urdf/Kettle/102773/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6080502bdcbdaadaaa69ce10a3c8a6483017a57
--- /dev/null
+++ b/assets/urdf/Kettle/102773/textured_objs/original-2.obj
@@ -0,0 +1,654 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
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diff --git a/assets/urdf/Kettle/102773/textured_objs/original-3.mtl b/assets/urdf/Kettle/102773/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0e277e958245943c13afea7883fc8ecc07bab038
--- /dev/null
+++ b/assets/urdf/Kettle/102773/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Kettle/102773/textured_objs/original-3.obj b/assets/urdf/Kettle/102773/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b64ffc881a9e796921e1ef782df375c7a1df28d
--- /dev/null
+++ b/assets/urdf/Kettle/102773/textured_objs/original-3.obj
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diff --git a/assets/urdf/Kettle/102773/textured_objs/original-4.mtl b/assets/urdf/Kettle/102773/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1c26cb9ab63750dd3b9b294e9af07cc0a9fd81c2
--- /dev/null
+++ b/assets/urdf/Kettle/102773/textured_objs/original-4.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4823529411764706 0.30980392156862746 0.23137254901960785 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102773/textured_objs/original-4.obj b/assets/urdf/Kettle/102773/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7f1fca75eef772865772e3300d12d134d233d8e
--- /dev/null
+++ b/assets/urdf/Kettle/102773/textured_objs/original-4.obj
@@ -0,0 +1,1846 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
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diff --git a/assets/urdf/Kettle/102786/textured_objs/original-1.obj b/assets/urdf/Kettle/102786/textured_objs/original-1.obj
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diff --git a/assets/urdf/Kettle/102786/textured_objs/original-2.mtl b/assets/urdf/Kettle/102786/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..84b429f3061413020544c64f6bd81c5c270a5b50
--- /dev/null
+++ b/assets/urdf/Kettle/102786/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4196078431372549 0.3843137254901961 0.39215686274509803 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102786/textured_objs/original-2.obj b/assets/urdf/Kettle/102786/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89cc54352c0796d35d129ef04f68b501e512a133
--- /dev/null
+++ b/assets/urdf/Kettle/102786/textured_objs/original-2.obj
@@ -0,0 +1,4847 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
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diff --git a/assets/urdf/Kettle/102786/textured_objs/original-3.mtl b/assets/urdf/Kettle/102786/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..84b429f3061413020544c64f6bd81c5c270a5b50
--- /dev/null
+++ b/assets/urdf/Kettle/102786/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4196078431372549 0.3843137254901961 0.39215686274509803 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102786/textured_objs/original-3.obj b/assets/urdf/Kettle/102786/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f609b9362b6643c7cea861645243e2ba2d46f6ee
--- /dev/null
+++ b/assets/urdf/Kettle/102786/textured_objs/original-3.obj
@@ -0,0 +1,2161 @@
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+# 3
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diff --git a/assets/urdf/Kettle/102786/textured_objs/original-4.mtl b/assets/urdf/Kettle/102786/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..84b429f3061413020544c64f6bd81c5c270a5b50
--- /dev/null
+++ b/assets/urdf/Kettle/102786/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102786/textured_objs/original-4.obj b/assets/urdf/Kettle/102786/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a6e76c61189e1cce438620954ebbd33e3545d72
--- /dev/null
+++ b/assets/urdf/Kettle/102786/textured_objs/original-4.obj
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diff --git a/assets/urdf/Kettle/103201/textured_objs/original-2.mtl b/assets/urdf/Kettle/103201/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103201/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103201/textured_objs/original-2.obj b/assets/urdf/Kettle/103201/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fa6b6104eacd918c7c61019fe679b77d0b1150c
--- /dev/null
+++ b/assets/urdf/Kettle/103201/textured_objs/original-2.obj
@@ -0,0 +1,3381 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
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diff --git a/assets/urdf/Kettle/103201/textured_objs/original-3.mtl b/assets/urdf/Kettle/103201/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103201/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103201/textured_objs/original-3.obj b/assets/urdf/Kettle/103201/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0319d79af36b37ec6c8bd719cd1e845dd0cdf322
--- /dev/null
+++ b/assets/urdf/Kettle/103201/textured_objs/original-3.obj
@@ -0,0 +1,1917 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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diff --git a/assets/urdf/Kettle/103201/textured_objs/original-4.mtl b/assets/urdf/Kettle/103201/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103201/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Kettle/103201/textured_objs/original-4.obj b/assets/urdf/Kettle/103201/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65a599227d8d538a866b749006c10839e204b228
--- /dev/null
+++ b/assets/urdf/Kettle/103201/textured_objs/original-4.obj
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diff --git a/assets/urdf/Kettle/103201/textured_objs/original-5.mtl b/assets/urdf/Kettle/103201/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103201/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Kettle/103201/textured_objs/original-5.obj b/assets/urdf/Kettle/103201/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3743ded4de73d6b59048e294f020db8b910d607d
--- /dev/null
+++ b/assets/urdf/Kettle/103201/textured_objs/original-5.obj
@@ -0,0 +1,3077 @@
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+# 5
+mtllib original-5.mtl
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diff --git a/assets/urdf/Kettle/103201/textured_objs/original-6.mtl b/assets/urdf/Kettle/103201/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103201/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Kettle/103201/textured_objs/original-6.obj b/assets/urdf/Kettle/103201/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc7636152c57c2493e0fdc009772284e3d9e7a08
--- /dev/null
+++ b/assets/urdf/Kettle/103201/textured_objs/original-6.obj
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diff --git a/assets/urdf/Kettle/103201/textured_objs/original-7.mtl b/assets/urdf/Kettle/103201/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..582ffdefd341c6db9c696761a29c0fdb3379eba6
--- /dev/null
+++ b/assets/urdf/Kettle/103201/textured_objs/original-7.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
+newmtl material_1_0
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diff --git a/assets/urdf/Kettle/103201/textured_objs/original-7.obj b/assets/urdf/Kettle/103201/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48eac673738f259647a2b27654e9fd1ed5e158dc
--- /dev/null
+++ b/assets/urdf/Kettle/103201/textured_objs/original-7.obj
@@ -0,0 +1,3114 @@
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+# 7
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diff --git a/assets/urdf/Kettle/103201/textured_objs/original-8.mtl b/assets/urdf/Kettle/103201/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..582ffdefd341c6db9c696761a29c0fdb3379eba6
--- /dev/null
+++ b/assets/urdf/Kettle/103201/textured_objs/original-8.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.4745098039215686 0.4745098039215686 0.8 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103201/textured_objs/original-8.obj b/assets/urdf/Kettle/103201/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2ad899a4bb27cdde714f3ebd765a023d2edb2fd
--- /dev/null
+++ b/assets/urdf/Kettle/103201/textured_objs/original-8.obj
@@ -0,0 +1,2214 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
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diff --git a/assets/urdf/Kettle/103207/bounding_box.json b/assets/urdf/Kettle/103207/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..48c35a2d666c4c4a4449a471ce04d596f14ad9eb
--- /dev/null
+++ b/assets/urdf/Kettle/103207/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.658327, -0.489804, -0.877759], "max": [0.64576, 0.679751, 0.976133]}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/103207/grasp_poses.json b/assets/urdf/Kettle/103207/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..afa5fada6ee97041100db26fff051e7227936e15
--- /dev/null
+++ b/assets/urdf/Kettle/103207/grasp_poses.json
@@ -0,0 +1,70 @@
+{
+    "object_name": "103207",
+    "scale": 0.2,
+    "grasp_parts": {
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+                "description": ""
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+                "matrix": [
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+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/103207/meta.json b/assets/urdf/Kettle/103207/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e133f165758acf6664882d106714e0eee9af0da6
--- /dev/null
+++ b/assets/urdf/Kettle/103207/meta.json
@@ -0,0 +1 @@
+{"user_id": "haozhu", "model_cat": "Kettle", "model_id": "58d1e344ef8364b225e0f641bff885da", "version": "1", "anno_id": "3207", "time_in_sec": "23"}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/103207/mobility.urdf b/assets/urdf/Kettle/103207/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fb2771b7903ecd99a084697661f70e762f996307
--- /dev/null
+++ b/assets/urdf/Kettle/103207/mobility.urdf
@@ -0,0 +1,164 @@
+<?xml version="1.0" ?>
+<robot name="partnet_58d1e344ef8364b225e0f641bff885da">
+	<link name="base"/>
+	<link name="link_0">
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+			<geometry>
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+		</visual>
+		<visual name="lid-1">
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0.0 0.0 0.0"/>
+		<axis xyz="0.0 1.0 0.0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.03600000000000003" upper="0"/>
+	</joint>
+	<link name="link_1">
+		<visual name="handle-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
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+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
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+		</visual>
+		<visual name="base_body-3">
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+			<geometry>
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+		</visual>
+		<visual name="base_body-3">
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+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
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+		</visual>
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+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
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+		</visual>
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+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
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+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Kettle/103207/mobility_v2.json b/assets/urdf/Kettle/103207/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..13288921fcad592d796b507b43fec5f5c16c58b1
--- /dev/null
+++ b/assets/urdf/Kettle/103207/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "slider", "name": "lid", "parts": [{"id": 1, "name": "lid", "children": []}], "jointData": {"axis": {"origin": [0.0, 0.0, 0.0], "direction": [0.0, 1.0, 0.0]}, "limit": {"a": -0.03600000000000003, "b": 0, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 1, "parent": -1, "joint": "free", "name": "handle", "parts": [{"id": 2, "name": "handle", "children": []}, {"id": 3, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/103207/model_data.json b/assets/urdf/Kettle/103207/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..91583565e825a0564758ef27bfb6d49552bb3f16
--- /dev/null
+++ b/assets/urdf/Kettle/103207/model_data.json
@@ -0,0 +1,96 @@
+{
+    "scale": 0.2,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "init_qpos": [],
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.5521399974822998,
+                        0.24235999584197998,
+                        -0.7977499961853027,
+                        0.8536400198936462
+                    ],
+                    [
+                        0.10751000046730042,
+                        0.9695299863815308,
+                        0.2201399952173233,
+                        -0.08094000071287155
+                    ],
+                    [
+                        0.8267899751663208,
+                        0.03578000143170357,
+                        -0.5613700151443481,
+                        0.33726000785827637
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        0.08681999891996384,
+                        0.08715999871492386,
+                        -0.9923999905586243,
+                        0.843559980392456
+                    ],
+                    [
+                        -0.007600000128149986,
+                        0.9961900115013123,
+                        0.08681999891996384,
+                        -0.07356999814510345
+                    ],
+                    [
+                        0.9961900115013123,
+                        0.0,
+                        0.08715000003576279,
+                        0.026149999350309372
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/103207/result.json b/assets/urdf/Kettle/103207/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..69306ca5f092bc3fb70b659ca94be2a8ba9800ad
--- /dev/null
+++ b/assets/urdf/Kettle/103207/result.json
@@ -0,0 +1 @@
+[{"text": "Kettle", "name": "Kettle", "id": 0, "children": [{"text": "lid", "name": "lid", "id": 1, "objs": ["original-7", "original-2", "original-5"]}, {"text": "handle", "name": "handle", "id": 2, "objs": ["original-1"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-3", "original-8", "original-13", "original-9", "original-6", "original-11", "original-12", "original-10"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/103207/result_original.json b/assets/urdf/Kettle/103207/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..09e3321f1324a833d5841e3db7b629b022e34769
--- /dev/null
+++ b/assets/urdf/Kettle/103207/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Kettle", "text": "Kettle", "children": [{"id": 1, "name": "lid", "text": "lid", "objs": ["original-7", "original-2", "original-5"]}, {"id": 2, "name": "handle", "text": "handle", "objs": ["original-1"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/103207/semantics.txt b/assets/urdf/Kettle/103207/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..972cda456cf72d97b08de7df21d21fd9fb85a11b
--- /dev/null
+++ b/assets/urdf/Kettle/103207/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider lid
+link_1 free kettle_body
diff --git a/assets/urdf/Kettle/103207/textured_objs/original-1.mtl b/assets/urdf/Kettle/103207/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103207/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103207/textured_objs/original-1.obj b/assets/urdf/Kettle/103207/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55febf49cca83d7c0e7766a028b6c5402759a6ab
--- /dev/null
+++ b/assets/urdf/Kettle/103207/textured_objs/original-1.obj
@@ -0,0 +1,3743 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o Group1/mesh1/mesh1-geometry#mesh1-geometry
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diff --git a/assets/urdf/Kettle/103207/textured_objs/original-10.mtl b/assets/urdf/Kettle/103207/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d4ebdc0ae71b9da7cb097ea0cf39e391e408e6c7
--- /dev/null
+++ b/assets/urdf/Kettle/103207/textured_objs/original-10.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.11372549019607843 0.11372549019607843 0.6 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103207/textured_objs/original-10.obj b/assets/urdf/Kettle/103207/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7cb2c933af011c7ec837f5130d52c3afa2304d2
--- /dev/null
+++ b/assets/urdf/Kettle/103207/textured_objs/original-10.obj
@@ -0,0 +1,4394 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
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diff --git a/assets/urdf/Kettle/103207/textured_objs/original-11.mtl b/assets/urdf/Kettle/103207/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..71ff4b3abbf9b85f681657990c5cca518f24ac24
--- /dev/null
+++ b/assets/urdf/Kettle/103207/textured_objs/original-11.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103207/textured_objs/original-11.obj b/assets/urdf/Kettle/103207/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90c8d3ee569eea55054222cd2bb2dedec1c7698d
--- /dev/null
+++ b/assets/urdf/Kettle/103207/textured_objs/original-11.obj
@@ -0,0 +1,7372 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/Kettle/103207/textured_objs/original-12.mtl b/assets/urdf/Kettle/103207/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..47a7338b68a747ad614fe15a8df3c2c0a4f13249
--- /dev/null
+++ b/assets/urdf/Kettle/103207/textured_objs/original-12.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.8941176470588236 0.6 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103207/textured_objs/original-12.obj b/assets/urdf/Kettle/103207/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e265a83d6abdba4da284e5fdf298a893188cecc4
--- /dev/null
+++ b/assets/urdf/Kettle/103207/textured_objs/original-12.obj
@@ -0,0 +1,332 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
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diff --git a/assets/urdf/Kettle/103207/textured_objs/original-13.mtl b/assets/urdf/Kettle/103207/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..47a7338b68a747ad614fe15a8df3c2c0a4f13249
--- /dev/null
+++ b/assets/urdf/Kettle/103207/textured_objs/original-13.mtl
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+newmtl material_0_0
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diff --git a/assets/urdf/Kettle/103207/textured_objs/original-13.obj b/assets/urdf/Kettle/103207/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c15c24b2596a3f89a7adac4ee30008de2eb1711d
--- /dev/null
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diff --git a/assets/urdf/Kettle/103207/textured_objs/original-2.mtl b/assets/urdf/Kettle/103207/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103207/textured_objs/original-2.mtl
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+newmtl material_0_0
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diff --git a/assets/urdf/Kettle/103207/textured_objs/original-2.obj b/assets/urdf/Kettle/103207/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3326dfbcf4e1ef98fc99e5eebc9c8b3679d9284
--- /dev/null
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diff --git a/assets/urdf/Kettle/103207/textured_objs/original-3.mtl b/assets/urdf/Kettle/103207/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103207/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103207/textured_objs/original-3.obj b/assets/urdf/Kettle/103207/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..775b521f8131c3c40b30bbff7b19a80065d938ab
--- /dev/null
+++ b/assets/urdf/Kettle/103207/textured_objs/original-3.obj
@@ -0,0 +1,433 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
+o Group3/mesh3/mesh3-geometry#mesh3-geometry
+v 0.158644 0.031643 0.563899
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+v 0.056382 -0.052245 0.574003
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diff --git a/assets/urdf/Kettle/103207/textured_objs/original-5.mtl b/assets/urdf/Kettle/103207/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103207/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103207/textured_objs/original-5.obj b/assets/urdf/Kettle/103207/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18ef824b28b691f12ae666e7e0a96807fd02da8d
--- /dev/null
+++ b/assets/urdf/Kettle/103207/textured_objs/original-5.obj
@@ -0,0 +1,191 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
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diff --git a/assets/urdf/Kettle/103207/textured_objs/original-6.mtl b/assets/urdf/Kettle/103207/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103207/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103207/textured_objs/original-6.obj b/assets/urdf/Kettle/103207/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ad96a21d8b11044c2c83b0add95d81778965f0a
--- /dev/null
+++ b/assets/urdf/Kettle/103207/textured_objs/original-6.obj
@@ -0,0 +1,199 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
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diff --git a/assets/urdf/Kettle/103207/textured_objs/original-7.mtl b/assets/urdf/Kettle/103207/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d4ebdc0ae71b9da7cb097ea0cf39e391e408e6c7
--- /dev/null
+++ b/assets/urdf/Kettle/103207/textured_objs/original-7.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/assets/urdf/Kettle/103207/textured_objs/original-7.obj b/assets/urdf/Kettle/103207/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecaf87dc6644ad7c5dc6e2e446f5c2d4b75ff74a
--- /dev/null
+++ b/assets/urdf/Kettle/103207/textured_objs/original-7.obj
@@ -0,0 +1,5846 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
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diff --git a/assets/urdf/Kettle/103207/textured_objs/original-8.mtl b/assets/urdf/Kettle/103207/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d4ebdc0ae71b9da7cb097ea0cf39e391e408e6c7
--- /dev/null
+++ b/assets/urdf/Kettle/103207/textured_objs/original-8.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.11372549019607843 0.11372549019607843 0.6 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103207/textured_objs/original-8.obj b/assets/urdf/Kettle/103207/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc34b04f85216eac09293288f7e3862a4733ea86
--- /dev/null
+++ b/assets/urdf/Kettle/103207/textured_objs/original-8.obj
@@ -0,0 +1,1086 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
+o mesh5/mesh5-geometry/material_1/component_1#mesh5-geometry
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diff --git a/assets/urdf/Kettle/103207/textured_objs/original-9.mtl b/assets/urdf/Kettle/103207/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d4ebdc0ae71b9da7cb097ea0cf39e391e408e6c7
--- /dev/null
+++ b/assets/urdf/Kettle/103207/textured_objs/original-9.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
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+
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+d 1
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+
diff --git a/assets/urdf/Kettle/103207/textured_objs/original-9.obj b/assets/urdf/Kettle/103207/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..766b7eec4f1b7b6b4ec112fd6d6d22ebf7098c86
--- /dev/null
+++ b/assets/urdf/Kettle/103207/textured_objs/original-9.obj
@@ -0,0 +1,1078 @@
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diff --git a/assets/urdf/Kettle/103208/meta.json b/assets/urdf/Kettle/103208/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e26ce5c558749ca3b8bcbe58904eb9fb356b766
--- /dev/null
+++ b/assets/urdf/Kettle/103208/meta.json
@@ -0,0 +1 @@
+{"user_id": "haozhu", "model_cat": "Kettle", "model_id": "6d0c3cbce32d723da1f7f00e7dd2f846", "version": "1", "anno_id": "3208", "time_in_sec": "154"}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/103208/mobility.urdf b/assets/urdf/Kettle/103208/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..41d3db1ea81645de8a628d268f2f7526f00ef26e
--- /dev/null
+++ b/assets/urdf/Kettle/103208/mobility.urdf
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+<?xml version="1.0" ?>
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+		<visual name="lid-3">
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0.0 0.0 0.0"/>
+		<axis xyz="0.0 1.0 0.0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-4">
+			<origin xyz="-0.024880671564950406 -0.4532464019854511 0.0003987889395921755"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-4">
+			<origin xyz="-0.024880671564950406 -0.4532464019854511 0.0003987889395921755"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-4">
+			<origin xyz="-0.024880671564950406 -0.4532464019854511 0.0003987889395921755"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.024880671564950406 -0.4532464019854511 0.0003987889395921755"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.024880671564950406 -0.4532464019854511 0.0003987889395921755"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.024880671564950406 -0.4532464019854511 0.0003987889395921755"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0.024880671564950406 0.4532464019854511 -0.0003987889395921755"/>
+		<axis xyz="0.01602600264099404 -0.0 0.999871497756546"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.008000000000000007"/>
+	</joint>
+	<link name="link_2">
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="outlier-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Kettle/103208/result_original.json b/assets/urdf/Kettle/103208/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec873f7809557e95fddc5b737034bf7ed8e56e55
--- /dev/null
+++ b/assets/urdf/Kettle/103208/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Kettle", "text": "Kettle", "children": [{"id": 3, "name": "lid", "text": "lid", "objs": ["original-23", "original-30", "original-28", "original-27"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-44", "original-43", "original-41"]}, {"id": 6, "name": "handle", "text": "handle", "objs": ["original-34", "original-40", "original-37", "original-42", "original-45", "original-35", "original-3", "original-2", "original-33", "original-38", "original-32", "original-8", "original-17", "original-9", "original-16", "original-15", "original-7", "original-6", "original-31", "original-5", "original-13", "original-14"]}, {"id": 7, "name": "outlier", "text": "outlier", "objs": ["original-36"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/103208/semantics.txt b/assets/urdf/Kettle/103208/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..715d19ba381222f0dcc57cbc4b0d1f8b31ac5896
--- /dev/null
+++ b/assets/urdf/Kettle/103208/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider lid
+link_1 slider button
+link_2 free kettle_body
diff --git a/assets/urdf/Kettle/103208/textured_objs/original-10.mtl b/assets/urdf/Kettle/103208/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103208/textured_objs/original-10.obj b/assets/urdf/Kettle/103208/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c8ceea60fd14b13b0135c8c99feb7c2239fd7d7
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-10.obj
@@ -0,0 +1,121 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o mesh8/mesh8-geometry#mesh8-geometry
+v -0.02400043926075348 0.34429 -0.671512954851606
+v -0.02701138049346663 0.363412 -0.6714646279889325
+v -0.02701138049346663 0.34429 -0.6714646279889325
+v -0.02400043926075348 0.369049 -0.671512954851606
+v -0.027064365118441975 0.34429 -0.6747765663830686
+v -0.027446315774158132 0.369049 -0.6714576085701093
+v -0.024053423885728835 0.369049 -0.6748248932457424
+v -0.027064365118441975 0.363412 -0.6747765663830686
+v -0.024053423885728835 0.34429 -0.6748248932457424
+v -0.03948920608518253 0.34429 -0.6712638163101732
+v -0.039908018214345184 0.349928 -0.6712570065206
+v -0.0274993003991336 0.369049 -0.6747695469642456
+v -0.0395430653299865 0.34429 -0.6745762395135506
+v -0.042918959447058425 0.369049 -0.6712086796579263
+v -0.03996100283932069 0.349928 -0.6745689449147363
+v -0.042971944072033766 0.34429 -0.6745206180520625
+v -0.042918959447058425 0.34429 -0.6712086796579263
+v -0.039908018214345184 0.369049 -0.6712570065206
+v -0.03996100283932069 0.369049 -0.6745689449147363
+v -0.042971944072033766 0.369049 -0.6745206180520625
+vn 0.5865620354784618 -0.5773502750872567 0.567989027109162
+vn -0.12724004030297237 -0.4747909540511113 0.8708521125143546
+vn -0.567989027109162 -0.5773502750872568 0.5865620354784613
+vn 0.5865620354784613 0.5773502750872573 0.567989027109162
+vn 0.567989027109162 0.5773502750872568 -0.5865620354784613
+vn 0.12724004030297237 0.4747909540511113 -0.8708521125143546
+vn -0.5865620354784618 0.5773502750872567 -0.567989027109162
+vn -0.5865620354784613 -0.5773502750872573 -0.567989027109162
+vn -0.40613293094483366 0.7642747864279384 0.5009391466854003
+vn 0.40613293094483366 -0.7642747864279384 -0.5009391466854003
+vn -0.15518536482107032 -0.4747909540511118 -0.8663087972959567
+vn 0.15518536482107032 0.4747909540511118 0.8663087972959567
+vn 0.5679890271091622 -0.5773502750872568 -0.5865620354784613
+vn -0.5679890271091622 0.5773502750872568 0.5865620354784613
+vn 0.4218166980819486 -0.7644328916219072 0.4875581636200288
+vn -0.4218166980819486 0.7644328916219072 -0.4875581636200288
+vn 0.15493387040638226 0.47446475170704155 0.8665325007847038
+vn -0.15493387040638226 -0.47446475170704155 -0.8665325007847038
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-11.mtl b/assets/urdf/Kettle/103208/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-11.mtl
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-11.obj b/assets/urdf/Kettle/103208/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ae79111a2a21c149f6aac13f912531217b8417d
--- /dev/null
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-13.mtl b/assets/urdf/Kettle/103208/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-13.mtl
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+newmtl material_0_0
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-13.obj b/assets/urdf/Kettle/103208/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26232e24234a291626525aa1aafbcc569e9b526d
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-13.obj
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-14.mtl b/assets/urdf/Kettle/103208/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+
diff --git a/assets/urdf/Kettle/103208/textured_objs/original-14.obj b/assets/urdf/Kettle/103208/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64b98a8fb0ea8b50c0fad2d2233c6d8f0d88974a
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-14.obj
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+# SSTK version 0.8.0
+# 14
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-15.mtl b/assets/urdf/Kettle/103208/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-15.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-15.obj b/assets/urdf/Kettle/103208/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90a1d627a6eb1d17663a3a9818bf186029890919
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-15.obj
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+# SSTK version 0.8.0
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+mtllib original-15.mtl
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index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-16.obj b/assets/urdf/Kettle/103208/textured_objs/original-16.obj
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index 0000000000000000000000000000000000000000..90f89419da95de9bd12b6f29b02340e991f74c36
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-17.mtl b/assets/urdf/Kettle/103208/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-17.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103208/textured_objs/original-17.obj b/assets/urdf/Kettle/103208/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2694af5a85b66483047bc0b0eb8756784cdd3e81
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-17.obj
@@ -0,0 +1,85 @@
+# SSTK version 0.8.0
+# 17
+mtllib original-17.mtl
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-18.mtl b/assets/urdf/Kettle/103208/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-18.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103208/textured_objs/original-18.obj b/assets/urdf/Kettle/103208/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ee62e21a76ab88df9269b4066c69ab358afbbf4
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-18.obj
@@ -0,0 +1,151 @@
+# SSTK version 0.8.0
+# 18
+mtllib original-18.mtl
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-19.mtl b/assets/urdf/Kettle/103208/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-19.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103208/textured_objs/original-19.obj b/assets/urdf/Kettle/103208/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b86c58664093aaa648325e91b54e14bbcf42fa5
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-19.obj
@@ -0,0 +1,65 @@
+# SSTK version 0.8.0
+# 19
+mtllib original-19.mtl
+o mesh16/mesh16-geometry#mesh16-geometry
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-2.mtl b/assets/urdf/Kettle/103208/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103208/textured_objs/original-2.obj b/assets/urdf/Kettle/103208/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfdf5ff63a41752d3e0d7f92dce7c31700e30c0d
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-2.obj
@@ -0,0 +1,929 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-23.obj b/assets/urdf/Kettle/103208/textured_objs/original-23.obj
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-26.mtl b/assets/urdf/Kettle/103208/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-26.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-26.obj b/assets/urdf/Kettle/103208/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1826930dbc9d20142ece8ad9fd61cb03fd237ec8
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-26.obj
@@ -0,0 +1,169 @@
+# SSTK version 0.8.0
+# 26
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-27.mtl b/assets/urdf/Kettle/103208/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-27.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+newmtl material_1_0
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-27.obj b/assets/urdf/Kettle/103208/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..129efd2cf17699aaf772c66d3f4158fa31f4a3fb
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-27.obj
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+# SSTK version 0.8.0
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-28.mtl b/assets/urdf/Kettle/103208/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..20f73e19e9934a728169595b185a4caa07edf53a
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-28.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+
+newmtl material_1_0
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-28.obj b/assets/urdf/Kettle/103208/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4c493d7815e4c975100c503cc71fc902c70d9d1
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-28.obj
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-29.mtl b/assets/urdf/Kettle/103208/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..20f73e19e9934a728169595b185a4caa07edf53a
--- /dev/null
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-29.obj b/assets/urdf/Kettle/103208/textured_objs/original-29.obj
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index 0000000000000000000000000000000000000000..706bc6dc56d0cc2584c2f741e092f9e320c3324a
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-3.mtl b/assets/urdf/Kettle/103208/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-3.mtl
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+newmtl material_0_0
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-3.obj b/assets/urdf/Kettle/103208/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d128e71935873ba243aa13e19c56742b1f2ea615
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-3.obj
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-30.mtl b/assets/urdf/Kettle/103208/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..20f73e19e9934a728169595b185a4caa07edf53a
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-30.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.6 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103208/textured_objs/original-30.obj b/assets/urdf/Kettle/103208/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95926481bf5f454826b2582e764731c575df3707
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-30.obj
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-31.mtl b/assets/urdf/Kettle/103208/textured_objs/original-31.mtl
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index 0000000000000000000000000000000000000000..8958dc6bb1d286b8ded70208d9d673087fa6fa66
--- /dev/null
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-31.obj b/assets/urdf/Kettle/103208/textured_objs/original-31.obj
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index 0000000000000000000000000000000000000000..84ca59c699a9c09ed61e3a3951c14c0f4e4eda08
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-32.mtl b/assets/urdf/Kettle/103208/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8958dc6bb1d286b8ded70208d9d673087fa6fa66
--- /dev/null
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-32.obj b/assets/urdf/Kettle/103208/textured_objs/original-32.obj
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index 0000000000000000000000000000000000000000..239402b3c6156bf263e0db82b16b2705c10fd0f9
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new file mode 100644
index 0000000000000000000000000000000000000000..8958dc6bb1d286b8ded70208d9d673087fa6fa66
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-33.mtl
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+newmtl material_0_0
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-33.obj b/assets/urdf/Kettle/103208/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16fc3e0820d99a4030a280406d10fe696b76fdaa
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-33.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..8958dc6bb1d286b8ded70208d9d673087fa6fa66
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--- /dev/null
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new file mode 100644
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-35.obj b/assets/urdf/Kettle/103208/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..158dffeb98f4e011444e5d544dc4eddbf758e8c3
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-35.obj
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-36.mtl b/assets/urdf/Kettle/103208/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-36.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-36.obj b/assets/urdf/Kettle/103208/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba46a01ac1c9ff5d4d812be7485d1ad92dcc5d15
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-36.obj
@@ -0,0 +1,73 @@
+# SSTK version 0.8.0
+# 36
+mtllib original-36.mtl
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-37.mtl b/assets/urdf/Kettle/103208/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-37.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-37.obj b/assets/urdf/Kettle/103208/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de8cfbe9b877fd91a0827ea54f96905ea2056bf7
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-37.obj
@@ -0,0 +1,41 @@
+# SSTK version 0.8.0
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+mtllib original-37.mtl
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-38.mtl b/assets/urdf/Kettle/103208/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-38.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-38.obj b/assets/urdf/Kettle/103208/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e11384ddde9acb9bc33f8a31ea49978d5e70117d
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-38.obj
@@ -0,0 +1,157 @@
+# SSTK version 0.8.0
+# 38
+mtllib original-38.mtl
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-39.mtl b/assets/urdf/Kettle/103208/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-39.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-39.obj b/assets/urdf/Kettle/103208/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7795d1acf831ac2f060f810c91ce24402df0f90c
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-39.obj
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+# SSTK version 0.8.0
+# 39
+mtllib original-39.mtl
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-40.mtl b/assets/urdf/Kettle/103208/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..20f73e19e9934a728169595b185a4caa07edf53a
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-40.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+newmtl material_1_0
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-40.obj b/assets/urdf/Kettle/103208/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbf67b7851a36ffeea37b8ebf1f6ee4a315ed7bf
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-40.obj
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+# SSTK version 0.8.0
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+mtllib original-40.mtl
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-41.mtl b/assets/urdf/Kettle/103208/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..20f73e19e9934a728169595b185a4caa07edf53a
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-41.mtl
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+newmtl material_0_0
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+newmtl material_1_0
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-41.obj b/assets/urdf/Kettle/103208/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b4c757637c09790e005c081842f1a99ff984d59
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-41.obj
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+# SSTK version 0.8.0
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-42.mtl b/assets/urdf/Kettle/103208/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..20f73e19e9934a728169595b185a4caa07edf53a
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-42.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
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+Kd 0.6 0 0 
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+
diff --git a/assets/urdf/Kettle/103208/textured_objs/original-42.obj b/assets/urdf/Kettle/103208/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..833c363bc843095dbfb72dc552b265c0077a82bc
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-42.obj
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+# SSTK version 0.8.0
+# 42
+mtllib original-42.mtl
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-43.mtl b/assets/urdf/Kettle/103208/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..20f73e19e9934a728169595b185a4caa07edf53a
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-43.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+newmtl material_1_0
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-43.obj b/assets/urdf/Kettle/103208/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5a09dfac067660839bd32568732a845e5094f12
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-43.obj
@@ -0,0 +1,184 @@
+# SSTK version 0.8.0
+# 43
+mtllib original-43.mtl
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-44.mtl b/assets/urdf/Kettle/103208/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-44.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
+newmtl material_1_0
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-44.obj b/assets/urdf/Kettle/103208/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a18a22f9f6b7447a071438bf52408c3c44a75ad
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-44.obj
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+# SSTK version 0.8.0
+# 44
+mtllib original-44.mtl
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-45.mtl b/assets/urdf/Kettle/103208/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..71ff4b3abbf9b85f681657990c5cca518f24ac24
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-45.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103208/textured_objs/original-45.obj b/assets/urdf/Kettle/103208/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5334fcb4aeef69a161b8ad897ec4576fb8d5fe8f
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-45.obj
@@ -0,0 +1,392 @@
+# SSTK version 0.8.0
+# 45
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-5.mtl b/assets/urdf/Kettle/103208/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-5.mtl
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+newmtl material_0_0
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-5.obj b/assets/urdf/Kettle/103208/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f836ebab60095627c7403585dc21003f79adfb44
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-5.obj
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-6.mtl b/assets/urdf/Kettle/103208/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-6.obj b/assets/urdf/Kettle/103208/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab54e1ac88273060ad25832b52655fb254aeb2fd
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-6.obj
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+# SSTK version 0.8.0
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-7.mtl b/assets/urdf/Kettle/103208/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-7.obj b/assets/urdf/Kettle/103208/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92830fe2c573bc2859708c15ed23abbbca44701e
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-7.obj
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-8.mtl b/assets/urdf/Kettle/103208/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103208/textured_objs/original-8.obj b/assets/urdf/Kettle/103208/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86dd0fbc7fcc53b4daa745f52e57b6b30a36cd78
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-8.obj
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diff --git a/assets/urdf/Kettle/103208/textured_objs/original-9.mtl b/assets/urdf/Kettle/103208/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103208/textured_objs/original-9.obj b/assets/urdf/Kettle/103208/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2941326c7239b92e6b755720bfada3bf4c704f3b
--- /dev/null
+++ b/assets/urdf/Kettle/103208/textured_objs/original-9.obj
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+# SSTK version 0.8.0
+# 9
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diff --git a/assets/urdf/Kettle/103222/bounding_box.json b/assets/urdf/Kettle/103222/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..91bd2a4c083b0a3f28fc4e0671c1c2c55f3f47ac
--- /dev/null
+++ b/assets/urdf/Kettle/103222/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.607102, -0.545611, -0.870834], "max": [0.610624, 0.872368, 0.94974]}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/103222/grasp_poses.json b/assets/urdf/Kettle/103222/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..e47b94b7c170f53e96255530312013dd869bbba7
--- /dev/null
+++ b/assets/urdf/Kettle/103222/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "103222",
+    "scale": 0.2,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.6980900168418884,
+                        -0.040780000388622284,
+                        -0.7148500084877014,
+                        0.8401700258255005
+                    ],
+                    [
+                        -0.16367000341415405,
+                        0.9810299873352051,
+                        0.10386999696493149,
+                        0.008050000295042992
+                    ],
+                    [
+                        0.6970599889755249,
+                        0.189520001411438,
+                        -0.6915199756622314,
+                        0.1441899985074997
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/103222/meta.json b/assets/urdf/Kettle/103222/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9996a08efd60eacf6d7cc11e66e626931e10d8e
--- /dev/null
+++ b/assets/urdf/Kettle/103222/meta.json
@@ -0,0 +1 @@
+{"user_id": "haozhu", "model_cat": "Kettle", "model_id": "dacbcd32c247e528285bbab821a64038-1", "version": "1", "anno_id": "3222", "time_in_sec": "28"}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/103222/mobility.urdf b/assets/urdf/Kettle/103222/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d6583adb50593d8ae3116cec5f6582e07366fff3
--- /dev/null
+++ b/assets/urdf/Kettle/103222/mobility.urdf
@@ -0,0 +1,308 @@
+<?xml version="1.0" ?>
+<robot name="partnet_dacbcd32c247e528285bbab821a64038-1">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-1">
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0.0 0.0 0.0"/>
+		<axis xyz="0.0 1.0 0.0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.008000000000000007"/>
+	</joint>
+	<link name="link_1">
+		<visual name="handle-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Kettle/103222/mobility_v2.json b/assets/urdf/Kettle/103222/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..15b2fdfa4e4cbadf754fcb9c48af5e4405eacd6c
--- /dev/null
+++ b/assets/urdf/Kettle/103222/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "slider", "name": "lid", "parts": [{"id": 1, "name": "lid", "children": []}], "jointData": {"axis": {"origin": [0.0, 0.0, 0.0], "direction": [0.0, 1.0, 0.0]}, "limit": {"a": 0, "b": 0.008000000000000007, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 1, "parent": -1, "joint": "free", "name": "handle", "parts": [{"id": 2, "name": "handle", "children": []}, {"id": 3, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/103222/model_data.json b/assets/urdf/Kettle/103222/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..3affbc0909f80a8defe0455efd86b49b11e91a18
--- /dev/null
+++ b/assets/urdf/Kettle/103222/model_data.json
@@ -0,0 +1,65 @@
+{
+    "scale": 0.2,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "init_qpos": [],
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.6980900168418884,
+                        -0.040780000388622284,
+                        -0.7148500084877014,
+                        0.8401700258255005
+                    ],
+                    [
+                        -0.16367000341415405,
+                        0.9810299873352051,
+                        0.10386999696493149,
+                        0.008050000295042992
+                    ],
+                    [
+                        0.6970599889755249,
+                        0.189520001411438,
+                        -0.6915199756622314,
+                        0.1441899985074997
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/103222/result.json b/assets/urdf/Kettle/103222/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ca749497f675481381f2ed0dab641eaf4bc8e94
--- /dev/null
+++ b/assets/urdf/Kettle/103222/result.json
@@ -0,0 +1 @@
+[{"text": "Kettle", "name": "Kettle", "id": 0, "children": [{"text": "lid", "name": "lid", "id": 1, "objs": ["original-8", "original-5", "original-10", "original-9", "original-4", "original-18", "original-14", "original-13", "original-12", "original-11", "original-17", "original-16", "original-15", "original-6"]}, {"text": "handle", "name": "handle", "id": 2, "objs": ["original-19"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-21", "original-22", "original-3", "original-2", "original-23", "original-24", "original-20", "original-7", "original-1"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/103222/result_original.json b/assets/urdf/Kettle/103222/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..f00af53e4894ee2f6bf80faff5fb9078bd2ff4b7
--- /dev/null
+++ b/assets/urdf/Kettle/103222/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Kettle", "text": "Kettle", "children": [{"id": 1, "name": "lid", "text": "lid", "objs": ["original-8", "original-5", "original-10", "original-9", "original-4", "original-18", "original-14", "original-13", "original-12", "original-11", "original-17", "original-16", "original-15", "original-6"]}, {"id": 2, "name": "handle", "text": "handle", "objs": ["original-19"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kettle/103222/semantics.txt b/assets/urdf/Kettle/103222/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..972cda456cf72d97b08de7df21d21fd9fb85a11b
--- /dev/null
+++ b/assets/urdf/Kettle/103222/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider lid
+link_1 free kettle_body
diff --git a/assets/urdf/Kettle/103223/bounding_box.json b/assets/urdf/Kettle/103223/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f79c0c8ba77e562b4d95a6000259b0cd46bd905
--- /dev/null
+++ b/assets/urdf/Kettle/103223/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.654256, -0.72452, -0.888569], "max": [0.638302, 0.770414, 0.926236]}
\ No newline at end of file
diff --git a/assets/urdf/Kettle/103223/grasp_poses.json b/assets/urdf/Kettle/103223/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad031b9f865209753cce111ee5fc9f737e8417d5
--- /dev/null
+++ b/assets/urdf/Kettle/103223/grasp_poses.json
@@ -0,0 +1,70 @@
+{
+    "object_name": "103223",
+    "scale": 0.2,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
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index 0000000000000000000000000000000000000000..7477d16c5190e4d25eb85df72933519e0fdaf889
--- /dev/null
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diff --git a/assets/urdf/Mouse/102273/textured_objs/original-10.obj b/assets/urdf/Mouse/102273/textured_objs/original-10.obj
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index 0000000000000000000000000000000000000000..a8d3682304fb2f6419bd0501e9d9f25f914b1978
--- /dev/null
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diff --git a/assets/urdf/Mouse/102273/textured_objs/original-11.mtl b/assets/urdf/Mouse/102273/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7477d16c5190e4d25eb85df72933519e0fdaf889
--- /dev/null
+++ b/assets/urdf/Mouse/102273/textured_objs/original-11.mtl
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diff --git a/assets/urdf/Mouse/102273/textured_objs/original-11.obj b/assets/urdf/Mouse/102273/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2e2284820a51afd6d76273b9a508d38f3555eef
--- /dev/null
+++ b/assets/urdf/Mouse/102273/textured_objs/original-11.obj
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diff --git a/assets/urdf/Mouse/102273/textured_objs/original-13.mtl b/assets/urdf/Mouse/102273/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7477d16c5190e4d25eb85df72933519e0fdaf889
--- /dev/null
+++ b/assets/urdf/Mouse/102273/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
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+d 1
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diff --git a/assets/urdf/Mouse/102273/textured_objs/original-13.obj b/assets/urdf/Mouse/102273/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d2d3dc838cefead425cd30e8eb7e4898bd064a9
--- /dev/null
+++ b/assets/urdf/Mouse/102273/textured_objs/original-13.obj
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diff --git a/assets/urdf/Mouse/102273/textured_objs/original-14.mtl b/assets/urdf/Mouse/102273/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7477d16c5190e4d25eb85df72933519e0fdaf889
--- /dev/null
+++ b/assets/urdf/Mouse/102273/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Mouse/102273/textured_objs/original-14.obj b/assets/urdf/Mouse/102273/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3952035e685033949e3c38406f5ed151941cfe31
--- /dev/null
+++ b/assets/urdf/Mouse/102273/textured_objs/original-14.obj
@@ -0,0 +1,2455 @@
+# SSTK version 0.8.0
+# 14
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diff --git a/assets/urdf/Mouse/102273/textured_objs/original-15.mtl b/assets/urdf/Mouse/102273/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf3a39aa076c31098442e7ae6d904453afe622ee
--- /dev/null
+++ b/assets/urdf/Mouse/102273/textured_objs/original-15.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.09411764705882353 0.09411764705882353 0.09411764705882353 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Mouse/102273/textured_objs/original-15.obj b/assets/urdf/Mouse/102273/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58dcb0066830500bbd116d3b37d3b179e3c633d0
--- /dev/null
+++ b/assets/urdf/Mouse/102273/textured_objs/original-15.obj
@@ -0,0 +1,3785 @@
+# SSTK version 0.8.0
+# 15
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diff --git a/assets/urdf/Mouse/102273/textured_objs/original-3.mtl b/assets/urdf/Mouse/102273/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7477d16c5190e4d25eb85df72933519e0fdaf889
--- /dev/null
+++ b/assets/urdf/Mouse/102273/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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diff --git a/assets/urdf/Mouse/102273/textured_objs/original-3.obj b/assets/urdf/Mouse/102273/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d200fe1caa8e521b635055856405498da3b90395
--- /dev/null
+++ b/assets/urdf/Mouse/102273/textured_objs/original-3.obj
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diff --git a/assets/urdf/Mouse/102273/textured_objs/original-4.mtl b/assets/urdf/Mouse/102273/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7477d16c5190e4d25eb85df72933519e0fdaf889
--- /dev/null
+++ b/assets/urdf/Mouse/102273/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/assets/urdf/Mouse/102273/textured_objs/original-4.obj b/assets/urdf/Mouse/102273/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3e9d071f5368bad94f6656e182b9712e7440bb4
--- /dev/null
+++ b/assets/urdf/Mouse/102273/textured_objs/original-4.obj
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diff --git a/assets/urdf/Mouse/102273/textured_objs/original-5.mtl b/assets/urdf/Mouse/102273/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf3a39aa076c31098442e7ae6d904453afe622ee
--- /dev/null
+++ b/assets/urdf/Mouse/102273/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Mouse/102273/textured_objs/original-5.obj b/assets/urdf/Mouse/102273/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cafec072f07ca6f82a9dd8cc1f3facd4570b9b8
--- /dev/null
+++ b/assets/urdf/Mouse/102273/textured_objs/original-5.obj
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diff --git a/assets/urdf/Mouse/102273/textured_objs/original-6.mtl b/assets/urdf/Mouse/102273/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1a5a62f5bcfaa2b3eed19c62f52166b89bdf947a
--- /dev/null
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diff --git a/assets/urdf/Mouse/102273/textured_objs/original-6.obj b/assets/urdf/Mouse/102273/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba13fa73d3685cc60d11c30946d8c097ef24c854
--- /dev/null
+++ b/assets/urdf/Mouse/102273/textured_objs/original-6.obj
@@ -0,0 +1,5773 @@
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diff --git a/assets/urdf/Mouse/102273/textured_objs/original-8.mtl b/assets/urdf/Mouse/102273/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7477d16c5190e4d25eb85df72933519e0fdaf889
--- /dev/null
+++ b/assets/urdf/Mouse/102273/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Mouse/102273/textured_objs/original-8.obj b/assets/urdf/Mouse/102273/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e29cbda11947f5879cce7c307b1d2f053dbabd08
--- /dev/null
+++ b/assets/urdf/Mouse/102273/textured_objs/original-8.obj
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diff --git a/assets/urdf/Mouse/102273/textured_objs/original-9.mtl b/assets/urdf/Mouse/102273/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7477d16c5190e4d25eb85df72933519e0fdaf889
--- /dev/null
+++ b/assets/urdf/Mouse/102273/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+
diff --git a/assets/urdf/Mouse/102273/textured_objs/original-9.obj b/assets/urdf/Mouse/102273/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e77cccd1be4b3cb2f5e6386137d8efa2c250beb2
--- /dev/null
+++ b/assets/urdf/Mouse/102273/textured_objs/original-9.obj
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diff --git a/assets/urdf/Mouse/103024/textured_objs/original-1.mtl b/assets/urdf/Mouse/103024/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/assets/urdf/Mouse/103024/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Mouse/103024/textured_objs/original-13.obj b/assets/urdf/Mouse/103024/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ded28e171121e53894e0c17d497163271f3353b
--- /dev/null
+++ b/assets/urdf/Mouse/103024/textured_objs/original-13.obj
@@ -0,0 +1,4197 @@
+# SSTK version 0.8.0
+# 13
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diff --git a/assets/urdf/Mouse/103024/textured_objs/original-3.obj b/assets/urdf/Mouse/103024/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..447a68d0e8ebe90ae714292ff507bd65ae8fcf6a
--- /dev/null
+++ b/assets/urdf/Mouse/103024/textured_objs/original-3.obj
@@ -0,0 +1,126 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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diff --git a/assets/urdf/Mouse/103024/textured_objs/original-4.obj b/assets/urdf/Mouse/103024/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eca0b2a91097c91b6b070ab196258ef9ba93482e
--- /dev/null
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diff --git a/assets/urdf/Mouse/103024/textured_objs/original-6.mtl b/assets/urdf/Mouse/103024/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
+++ b/assets/urdf/Mouse/103024/textured_objs/original-6.mtl
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diff --git a/assets/urdf/Mouse/103024/textured_objs/original-7.obj b/assets/urdf/Mouse/103024/textured_objs/original-7.obj
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index 0000000000000000000000000000000000000000..711ad50f6027f53b1b536415ec02462c1c868528
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..fc0ff4a7d886aa3b1717ee912da130acacb00104
--- /dev/null
+++ b/assets/urdf/Mouse/103024/textured_objs/original-8.mtl
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diff --git a/assets/urdf/Mouse/103024/textured_objs/original-8.obj b/assets/urdf/Mouse/103024/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..645cbc06f580feded2a84318e47083799b0f2139
--- /dev/null
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index 0000000000000000000000000000000000000000..bd0829ceea396f313105715cd92fdeb1d68e5315
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diff --git a/assets/urdf/Mouse/103024/textured_objs/original-9.obj b/assets/urdf/Mouse/103024/textured_objs/original-9.obj
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