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+++ b/assets/urdf/Camera/102417/textured_objs/original-35.obj
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diff --git a/assets/urdf/Camera/102417/textured_objs/original-46.mtl b/assets/urdf/Camera/102417/textured_objs/original-46.mtl
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diff --git a/assets/urdf/Camera/102417/textured_objs/original-52.mtl b/assets/urdf/Camera/102417/textured_objs/original-52.mtl
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diff --git a/assets/urdf/Camera/102417/textured_objs/original-52.obj b/assets/urdf/Camera/102417/textured_objs/original-52.obj
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diff --git a/assets/urdf/Camera/102417/textured_objs/original-54.mtl b/assets/urdf/Camera/102417/textured_objs/original-54.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c556faf0e886c45c91e9d7c81694f96559de6b9c
--- /dev/null
+++ b/assets/urdf/Camera/102417/textured_objs/original-54.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
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diff --git a/assets/urdf/Camera/102417/textured_objs/original-55.obj b/assets/urdf/Camera/102417/textured_objs/original-55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04c805af9b50c17bfef04ca2325eadd95c4d965e
--- /dev/null
+++ b/assets/urdf/Camera/102417/textured_objs/original-55.obj
@@ -0,0 +1,192 @@
+# SSTK version 0.8.0
+# 55
+mtllib original-55.mtl
+o #ID501
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index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
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+++ b/assets/urdf/Camera/102873/textured_objs/original-10.mtl
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diff --git a/assets/urdf/Camera/102873/textured_objs/original-10.obj b/assets/urdf/Camera/102873/textured_objs/original-10.obj
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+++ b/assets/urdf/Camera/102873/textured_objs/original-10.obj
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index 0000000000000000000000000000000000000000..347016c233f5b0482d91c54ec2a885f512c71057
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new file mode 100644
index 0000000000000000000000000000000000000000..11f2223c9deebaef1977d0242974d9bff2d942b7
--- /dev/null
+++ b/assets/urdf/Camera/102873/textured_objs/original-12.mtl
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diff --git a/assets/urdf/Camera/102873/textured_objs/original-12.obj b/assets/urdf/Camera/102873/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af0145a5582ff01c9a2bc1ac78208b1cef0efda9
--- /dev/null
+++ b/assets/urdf/Camera/102873/textured_objs/original-12.obj
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+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
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diff --git a/assets/urdf/Camera/102873/textured_objs/original-2.mtl b/assets/urdf/Camera/102873/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
+++ b/assets/urdf/Camera/102873/textured_objs/original-2.mtl
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diff --git a/assets/urdf/Camera/102873/textured_objs/original-2.obj b/assets/urdf/Camera/102873/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57a77023966ada826790e286b55063fcefdb94cf
--- /dev/null
+++ b/assets/urdf/Camera/102873/textured_objs/original-2.obj
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index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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--- /dev/null
+++ b/assets/urdf/Camera/102873/textured_objs/original-3.obj
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diff --git a/assets/urdf/Camera/102873/textured_objs/original-6.mtl b/assets/urdf/Camera/102873/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
+++ b/assets/urdf/Camera/102873/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Camera/102873/textured_objs/original-6.obj b/assets/urdf/Camera/102873/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7afa6685c4a7240eae1a4e8238b9876d774d0fec
--- /dev/null
+++ b/assets/urdf/Camera/102873/textured_objs/original-6.obj
@@ -0,0 +1,145 @@
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+mtllib original-6.mtl
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diff --git a/assets/urdf/Camera/102873/textured_objs/original-7.mtl b/assets/urdf/Camera/102873/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/assets/urdf/Camera/102873/textured_objs/original-7.mtl
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diff --git a/assets/urdf/Camera/102873/textured_objs/original-7.obj b/assets/urdf/Camera/102873/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a276b3fbdba58bd43b72dfabca819e0de4086f5
--- /dev/null
+++ b/assets/urdf/Camera/102873/textured_objs/original-7.obj
@@ -0,0 +1,60 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
+o #ID45
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diff --git a/assets/urdf/Camera/102873/textured_objs/original-8.mtl b/assets/urdf/Camera/102873/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/assets/urdf/Camera/102873/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/assets/urdf/Camera/102873/textured_objs/original-8.obj b/assets/urdf/Camera/102873/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6bcef072f5d0abc524aeeb3028e11a7790392d0
--- /dev/null
+++ b/assets/urdf/Camera/102873/textured_objs/original-8.obj
@@ -0,0 +1,52 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
+o #ID53
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diff --git a/assets/urdf/Camera/102873/textured_objs/original-9.mtl b/assets/urdf/Camera/102873/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d92059235e40db39b884e8042a161b27564a6a32
--- /dev/null
+++ b/assets/urdf/Camera/102873/textured_objs/original-9.mtl
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+newmtl material_0_0
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diff --git a/assets/urdf/Camera/102873/textured_objs/original-9.obj b/assets/urdf/Camera/102873/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4854d67c05767a50cf0d363a0bf7aafa0394c39c
--- /dev/null
+++ b/assets/urdf/Camera/102873/textured_objs/original-9.obj
@@ -0,0 +1,125 @@
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+mtllib original-9.mtl
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diff --git a/assets/urdf/Safe/101363/bounding_box.json b/assets/urdf/Safe/101363/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5dcbfa940b7038b252669468ad77b1596a158e6
--- /dev/null
+++ b/assets/urdf/Safe/101363/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.555805, -0.635644, -0.562036], "max": [0.578935, 0.661201, 0.641728]}
\ No newline at end of file
diff --git a/assets/urdf/Safe/101363/grasp_poses.json b/assets/urdf/Safe/101363/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a2b1e511e16a5cf5e777b9143e8bf35c0f11616
--- /dev/null
+++ b/assets/urdf/Safe/101363/grasp_poses.json
@@ -0,0 +1,39 @@
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+    "scale": 0.7,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        0.0,
+                        1.0,
+                        -0.6428599953651428
+                    ],
+                    [
+                        0.0,
+                        -1.0,
+                        0.0,
+                        -0.31428998708724976
+                    ],
+                    [
+                        1.0,
+                        0.0,
+                        -0.0,
+                        0.05714000016450882
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Safe/101363/meta.json b/assets/urdf/Safe/101363/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6592bcbef1ccd5f6d7291c000091a72f0b24e633
--- /dev/null
+++ b/assets/urdf/Safe/101363/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Safe", "model_id": "019dff2f-8207-4ddf-8255-871060cd4bf6", "version": "2", "anno_id": "1363", "time_in_sec": "259"}
\ No newline at end of file
diff --git a/assets/urdf/Safe/101363/mobility.urdf b/assets/urdf/Safe/101363/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bba0a78b186fd3dfb1e0142fce87566927e9da30
--- /dev/null
+++ b/assets/urdf/Safe/101363/mobility.urdf
@@ -0,0 +1,112 @@
+<?xml version="1.0" ?>
+<robot name="partnet_019dff2f-8207-4ddf-8255-871060cd4bf6">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="0.4585415 0 -0.5808095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.4585415 0 -0.5808095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.4585415 0 -0.5808095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.4585415 0 -0.5808095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.4585415 0 -0.5808095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.4585415 0 -0.5808095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.4585415 0 0.5808095"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="0.0" upper="3.141592653589793"/>
+	</joint>
+	<link name="link_1">
+		<visual name="switch-5">
+			<origin xyz="-0.3103190281377981 -0.048701999999999995 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3103190281377981 -0.048701999999999995 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.768860528137798 0.048701999999999995 -0.5808095"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<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-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-1.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/Safe/101363/mobility_v2.json b/assets/urdf/Safe/101363/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c9d7177260212b1780ef6519294ed2817d3778b
--- /dev/null
+++ b/assets/urdf/Safe/101363/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 2, "joint": "hinge", "name": "door", "parts": [{"id": 1, "name": "door", "children": []}], "jointData": {"axis": {"origin": [-0.4585415, 0, 0.5808095], "direction": [0, -1, 0]}, "limit": {"a": 0, "b": 180, "noLimit": false}}}, {"id": 1, "parent": 0, "joint": "hinge", "name": "knob", "parts": [{"id": 5, "name": "switch", "children": []}], "jointData": {"axis": {"origin": [0.3103190281377981, 0.048701999999999995, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 2, "parent": -1, "joint": "heavy", "name": "base_body", "parts": [{"id": 6, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/101363/model_data.json b/assets/urdf/Safe/101363/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fa5fc0bdc1c9920d8be9b9c686699199f690dd4
--- /dev/null
+++ b/assets/urdf/Safe/101363/model_data.json
@@ -0,0 +1,65 @@
+{
+    "scale": 0.7,
+    "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,
+                        0.0,
+                        1.0,
+                        -0.6428599953651428
+                    ],
+                    [
+                        0.0,
+                        -1.0,
+                        0.0,
+                        -0.31428998708724976
+                    ],
+                    [
+                        1.0,
+                        0.0,
+                        -0.0,
+                        0.05714000016450882
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Safe/101363/result.json b/assets/urdf/Safe/101363/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..48161adcef38620b37095c7d7824a1efdfdb3578
--- /dev/null
+++ b/assets/urdf/Safe/101363/result.json
@@ -0,0 +1 @@
+[{"text": "Safe", "name": "Safe", "id": 0, "children": [{"text": "door", "name": "door", "id": 1, "objs": ["original-7", "original-6", "original-8"]}, {"text": "switch", "name": "switch", "id": 5, "objs": ["original-9"]}, {"text": "base_body", "name": "base_body", "id": 6, "objs": ["original-4", "original-3", "original-1"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/101363/result_original.json b/assets/urdf/Safe/101363/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..08aa5b5a63dd20ba71757df8d1aa2d5cf0e65ebb
--- /dev/null
+++ b/assets/urdf/Safe/101363/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Safe", "text": "Safe", "children": [{"id": 1, "name": "door", "text": "door", "objs": ["original-7", "original-6", "original-8"]}, {"id": 5, "name": "switch", "text": "switch", "objs": ["original-9"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/101363/semantics.txt b/assets/urdf/Safe/101363/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7438bca407eebb952a37fa95cd63d21f97dea9a6
--- /dev/null
+++ b/assets/urdf/Safe/101363/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge door
+link_1 hinge knob
+link_2 heavy safe_body
diff --git a/assets/urdf/Safe/101583/bounding_box.json b/assets/urdf/Safe/101583/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..f345e71ac49a16fac7511b9f0219c0a0513a507e
--- /dev/null
+++ b/assets/urdf/Safe/101583/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.6771, -0.504472, -0.548032], "max": [0.687375, 0.446134, 0.773466]}
\ No newline at end of file
diff --git a/assets/urdf/Safe/101583/grasp_poses.json b/assets/urdf/Safe/101583/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e9a7740f391325a72c5be408561e60a5fea6352
--- /dev/null
+++ b/assets/urdf/Safe/101583/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "101583",
+    "scale": 0.8,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.1083500012755394,
+                        -0.40202000737190247,
+                        0.9092000126838684,
+                        -0.7104300260543823
+                    ],
+                    [
+                        0.23183999955654144,
+                        0.8791400194168091,
+                        0.4163599908351898,
+                        0.131850004196167
+                    ],
+                    [
+                        -0.96670001745224,
+                        0.2559100091457367,
+                        -0.002050000010058284,
+                        -0.034040000289678574
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Safe/101583/meta.json b/assets/urdf/Safe/101583/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5f20b9857444e4e2187c3bcff9cc1bcc5fbd878
--- /dev/null
+++ b/assets/urdf/Safe/101583/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Safe", "model_id": "39eb000e9aeb6bcce17a08cc74f7fd87", "version": "2", "anno_id": "1583", "time_in_sec": "466"}
\ No newline at end of file
diff --git a/assets/urdf/Safe/101583/mobility.urdf b/assets/urdf/Safe/101583/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3474161548332ab17794ae5bd22eac21dd2af1f1
--- /dev/null
+++ b/assets/urdf/Safe/101583/mobility.urdf
@@ -0,0 +1,1396 @@
+<?xml version="1.0" ?>
+<robot name="partnet_39eb000e9aeb6bcce17a08cc74f7fd87">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="button-2">
+			<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-109.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-2">
+			<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-109.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="-0.3547140531622006 -0.4396273763183933 0.20397944964892023"/>
+		<axis xyz="-0.3338742789900731 -3.526759040578532e-05 -0.9426176131311446"/>
+		<child link="link_0"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-3">
+			<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-106.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-3">
+			<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-106.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="-0.3547140531622006 -0.4396273763183933 0.20397944964892023"/>
+		<axis xyz="-0.3338742789900731 -3.526759040578532e-05 -0.9426176131311446"/>
+		<child link="link_1"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-4">
+			<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-111.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-4">
+			<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-111.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="-0.3547140531622006 -0.4396273763183933 0.20397944964892023"/>
+		<axis xyz="-0.3338742789900731 -3.526759040578532e-05 -0.9426176131311446"/>
+		<child link="link_2"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-5">
+			<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-5">
+			<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-117.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-117.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="-0.3547140531622006 -0.4396273763183933 0.20397944964892023"/>
+		<axis xyz="-0.3338742789900731 -3.526759040578532e-05 -0.9426176131311446"/>
+		<child link="link_3"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_4">
+		<visual name="button-6">
+			<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-112.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-6">
+			<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-112.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="-0.3547140531622006 -0.4396273763183933 0.20397944964892023"/>
+		<axis xyz="-0.3338742789900731 -3.526759040578532e-05 -0.9426176131311446"/>
+		<child link="link_4"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_5">
+		<visual name="button-7">
+			<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-119.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-7">
+			<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-119.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="-0.3547140531622006 -0.4396273763183933 0.20397944964892023"/>
+		<axis xyz="-0.3338742789900731 -3.526759040578532e-05 -0.9426176131311446"/>
+		<child link="link_5"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_6">
+		<visual name="button-8">
+			<origin xyz="-0.2965090867801916 -0.006506623681606927 -0.5437646613469749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-118.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-8">
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+			<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
+			<geometry>
+				<mesh filename="textured_objs/original-95.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
+			<geometry>
+				<mesh filename="textured_objs/original-101.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
+			<geometry>
+				<mesh filename="textured_objs/original-102.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
+			<geometry>
+				<mesh filename="textured_objs/original-103.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
+			<geometry>
+				<mesh filename="textured_objs/original-86.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
+			<geometry>
+				<mesh filename="textured_objs/original-97.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
+			<geometry>
+				<mesh filename="textured_objs/original-87.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.6512231399423922 -0.44613400000000025 -0.33978521169805465"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="revolute">
+		<origin xyz="0.6512231399423922 0.44613400000000025 0.33978521169805465"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_14"/>
+		<parent link="link_13"/>
+		<limit lower="-0.3141592653589793" upper="2.9670597283903604"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Safe/101583/mobility_v2.json b/assets/urdf/Safe/101583/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3211f08e4e98388bc8f71766f6581337682eab6
--- /dev/null
+++ b/assets/urdf/Safe/101583/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 2, "name": "button"}], "jointData": {"axis": {"origin": [0.2965090867801916, 0.006506623681606927, 0.5437646613469749], "direction": [0.3338742789900731, 3.526759040578532e-05, 0.9426176131311446]}, "limit": {"a": 0, "b": -0.004, "noLimit": false}}}, {"id": 1, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 3, "name": "button"}], "jointData": {"axis": {"origin": [0.2965090867801916, 0.006506623681606927, 0.5437646613469749], "direction": [0.3338742789900731, 3.526759040578532e-05, 0.9426176131311446]}, "limit": {"a": 0, "b": -0.004, "noLimit": false}}}, {"id": 2, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 4, "name": "button"}], "jointData": {"axis": {"origin": [0.2965090867801916, 0.006506623681606927, 0.5437646613469749], "direction": [0.3338742789900731, 3.526759040578532e-05, 0.9426176131311446]}, "limit": {"a": 0, "b": -0.004, "noLimit": false}}}, {"id": 3, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 5, "name": "button"}], "jointData": {"axis": {"origin": [0.2965090867801916, 0.006506623681606927, 0.5437646613469749], "direction": [0.3338742789900731, 3.526759040578532e-05, 0.9426176131311446]}, "limit": {"a": 0, "b": -0.004, "noLimit": false}}}, {"id": 4, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 6, "name": "button"}], "jointData": {"axis": {"origin": [0.2965090867801916, 0.006506623681606927, 0.5437646613469749], "direction": [0.3338742789900731, 3.526759040578532e-05, 0.9426176131311446]}, "limit": {"a": 0, "b": -0.004, "noLimit": false}}}, {"id": 5, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 7, "name": "button"}], "jointData": {"axis": {"origin": [0.2965090867801916, 0.006506623681606927, 0.5437646613469749], "direction": [0.3338742789900731, 3.526759040578532e-05, 0.9426176131311446]}, "limit": {"a": 0, "b": -0.004, "noLimit": false}}}, {"id": 6, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 8, "name": "button"}], "jointData": {"axis": {"origin": [0.2965090867801916, 0.006506623681606927, 0.5437646613469749], "direction": [0.3338742789900731, 3.526759040578532e-05, 0.9426176131311446]}, "limit": {"a": 0, "b": -0.004, "noLimit": false}}}, {"id": 7, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 9, "name": "button"}], "jointData": {"axis": {"origin": [0.2965090867801916, 0.006506623681606927, 0.5437646613469749], "direction": [0.3338742789900731, 3.526759040578532e-05, 0.9426176131311446]}, "limit": {"a": 0, "b": -0.004, "noLimit": false}}}, {"id": 8, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 10, "name": "button"}], "jointData": {"axis": {"origin": [0.2965090867801916, 0.006506623681606927, 0.5437646613469749], "direction": [0.3338742789900731, 3.526759040578532e-05, 0.9426176131311446]}, "limit": {"a": 0, "b": -0.004, "noLimit": false}}}, {"id": 9, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 11, "name": "button"}], "jointData": {"axis": {"origin": [0.2965090867801916, 0.006506623681606927, 0.5437646613469749], "direction": [0.3338742789900731, 3.526759040578532e-05, 0.9426176131311446]}, "limit": {"a": 0, "b": -0.004, "noLimit": false}}}, {"id": 10, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 12, "name": "button"}], "jointData": {"axis": {"origin": [0.2965090867801916, 0.006506623681606927, 0.5437646613469749], "direction": [0.3338742789900731, 3.526759040578532e-05, 0.9426176131311446]}, "limit": {"a": 0, "b": -0.004, "noLimit": false}}}, {"id": 11, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 13, "name": "button"}], "jointData": {"axis": {"origin": [0.2965090867801916, 0.006506623681606927, 0.5437646613469749], "direction": [0.3338742789900731, 3.526759040578532e-05, 0.9426176131311446]}, "limit": {"a": 0, "b": -0.004, "noLimit": false}}}, {"id": 12, "parent": 14, "joint": "hinge", "name": "knob", "parts": [{"id": 14, "name": "switch"}], "jointData": {"axis": {"origin": [-0.1358264683063638, -0.030721689682454256, 0.7069125944300017], "direction": [0.33382401641214, -1.3952839269893254e-05, 0.9426354151376797]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 13, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 16, "name": "base_body"}], "jointData": {"axis": {"origin": [0.6512231399423922, 0.44613400000000025, 0.33978521169805465], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": 170, "noLimit": false}}}, {"id": 14, "parent": 13, "joint": "hinge", "name": "door", "parts": [{"id": 1, "name": "door"}, {"id": 15, "name": "outlier"}], "jointData": {"axis": {"origin": [0.6512231399423922, 0.44613400000000025, 0.33978521169805465], "direction": [0, 1, 0]}, "limit": {"a": -18, "b": 170, "noLimit": false}}}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/101583/model_data.json b/assets/urdf/Safe/101583/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b2177a650f975130ad97733946daa8716707f10
--- /dev/null
+++ b/assets/urdf/Safe/101583/model_data.json
@@ -0,0 +1,65 @@
+{
+    "scale": 0.8,
+    "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": [
+                    [
+                        -0.1083500012755394,
+                        -0.40202000737190247,
+                        0.9092000126838684,
+                        -0.7104300260543823
+                    ],
+                    [
+                        0.23183999955654144,
+                        0.8791400194168091,
+                        0.4163599908351898,
+                        0.131850004196167
+                    ],
+                    [
+                        -0.96670001745224,
+                        0.2559100091457367,
+                        -0.002050000010058284,
+                        -0.034040000289678574
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Safe/101583/result.json b/assets/urdf/Safe/101583/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee5c6f1b79e76ef9e1ca0b9dbeadee391f20897b
--- /dev/null
+++ b/assets/urdf/Safe/101583/result.json
@@ -0,0 +1 @@
+[{"text": "Safe", "name": "Safe", "id": 0, "children": [{"text": "door", "name": "door", "id": 1, "objs": ["original-74", "original-104", "original-27", "original-28", "original-100", "original-26", "original-30", "original-29", "original-105", "original-99", "original-107", "original-98", "original-42", "original-116", "original-108", "original-44", "original-83", "original-84", "original-78", "original-81", "original-76", "original-82", "original-80", "original-77", "original-75", "original-88", "original-90", "original-124", "original-125", "original-128", "original-127", "original-126", "original-69", "original-121", "original-122", "original-72", "original-123", "original-21", "original-68", "original-10", "original-94", "original-96", "original-95", "original-49", "original-92", "original-101", "original-70", "original-14", "original-71", "original-16", "original-102", "original-79"]}, {"text": "button", "name": "button", "id": 2, "objs": ["original-109", "original-32"]}, {"text": "button", "name": "button", "id": 3, "objs": ["original-106", "original-38"]}, {"text": "button", "name": "button", "id": 4, "objs": ["original-111", "original-31"]}, {"text": "button", "name": "button", "id": 5, "objs": ["original-33", "original-117"]}, {"text": "button", "name": "button", "id": 6, "objs": ["original-112", "original-36"]}, {"text": "button", "name": "button", "id": 7, "objs": ["original-119", "original-35"]}, {"text": "button", "name": "button", "id": 8, "objs": ["original-118", "original-34"]}, {"text": "button", "name": "button", "id": 9, "objs": ["original-113", "original-39"]}, {"text": "button", "name": "button", "id": 10, "objs": ["original-115", "original-37"]}, {"text": "button", "name": "button", "id": 11, "objs": ["original-114", "original-41"]}, {"text": "button", "name": "button", "id": 12, "objs": ["original-110", "original-40"]}, {"text": "button", "name": "button", "id": 13, "objs": ["original-120", "original-45"]}, {"text": "switch", "name": "switch", "id": 14, "objs": ["original-47"]}, {"text": "outlier", "name": "outlier", "id": 15, "objs": ["original-103", "original-85", "original-86", "original-91", "original-89", "original-97", "original-87", "original-67"]}, {"text": "base_body", "name": "base_body", "id": 16, "objs": ["original-64", "original-52", "original-65", "original-93", "original-61", "original-59", "original-54", "original-63", "original-51", "original-55", "original-6", "original-56", "original-62", "original-66", "original-58", "original-18", "original-73", "original-53", "original-60", "original-57"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/101583/result_original.json b/assets/urdf/Safe/101583/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ca5ecea4d2cb9ecc126c2eea7316f2e046a166a
--- /dev/null
+++ b/assets/urdf/Safe/101583/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Safe", "text": "Safe", "children": [{"id": 1, "name": "door", "text": "door", "objs": ["original-74", "original-104", "original-27", "original-28", "original-100", "original-26", "original-30", "original-29", "original-105", "original-99", "original-107", "original-98", "original-42", "original-116", "original-108", "original-44", "original-83", "original-84", "original-78", "original-81", "original-76", "original-82", "original-80", "original-77", "original-75", "original-88", "original-90", "original-124", "original-125", "original-128", "original-127", "original-126", "original-69", "original-121", "original-122", "original-72", "original-123", "original-21", "original-68", "original-10", "original-94", "original-96", "original-95", "original-49", "original-92", "original-101", "original-70", "original-14", "original-71", "original-16", "original-102", "original-79"]}, {"id": 2, "name": "button", "text": "button", "objs": ["original-109", "original-32"]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-106", "original-38"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-111", "original-31"]}, {"id": 5, "name": "button", "text": "button", "objs": ["original-33", "original-117"]}, {"id": 6, "name": "button", "text": "button", "objs": ["original-112", "original-36"]}, {"id": 7, "name": "button", "text": "button", "objs": ["original-119", "original-35"]}, {"id": 8, "name": "button", "text": "button", "objs": ["original-118", "original-34"]}, {"id": 9, "name": "button", "text": "button", "objs": ["original-113", "original-39"]}, {"id": 10, "name": "button", "text": "button", "objs": ["original-115", "original-37"]}, {"id": 11, "name": "button", "text": "button", "objs": ["original-114", "original-41"]}, {"id": 12, "name": "button", "text": "button", "objs": ["original-110", "original-40"]}, {"id": 13, "name": "button", "text": "button", "objs": ["original-120", "original-45"]}, {"id": 14, "name": "switch", "text": "switch", "objs": ["original-47"]}, {"id": 15, "name": "outlier", "text": "outlier", "objs": ["original-103", "original-85", "original-86", "original-91", "original-89", "original-97", "original-87", "original-67"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/101583/semantics.txt b/assets/urdf/Safe/101583/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..906fe77c40171b2e06b1ba6686e9bd448f37b6ec
--- /dev/null
+++ b/assets/urdf/Safe/101583/semantics.txt
@@ -0,0 +1,15 @@
+link_0 slider button
+link_1 slider button
+link_2 slider button
+link_3 slider button
+link_4 slider button
+link_5 slider button
+link_6 slider button
+link_7 slider button
+link_8 slider button
+link_9 slider button
+link_10 slider button
+link_11 slider button
+link_12 hinge knob
+link_13 free safe_body
+link_14 hinge door
diff --git a/assets/urdf/Safe/101583/textured_objs/original-10.mtl b/assets/urdf/Safe/101583/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..778c25b5a09d9681ca6e177481eaee8136fee5b8
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-10.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_2.jpg
+
diff --git a/assets/urdf/Safe/101583/textured_objs/original-10.obj b/assets/urdf/Safe/101583/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ab320ce5104d6bfc864b633fe44b2772801d7d4
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-10.obj
@@ -0,0 +1,204 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o Group11/mesh10/mesh10-geometry#mesh10-geometry
+v 0.599919 -0.298924 0.324786
+v 0.610405 -0.298924 0.318320
+v 0.608695 -0.298924 0.313896
+v 0.604604 -0.298924 0.325517
+v 0.622514 -0.298924 0.316052
+v 0.599919 -0.305390 0.324786
+v 0.604961 -0.298924 0.337831
+v 0.610405 -0.305390 0.318320
+v 0.619538 -0.298924 0.319745
+v 0.608695 -0.305390 0.313896
+v 0.607937 -0.298924 0.334139
+v 0.604604 -0.305390 0.325517
+v 0.619538 -0.305390 0.319745
+v 0.627556 -0.298924 0.329097
+v 0.622514 -0.305390 0.316052
+v 0.604961 -0.305390 0.337831
+v 0.617070 -0.298924 0.335564
+v 0.607937 -0.305390 0.334139
+v 0.622870 -0.298924 0.328366
+v 0.627556 -0.305390 0.329097
+v 0.618780 -0.305390 0.339987
+v 0.618780 -0.298924 0.339987
+v 0.622870 -0.305390 0.328366
+v 0.617070 -0.305390 0.335564
+vt 0.005533 0
+vt 0.003576 0.015051
+vt 0 0.014882
+vt 0.007233 0.005215
+vt 0.005012 0.030262
+vt -0.007648 0
+vt 0.002902 -0.008082
+vt 0.002902 0
+vt 0.016079 0.000498
+vt -0.001113 0
+vt 0.005859 -0.008082
+vt 0.005859 0
+vt 0.006888 0.025216
+vt -0.018453 0
+vt -0.007904 -0.008082
+vt -0.007904 0
+vt -0.007648 -0.008082
+vt 0.005531 -0.008082
+vt 0.016081 0
+vt 0.005531 0
+vt 0.014202 0.005545
+vt -0.001113 -0.008082
+vt 0.016665 -0.008082
+vt 0.009692 0
+vt 0.009692 -0.008082
+vt 0.016665 0
+vt 0.015558 0.03076
+vt -0.018453 -0.008082
+vt -0.003576 0.015051
+vt -0.005533 0
+vt 0.016081 -0.008082
+vt 0.017515 0.015709
+vt -0.014292 -0.008082
+vt -0.00732 0
+vt -0.014292 0
+vt -0.00732 -0.008082
+vt -0.007233 0.005215
+vt -0.005012 0.030262
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-101.mtl b/assets/urdf/Safe/101583/textured_objs/original-101.mtl
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index 0000000000000000000000000000000000000000..7f77a9c2f8fabbee4bda44b27746ed505eb7507b
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+map_Kd ../images/texture_6.jpg
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-101.obj b/assets/urdf/Safe/101583/textured_objs/original-101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85c8c53d55aae8c17109a5843fa5c339fc1cd8d2
--- /dev/null
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-103.obj b/assets/urdf/Safe/101583/textured_objs/original-103.obj
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-106.obj b/assets/urdf/Safe/101583/textured_objs/original-106.obj
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index 0000000000000000000000000000000000000000..aefbf2632a939f69eb618ea2071db8af75800a1e
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-107.obj b/assets/urdf/Safe/101583/textured_objs/original-107.obj
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-122.mtl b/assets/urdf/Safe/101583/textured_objs/original-122.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..247d597898dd559aab878e2792e6bc7c75470b72
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-122.mtl
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-122.obj b/assets/urdf/Safe/101583/textured_objs/original-122.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f82f7805d6475e203044ca1a997ffdc6004ec007
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-122.obj
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-123.mtl b/assets/urdf/Safe/101583/textured_objs/original-123.mtl
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index 0000000000000000000000000000000000000000..66859c156638f47234f9a4f3caae463b11e6d4e5
--- /dev/null
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-123.obj b/assets/urdf/Safe/101583/textured_objs/original-123.obj
new file mode 100644
index 0000000000000000000000000000000000000000..781278d5a1765bfcfc4a5a5c679106fe0c237029
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-123.obj
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-124.mtl b/assets/urdf/Safe/101583/textured_objs/original-124.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8db060305a1e430023810a0566e1c7c221765a0
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-124.mtl
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-124.obj b/assets/urdf/Safe/101583/textured_objs/original-124.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba5c067dab96fc902151d2343751de558b427b19
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-124.obj
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-125.mtl b/assets/urdf/Safe/101583/textured_objs/original-125.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46fb021ae0ca6b30341b2c57f683d5adc98a177d
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-125.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-125.obj b/assets/urdf/Safe/101583/textured_objs/original-125.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4821ab0f1ee1dbb8643ce64fb0dbc42b2f2f266b
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-125.obj
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index 0000000000000000000000000000000000000000..46fb021ae0ca6b30341b2c57f683d5adc98a177d
--- /dev/null
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-126.obj b/assets/urdf/Safe/101583/textured_objs/original-126.obj
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index 0000000000000000000000000000000000000000..435c5425dfda8b4b224d3cb182e5826c5f92f47c
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-127.mtl b/assets/urdf/Safe/101583/textured_objs/original-127.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ec5c490edfb70fc90df8e05a13935e3108cd9ed4
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-127.mtl
@@ -0,0 +1,21 @@
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-127.obj b/assets/urdf/Safe/101583/textured_objs/original-127.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20bd0c01f1df91c8b081b3ec2939aefcefcdec35
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-127.obj
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-128.mtl b/assets/urdf/Safe/101583/textured_objs/original-128.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..eb970ac8ce9d0019ded45029c476f61f8b68cdbe
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-128.mtl
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-128.obj b/assets/urdf/Safe/101583/textured_objs/original-128.obj
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index 0000000000000000000000000000000000000000..738bc097d4538234c9d937b633a7c8e646fc21c5
--- /dev/null
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-18.mtl b/assets/urdf/Safe/101583/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cfe1b0d83862bb6bdf7ed888279a29a8ea657340
--- /dev/null
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+map_Kd ../images/texture_9.jpg
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-18.obj b/assets/urdf/Safe/101583/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2c6e1c19bb1103cfc3ecf8261502a8bd342b6d8
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-18.obj
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--- /dev/null
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-29.mtl b/assets/urdf/Safe/101583/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a80445b1a8633f4b352a52bbd7471a00a9a4fabc
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-32.obj b/assets/urdf/Safe/101583/textured_objs/original-32.obj
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index 0000000000000000000000000000000000000000..23510e53f01ae35cfa4181006f421923e16d9112
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-33.mtl b/assets/urdf/Safe/101583/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-33.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/Safe/101583/textured_objs/original-33.obj b/assets/urdf/Safe/101583/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2776c6be4dc05a73d1d62ae358204e7f02c718cb
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-33.obj
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-35.mtl b/assets/urdf/Safe/101583/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-35.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-35.obj b/assets/urdf/Safe/101583/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aad650ff78ebdba2be54928dc5d7f68396fe96d7
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-35.obj
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-36.mtl b/assets/urdf/Safe/101583/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-36.mtl
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+newmtl material_0_0
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-36.obj b/assets/urdf/Safe/101583/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3934f14f0e06e8a41dd83642d830463ad165ab95
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-36.obj
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-39.mtl b/assets/urdf/Safe/101583/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-39.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-39.obj b/assets/urdf/Safe/101583/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe2dc3241a21efae45861377c6a1861cc4be0285
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-39.obj
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-40.mtl b/assets/urdf/Safe/101583/textured_objs/original-40.mtl
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index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-40.obj b/assets/urdf/Safe/101583/textured_objs/original-40.obj
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index 0000000000000000000000000000000000000000..317fb5d856ba7d6232925fc79cf6ec9cea0cdf7c
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index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-41.obj b/assets/urdf/Safe/101583/textured_objs/original-41.obj
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index 0000000000000000000000000000000000000000..5be6f90cbf955e3ef3213f91ac449bccaf0e7bd0
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-45.mtl b/assets/urdf/Safe/101583/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-45.obj b/assets/urdf/Safe/101583/textured_objs/original-45.obj
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index 0000000000000000000000000000000000000000..87a99bb3399ce059028a33aec69ad6a58461c09a
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--- /dev/null
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-58.mtl b/assets/urdf/Safe/101583/textured_objs/original-58.mtl
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-59.mtl b/assets/urdf/Safe/101583/textured_objs/original-59.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..021ba09aa21729d004c7fbad7b26f7178fc675af
--- /dev/null
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-59.obj b/assets/urdf/Safe/101583/textured_objs/original-59.obj
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index 0000000000000000000000000000000000000000..60a15d33efdc51eb07466bfc1328e4465a55b4a8
--- /dev/null
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-60.obj b/assets/urdf/Safe/101583/textured_objs/original-60.obj
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-61.mtl b/assets/urdf/Safe/101583/textured_objs/original-61.mtl
new file mode 100644
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-61.obj b/assets/urdf/Safe/101583/textured_objs/original-61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61e0d235d217bb0267c8a578ef7f23b3471062fd
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-61.obj
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-62.mtl b/assets/urdf/Safe/101583/textured_objs/original-62.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..041ddd31593bf50a03eed647c4b66808020b1198
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-62.obj b/assets/urdf/Safe/101583/textured_objs/original-62.obj
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index 0000000000000000000000000000000000000000..62fa082bdd5747ad38ca671dd34bb76ef6f1ed18
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index 0000000000000000000000000000000000000000..7c8e350c197df3d77251bf120b65b97296472de2
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-63.obj b/assets/urdf/Safe/101583/textured_objs/original-63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd9e467f4d40a085f3e90a9ca74ef48ec86d37df
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-63.obj
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+# SSTK version 0.8.0
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new file mode 100644
index 0000000000000000000000000000000000000000..021ba09aa21729d004c7fbad7b26f7178fc675af
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new file mode 100644
index 0000000000000000000000000000000000000000..767ba309f35dd732c7c79b1ec7561de52362f657
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-65.mtl b/assets/urdf/Safe/101583/textured_objs/original-65.mtl
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-65.obj b/assets/urdf/Safe/101583/textured_objs/original-65.obj
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index 0000000000000000000000000000000000000000..bc215c70d404e1b326781bfdc29e59d0789a9347
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-65.obj
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-66.mtl b/assets/urdf/Safe/101583/textured_objs/original-66.mtl
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-66.obj b/assets/urdf/Safe/101583/textured_objs/original-66.obj
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index 0000000000000000000000000000000000000000..c7c8b5b198c7abebe8666aae98cd8e5ea89072da
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-66.obj
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+# SSTK version 0.8.0
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-67.obj b/assets/urdf/Safe/101583/textured_objs/original-67.obj
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index 0000000000000000000000000000000000000000..a5b0cd68434a04b3c7f1f6d1405bbc40ba7ea4ec
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-67.obj
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+# SSTK version 0.8.0
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-68.obj b/assets/urdf/Safe/101583/textured_objs/original-68.obj
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--- /dev/null
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index 0000000000000000000000000000000000000000..d938ec32300461391e4218180abdd3ac5c34b247
--- /dev/null
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-69.obj b/assets/urdf/Safe/101583/textured_objs/original-69.obj
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index 0000000000000000000000000000000000000000..d7de48c17f92565e794722fa4b1e6d73dcd554b4
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-72.obj b/assets/urdf/Safe/101583/textured_objs/original-72.obj
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-73.obj b/assets/urdf/Safe/101583/textured_objs/original-73.obj
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index 0000000000000000000000000000000000000000..a41235436ce4e5d3f3b6878b004646f0cc6c0c0d
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index 0000000000000000000000000000000000000000..041ddd31593bf50a03eed647c4b66808020b1198
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-77.obj b/assets/urdf/Safe/101583/textured_objs/original-77.obj
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index 0000000000000000000000000000000000000000..06f871ba44751b500225dc98f1c01716c70af9f8
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--- /dev/null
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-78.obj b/assets/urdf/Safe/101583/textured_objs/original-78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..755bce7b8c6ba093bf55e629f572ba98b78dae5f
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-80.obj b/assets/urdf/Safe/101583/textured_objs/original-80.obj
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-94.obj b/assets/urdf/Safe/101583/textured_objs/original-94.obj
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index 0000000000000000000000000000000000000000..85a779810486412cce1873d302a803a109a9d416
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-99.mtl b/assets/urdf/Safe/101583/textured_objs/original-99.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d17b4308f1111ed4473dc66196f17b45203356ce
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-99.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Safe/101583/textured_objs/original-99.obj b/assets/urdf/Safe/101583/textured_objs/original-99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04b7744956f4f8cbeb31cb1f2b686b222ebe4c7e
--- /dev/null
+++ b/assets/urdf/Safe/101583/textured_objs/original-99.obj
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diff --git a/assets/urdf/Safe/101584/bounding_box.json b/assets/urdf/Safe/101584/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..e25512062288033e1e6e0fd4c033c8e289d6f402
--- /dev/null
+++ b/assets/urdf/Safe/101584/bounding_box.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/assets/urdf/Safe/101584/grasp_poses.json b/assets/urdf/Safe/101584/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..2100bb7b132a3b262c9d94ea90ff3f46be867363
--- /dev/null
+++ b/assets/urdf/Safe/101584/grasp_poses.json
@@ -0,0 +1,101 @@
+{
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+}
\ No newline at end of file
diff --git a/assets/urdf/Safe/101584/meta.json b/assets/urdf/Safe/101584/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..65c5b8555c23dfe175aab8b2e48515b909da49c6
--- /dev/null
+++ b/assets/urdf/Safe/101584/meta.json
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\ No newline at end of file
diff --git a/assets/urdf/Safe/101584/mobility.urdf b/assets/urdf/Safe/101584/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..389248994d46d72f7961dc920e660c72f190a0c4
--- /dev/null
+++ b/assets/urdf/Safe/101584/mobility.urdf
@@ -0,0 +1,768 @@
+<?xml version="1.0" ?>
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+		</collision>
+		<collision>
+			<origin xyz="0.0058795 -0.3696076380779351 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0058795 -0.3696076380779351 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0058795 -0.3696076380779351 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0058795 -0.3696076380779351 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0058795 -0.3696076380779351 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0058795 -0.3696076380779351 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0058795 -0.3696076380779351 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="-0.31298919062590624 0.3696076380779351 -0.40085632200420246"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_2"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_3">
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<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-21.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-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Safe/101584/mobility_v2.json b/assets/urdf/Safe/101584/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b234b90d08a697dc59e10ef1f1017625fa25753d
--- /dev/null
+++ b/assets/urdf/Safe/101584/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 3, "joint": "hinge", "name": "door", "parts": [{"id": 6, "name": "door", "children": []}], "jointData": {"axis": {"origin": [0.30710969062590626, 0, 0.40085632200420246], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": 170, "noLimit": false}}}, {"id": 1, "parent": 0, "joint": "hinge", "name": "knob", "parts": [{"id": 7, "name": "switch", "children": []}], "jointData": {"axis": {"origin": [-0.159087, 0.022338376633134368, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 2, "parent": 0, "joint": "hinge", "name": "knob", "parts": [{"id": 8, "name": "switch", "children": []}], "jointData": {"axis": {"origin": [-0.0058795, 0.3696076380779351, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 3, "parent": -1, "joint": "heavy", "name": "base_body", "parts": [{"id": 9, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/101584/model_data.json b/assets/urdf/Safe/101584/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..25052c04d6313cef86cb0a38d51fc0d68c9cedbb
--- /dev/null
+++ b/assets/urdf/Safe/101584/model_data.json
@@ -0,0 +1,127 @@
+{
+    "scale": 0.7,
+    "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": [
+                    [
+                        1.0,
+                        -0.0,
+                        -0.0,
+                        -0.4285700023174286
+                    ],
+                    [
+                        -0.0,
+                        -1.0,
+                        -0.0,
+                        0.1559000015258789
+                    ],
+                    [
+                        -0.0,
+                        0.0,
+                        -1.0,
+                        0.09995000064373016
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        0.9063100218772888,
+                        0.4226199984550476,
+                        0.0,
+                        -0.4285700023174286
+                    ],
+                    [
+                        -0.32374000549316406,
+                        0.6942700147628784,
+                        0.6427900195121765,
+                        0.09489999711513519
+                    ],
+                    [
+                        0.2716499865055084,
+                        -0.5825600028038025,
+                        0.766040027141571,
+                        0.010940000414848328
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 2,
+                "matrix": [
+                    [
+                        0.9063100218772888,
+                        0.4226199984550476,
+                        0.0,
+                        -0.4285700023174286
+                    ],
+                    [
+                        -0.07338999956846237,
+                        0.15737999975681305,
+                        -0.9848099946975708,
+                        0.21449999511241913
+                    ],
+                    [
+                        -0.41620001196861267,
+                        0.8925399780273438,
+                        0.17364999651908875,
+                        0.0024800000246614218
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Safe/101584/result.json b/assets/urdf/Safe/101584/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a752cbe88d99623a578dcb7f47719f28fbcb972
--- /dev/null
+++ b/assets/urdf/Safe/101584/result.json
@@ -0,0 +1 @@
+[{"text": "Safe", "name": "Safe", "id": 0, "children": [{"text": "door", "name": "door", "id": 6, "objs": ["original-8", "original-12", "original-5", "original-2", "original-4", "original-6", "original-30", "original-31", "original-22", "original-23", "original-9", "original-3", "original-29"]}, {"text": "switch", "name": "switch", "id": 7, "objs": ["original-18", "original-15", "original-17", "original-13", "original-14"]}, {"text": "switch", "name": "switch", "id": 8, "objs": ["original-28", "original-27", "original-37", "original-38", "original-39", "original-40", "original-41", "original-42", "original-43", "original-44", "original-45", "original-46", "original-47", "original-48", "original-49", "original-50", "original-52", "original-51", "original-53", "original-54", "original-26", "original-57", "original-56", "original-55", "original-61", "original-60", "original-59", "original-58", "original-67", "original-66", "original-65", "original-64", "original-63", "original-62", "original-32", "original-33", "original-34", "original-35", "original-36"]}, {"text": "base_body", "name": "base_body", "id": 9, "objs": ["original-21", "original-24", "original-20", "original-10"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/101584/result_original.json b/assets/urdf/Safe/101584/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..445c010be4f239e686814d5c2ee4f68ad320749e
--- /dev/null
+++ b/assets/urdf/Safe/101584/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Safe", "text": "Safe", "children": [{"id": 6, "name": "door", "text": "door", "objs": ["original-8", "original-12", "original-5", "original-2", "original-4", "original-6", "original-30", "original-31", "original-22", "original-23", "original-9", "original-3", "original-29"]}, {"id": 7, "name": "switch", "text": "switch", "objs": ["original-18", "original-15", "original-17", "original-13", "original-14"]}, {"id": 8, "name": "switch", "text": "switch", "objs": ["original-28", "original-27", "original-37", "original-38", "original-39", "original-40", "original-41", "original-42", "original-43", "original-44", "original-45", "original-46", "original-47", "original-48", "original-49", "original-50", "original-52", "original-51", "original-53", "original-54", "original-26", "original-57", "original-56", "original-55", "original-61", "original-60", "original-59", "original-58", "original-67", "original-66", "original-65", "original-64", "original-63", "original-62", "original-32", "original-33", "original-34", "original-35", "original-36"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/101584/semantics.txt b/assets/urdf/Safe/101584/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a58834b3a6802856125674ff4e5cd7016d753eec
--- /dev/null
+++ b/assets/urdf/Safe/101584/semantics.txt
@@ -0,0 +1,4 @@
+link_0 hinge door
+link_1 hinge knob
+link_2 hinge knob
+link_3 heavy safe_body
diff --git a/assets/urdf/Safe/101599/bounding_box.json b/assets/urdf/Safe/101599/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..b74b984fc9d161f34b145aa59f9a55a9dc3e8eb8
--- /dev/null
+++ b/assets/urdf/Safe/101599/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.448912, -0.552462, -0.731401], "max": [0.465519, 0.536146, 0.773117]}
\ No newline at end of file
diff --git a/assets/urdf/Safe/101599/grasp_poses.json b/assets/urdf/Safe/101599/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..de5f0eecd5dec5e1ff7006109e0e534c00aa30ef
--- /dev/null
+++ b/assets/urdf/Safe/101599/grasp_poses.json
@@ -0,0 +1,101 @@
+{
+    "object_name": "101599",
+    "scale": 0.7,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9956099987030029,
+                        -0.07898999750614166,
+                        0.05012999847531319,
+                        -0.751010000705719
+                    ],
+                    [
+                        -0.07898999750614166,
+                        0.4226199984550476,
+                        -0.9028599858283997,
+                        0.28554001450538635
+                    ],
+                    [
+                        0.05012999847531319,
+                        -0.9028599858283997,
+                        -0.4269999861717224,
+                        -0.06988000124692917
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        -0.9084699749946594,
+                        -0.06915000081062317,
+                        0.41218000650405884,
+                        -0.7554799914360046
+                    ],
+                    [
+                        0.26273998618125916,
+                        0.672469973564148,
+                        0.6919199824333191,
+                        0.08188000321388245
+                    ],
+                    [
+                        -0.32502999901771545,
+                        0.7368800044059753,
+                        -0.5927600264549255,
+                        -0.0828699991106987
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 2,
+                "matrix": [
+                    [
+                        0.9028599858283997,
+                        0.07898999750614166,
+                        0.4226199984550476,
+                        -0.759630024433136
+                    ],
+                    [
+                        -0.08715999871492386,
+                        0.9961900115013123,
+                        -0.0,
+                        0.20000000298023224
+                    ],
+                    [
+                        -0.42100998759269714,
+                        -0.03683000057935715,
+                        0.9063100218772888,
+                        -0.3284600079059601
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Safe/101599/meta.json b/assets/urdf/Safe/101599/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..44655e7e9386c591c4699a561c4be5139d95e756
--- /dev/null
+++ b/assets/urdf/Safe/101599/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Safe", "model_id": "606d5a67d35faac229024035009201d2", "version": "3", "anno_id": "1599", "time_in_sec": "193"}
\ No newline at end of file
diff --git a/assets/urdf/Safe/101599/mobility.urdf b/assets/urdf/Safe/101599/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9f6ce162d3f6818b566f23ab3b05eb6d6de538ca
--- /dev/null
+++ b/assets/urdf/Safe/101599/mobility.urdf
@@ -0,0 +1,532 @@
+<?xml version="1.0" ?>
+<robot name="partnet_606d5a67d35faac229024035009201d2">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="switch-2">
+			<origin xyz="0.19505791627619393 0.18135076848975443 -0.770878"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0.19505791627619393 0.18135076848975443 -0.770878"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0.19505791627619393 0.18135076848975443 -0.770878"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0.19505791627619393 0.18135076848975443 -0.770878"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0.19505791627619393 0.18135076848975443 -0.770878"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0.19505791627619393 0.18135076848975443 -0.770878"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.19505791627619393 0.18135076848975443 -0.770878"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.19505791627619393 0.18135076848975443 -0.770878"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.19505791627619393 0.18135076848975443 -0.770878"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.19505791627619393 0.18135076848975443 -0.770878"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.19505791627619393 0.18135076848975443 -0.770878"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.19505791627619393 0.18135076848975443 -0.770878"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.5837231127453767 -0.7174967684897542 0.06740894145399501"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_0"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-3">
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="-0.3069666712810075 -0.43158215786361365 0.069647941453995"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.0004"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-4">
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="-0.3069666712810075 -0.43158215786361365 0.069647941453995"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_2"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.0004"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-5">
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="-0.3069666712810075 -0.43158215786361365 0.069647941453995"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_3"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.0004"/>
+	</joint>
+	<link name="link_4">
+		<visual name="button-6">
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="-0.3069666712810075 -0.43158215786361365 0.069647941453995"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_4"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.0004"/>
+	</joint>
+	<link name="link_5">
+		<visual name="button-7">
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="-0.3069666712810075 -0.43158215786361365 0.069647941453995"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_5"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.0004"/>
+	</joint>
+	<link name="link_6">
+		<visual name="button-8">
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="prismatic">
+		<origin xyz="-0.3069666712810075 -0.43158215786361365 0.069647941453995"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_6"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.0004"/>
+	</joint>
+	<link name="link_7">
+		<visual name="button-9">
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="prismatic">
+		<origin xyz="-0.3069666712810075 -0.43158215786361365 0.069647941453995"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_7"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.0004"/>
+	</joint>
+	<link name="link_8">
+		<visual name="button-10">
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="prismatic">
+		<origin xyz="-0.3069666712810075 -0.43158215786361365 0.069647941453995"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_8"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.0004"/>
+	</joint>
+	<link name="link_9">
+		<visual name="button-11">
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="prismatic">
+		<origin xyz="-0.3069666712810075 -0.43158215786361365 0.069647941453995"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_9"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.0004"/>
+	</joint>
+	<link name="link_10">
+		<visual name="button-12">
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="prismatic">
+		<origin xyz="-0.3069666712810075 -0.43158215786361365 0.069647941453995"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_10"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.0004"/>
+	</joint>
+	<link name="link_11">
+		<visual name="button-13">
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="prismatic">
+		<origin xyz="-0.3069666712810075 -0.43158215786361365 0.069647941453995"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_11"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.0004"/>
+	</joint>
+	<link name="link_12">
+		<visual name="button-14">
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="prismatic">
+		<origin xyz="-0.3069666712810075 -0.43158215786361365 0.069647941453995"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_12"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.0004"/>
+	</joint>
+	<link name="link_13">
+		<visual name="base_body-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-16">
+			<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-3.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-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_13"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_14">
+		<visual name="door-1">
+			<origin xyz="-0.3886651964691828 -0.5361459999999998 -0.7034690585460049"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.3886651964691828 -0.5361459999999998 -0.7034690585460049"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.3886651964691828 -0.5361459999999998 -0.7034690585460049"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.3886651964691828 -0.5361459999999998 -0.7034690585460049"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.3886651964691828 -0.5361459999999998 -0.7034690585460049"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.3886651964691828 -0.5361459999999998 -0.7034690585460049"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.3886651964691828 -0.5361459999999998 -0.7034690585460049"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="outlier-15">
+			<origin xyz="-0.3886651964691828 -0.5361459999999998 -0.7034690585460049"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="outlier-15">
+			<origin xyz="-0.3886651964691828 -0.5361459999999998 -0.7034690585460049"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="outlier-15">
+			<origin xyz="-0.3886651964691828 -0.5361459999999998 -0.7034690585460049"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="outlier-15">
+			<origin xyz="-0.3886651964691828 -0.5361459999999998 -0.7034690585460049"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="outlier-15">
+			<origin xyz="-0.3886651964691828 -0.5361459999999998 -0.7034690585460049"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3886651964691828 -0.5361459999999998 -0.7034690585460049"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3886651964691828 -0.5361459999999998 -0.7034690585460049"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3886651964691828 -0.5361459999999998 -0.7034690585460049"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3886651964691828 -0.5361459999999998 -0.7034690585460049"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3886651964691828 -0.5361459999999998 -0.7034690585460049"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3886651964691828 -0.5361459999999998 -0.7034690585460049"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3886651964691828 -0.5361459999999998 -0.7034690585460049"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3886651964691828 -0.5361459999999998 -0.7034690585460049"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3886651964691828 -0.5361459999999998 -0.7034690585460049"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3886651964691828 -0.5361459999999998 -0.7034690585460049"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3886651964691828 -0.5361459999999998 -0.7034690585460049"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3886651964691828 -0.5361459999999998 -0.7034690585460049"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="revolute">
+		<origin xyz="0.3886651964691828 0.5361459999999998 0.7034690585460049"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_14"/>
+		<parent link="link_13"/>
+		<limit lower="0.0" upper="2.775073510670984"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Safe/101599/mobility_v2.json b/assets/urdf/Safe/101599/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a9b2fbfb2876c7f1bd0a9605d65ce30d411f5b4
--- /dev/null
+++ b/assets/urdf/Safe/101599/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 14, "joint": "hinge", "name": "knob", "parts": [{"id": 2, "name": "switch"}], "jointData": {"axis": {"origin": [-0.19505791627619393, -0.18135076848975443, 0.770878], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 159, "noLimit": true}}}, {"id": 1, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 3, "name": "button"}], "jointData": {"axis": {"origin": [0.08169852518817525, 0.10456384213638614, 0.7731169999999999], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.0004, "noLimit": false}}}, {"id": 2, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 4, "name": "button"}], "jointData": {"axis": {"origin": [0.08169852518817525, 0.10456384213638614, 0.7731169999999999], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.0004, "noLimit": false}}}, {"id": 3, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 5, "name": "button"}], "jointData": {"axis": {"origin": [0.08169852518817525, 0.10456384213638614, 0.7731169999999999], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.0004, "noLimit": false}}}, {"id": 4, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 6, "name": "button"}], "jointData": {"axis": {"origin": [0.08169852518817525, 0.10456384213638614, 0.7731169999999999], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.0004, "noLimit": false}}}, {"id": 5, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 7, "name": "button"}], "jointData": {"axis": {"origin": [0.08169852518817525, 0.10456384213638614, 0.7731169999999999], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.0004, "noLimit": false}}}, {"id": 6, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 8, "name": "button"}], "jointData": {"axis": {"origin": [0.08169852518817525, 0.10456384213638614, 0.7731169999999999], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.0004, "noLimit": false}}}, {"id": 7, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 9, "name": "button"}], "jointData": {"axis": {"origin": [0.08169852518817525, 0.10456384213638614, 0.7731169999999999], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.0004, "noLimit": false}}}, {"id": 8, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 10, "name": "button"}], "jointData": {"axis": {"origin": [0.08169852518817525, 0.10456384213638614, 0.7731169999999999], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.0004, "noLimit": false}}}, {"id": 9, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 11, "name": "button"}], "jointData": {"axis": {"origin": [0.08169852518817525, 0.10456384213638614, 0.7731169999999999], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.0004, "noLimit": false}}}, {"id": 10, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 12, "name": "button"}], "jointData": {"axis": {"origin": [0.08169852518817525, 0.10456384213638614, 0.7731169999999999], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.0004, "noLimit": false}}}, {"id": 11, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 13, "name": "button"}], "jointData": {"axis": {"origin": [0.08169852518817525, 0.10456384213638614, 0.7731169999999999], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.0004, "noLimit": false}}}, {"id": 12, "parent": 14, "joint": "slider", "name": "button", "parts": [{"id": 14, "name": "button"}], "jointData": {"axis": {"origin": [0.08169852518817525, 0.10456384213638614, 0.7731169999999999], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.0004, "noLimit": false}}}, {"id": 13, "parent": -1, "joint": "heavy", "name": "base_body", "parts": [{"id": 16, "name": "base_body"}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": false}}}, {"id": 14, "parent": 13, "joint": "hinge", "name": "door", "parts": [{"id": 1, "name": "door"}, {"id": 15, "name": "outlier"}], "jointData": {"axis": {"origin": [0.3886651964691828, 0.5361459999999998, 0.7034690585460049], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": 159, "noLimit": false}}}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/101599/model_data.json b/assets/urdf/Safe/101599/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..96f646e54f2ef769e17b3c2de366ff586b06e8a7
--- /dev/null
+++ b/assets/urdf/Safe/101599/model_data.json
@@ -0,0 +1,127 @@
+{
+    "scale": 0.7,
+    "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": [
+                    [
+                        -0.9956099987030029,
+                        -0.07898999750614166,
+                        0.05012999847531319,
+                        -0.751010000705719
+                    ],
+                    [
+                        -0.07898999750614166,
+                        0.4226199984550476,
+                        -0.9028599858283997,
+                        0.28554001450538635
+                    ],
+                    [
+                        0.05012999847531319,
+                        -0.9028599858283997,
+                        -0.4269999861717224,
+                        -0.06988000124692917
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        -0.9084699749946594,
+                        -0.06915000081062317,
+                        0.41218000650405884,
+                        -0.7554799914360046
+                    ],
+                    [
+                        0.26273998618125916,
+                        0.672469973564148,
+                        0.6919199824333191,
+                        0.08188000321388245
+                    ],
+                    [
+                        -0.32502999901771545,
+                        0.7368800044059753,
+                        -0.5927600264549255,
+                        -0.0828699991106987
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 2,
+                "matrix": [
+                    [
+                        0.9028599858283997,
+                        0.07898999750614166,
+                        0.4226199984550476,
+                        -0.759630024433136
+                    ],
+                    [
+                        -0.08715999871492386,
+                        0.9961900115013123,
+                        -0.0,
+                        0.20000000298023224
+                    ],
+                    [
+                        -0.42100998759269714,
+                        -0.03683000057935715,
+                        0.9063100218772888,
+                        -0.3284600079059601
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Safe/101599/result.json b/assets/urdf/Safe/101599/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..985478f79a3a8db0acc99126f12c07961eb57929
--- /dev/null
+++ b/assets/urdf/Safe/101599/result.json
@@ -0,0 +1 @@
+[{"text": "Safe", "name": "Safe", "id": 0, "children": [{"text": "door", "name": "door", "id": 1, "objs": ["original-11", "original-6", "original-15", "original-28", "original-14", "original-13", "original-4"]}, {"text": "switch", "name": "switch", "id": 2, "objs": ["original-34", "original-32", "original-12", "original-35", "original-33", "original-30"]}, {"text": "button", "name": "button", "id": 3, "objs": ["original-16"]}, {"text": "button", "name": "button", "id": 4, "objs": ["original-19"]}, {"text": "button", "name": "button", "id": 5, "objs": ["original-23"]}, {"text": "button", "name": "button", "id": 6, "objs": ["original-17"]}, {"text": "button", "name": "button", "id": 7, "objs": ["original-22"]}, {"text": "button", "name": "button", "id": 8, "objs": ["original-25"]}, {"text": "button", "name": "button", "id": 9, "objs": ["original-27"]}, {"text": "button", "name": "button", "id": 10, "objs": ["original-26"]}, {"text": "button", "name": "button", "id": 11, "objs": ["original-21"]}, {"text": "button", "name": "button", "id": 12, "objs": ["original-24"]}, {"text": "button", "name": "button", "id": 13, "objs": ["original-20"]}, {"text": "button", "name": "button", "id": 14, "objs": ["original-18"]}, {"text": "outlier", "name": "outlier", "id": 15, "objs": ["original-7", "original-8", "original-9", "original-29", "original-31"]}, {"text": "base_body", "name": "base_body", "id": 16, "objs": ["original-3", "original-5", "original-10"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/101599/result_original.json b/assets/urdf/Safe/101599/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..18aaa21ba805202bff6e4f1a96957c887cd7edb3
--- /dev/null
+++ b/assets/urdf/Safe/101599/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Safe", "text": "Safe", "children": [{"id": 1, "name": "door", "text": "door", "objs": ["original-11", "original-6", "original-15", "original-28", "original-14", "original-13", "original-4"]}, {"id": 2, "name": "switch", "text": "switch", "objs": ["original-34", "original-32", "original-12", "original-35", "original-33", "original-30"]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-16"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-19"]}, {"id": 5, "name": "button", "text": "button", "objs": ["original-23"]}, {"id": 6, "name": "button", "text": "button", "objs": ["original-17"]}, {"id": 7, "name": "button", "text": "button", "objs": ["original-22"]}, {"id": 8, "name": "button", "text": "button", "objs": ["original-25"]}, {"id": 9, "name": "button", "text": "button", "objs": ["original-27"]}, {"id": 10, "name": "button", "text": "button", "objs": ["original-26"]}, {"id": 11, "name": "button", "text": "button", "objs": ["original-21"]}, {"id": 12, "name": "button", "text": "button", "objs": ["original-24"]}, {"id": 13, "name": "button", "text": "button", "objs": ["original-20"]}, {"id": 14, "name": "button", "text": "button", "objs": ["original-18"]}, {"id": 15, "name": "outlier", "text": "outlier", "objs": ["original-7", "original-8", "original-9", "original-29", "original-31"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/101599/semantics.txt b/assets/urdf/Safe/101599/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5bec3299d4bc5af1ac90422b09ba7d581ac1df8a
--- /dev/null
+++ b/assets/urdf/Safe/101599/semantics.txt
@@ -0,0 +1,15 @@
+link_0 hinge knob
+link_1 slider button
+link_2 slider button
+link_3 slider button
+link_4 slider button
+link_5 slider button
+link_6 slider button
+link_7 slider button
+link_8 slider button
+link_9 slider button
+link_10 slider button
+link_11 slider button
+link_12 slider button
+link_13 heavy safe_body
+link_14 hinge door
diff --git a/assets/urdf/Safe/101605/bounding_box.json b/assets/urdf/Safe/101605/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..47925377459a3ea2ef8580856a62a3fc3ab8791f
--- /dev/null
+++ b/assets/urdf/Safe/101605/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.494674, -0.722266, -0.552729], "max": [0.560486, 0.65041, 0.922432]}
\ No newline at end of file
diff --git a/assets/urdf/Safe/101605/grasp_poses.json b/assets/urdf/Safe/101605/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..9209026612382976757d4cacb5db01231dd11f73
--- /dev/null
+++ b/assets/urdf/Safe/101605/grasp_poses.json
@@ -0,0 +1,132 @@
+{
+    "object_name": "101605",
+    "scale": 0.7,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.5735800266265869,
+                        0.8191499710083008,
+                        0.0,
+                        -0.8224800229072571
+                    ],
+                    [
+                        -0.8191499710083008,
+                        0.5735800266265869,
+                        0.0,
+                        0.025989999994635582
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0,
+                        -0.20000000298023224
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        0.5735800266265869,
+                        0.7423999905586243,
+                        -0.3461900055408478,
+                        -0.5259900093078613
+                    ],
+                    [
+                        -0.8191499710083008,
+                        0.5198400020599365,
+                        -0.24240000545978546,
+                        0.2203799933195114
+                    ],
+                    [
+                        -0.0,
+                        0.4226199984550476,
+                        0.9063100218772888,
+                        -0.21428999304771423
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 2,
+                "matrix": [
+                    [
+                        0.5735800266265869,
+                        -0.7094100117683411,
+                        -0.4095799922943115,
+                        -0.5142899751663208
+                    ],
+                    [
+                        -0.8191499710083008,
+                        -0.4967299997806549,
+                        -0.28679001331329346,
+                        0.22856999933719635
+                    ],
+                    [
+                        0.0,
+                        0.5,
+                        -0.8660299777984619,
+                        0.15714000165462494
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 3,
+                "matrix": [
+                    [
+                        0.5,
+                        -0.7848899960517883,
+                        0.3659999966621399,
+                        -0.8452500104904175
+                    ],
+                    [
+                        -0.8627300262451172,
+                        -0.4882600009441376,
+                        0.13151000440120697,
+                        -0.0033400000538676977
+                    ],
+                    [
+                        0.07547999918460846,
+                        -0.3815099895000458,
+                        -0.921280026435852,
+                        0.1725199967622757
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Safe/101605/meta.json b/assets/urdf/Safe/101605/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae60ea813199750a8122b4f5c77bb263d2965d5a
--- /dev/null
+++ b/assets/urdf/Safe/101605/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Safe", "model_id": "81870769-92a2-4bd0-887b-17eedd92a74b", "version": "1", "anno_id": "1605", "time_in_sec": "60"}
\ No newline at end of file
diff --git a/assets/urdf/Safe/101605/mobility.urdf b/assets/urdf/Safe/101605/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..adc8f100cf9e63ba3eaaa835a19490d78d9547fe
--- /dev/null
+++ b/assets/urdf/Safe/101605/mobility.urdf
@@ -0,0 +1,148 @@
+<?xml version="1.0" ?>
+<robot name="partnet_81870769-92a2-4bd0-887b-17eedd92a74b">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="0.36811388417845015 -0.5543369999999999 -0.223970844835233"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.36811388417845015 -0.5543369999999999 -0.223970844835233"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.36811388417845015 -0.5543369999999999 -0.223970844835233"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.36811388417845015 -0.5543369999999999 -0.223970844835233"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.36811388417845015 -0.5543369999999999 -0.223970844835233"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.36811388417845015 -0.5543369999999999 -0.223970844835233"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.36811388417845015 0.5543369999999999 0.223970844835233"/>
+		<axis xyz="0 -0.9999999999999999 0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="-0.9361946107697584" upper="1.8284069243892598"/>
+	</joint>
+	<link name="link_1">
+		<visual name="switch-2">
+			<origin xyz="-0.2811879906619675 0.027450766936155398 -0.40308899835174045"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="-0.2811879906619675 0.027450766936155398 -0.40308899835174045"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.2811879906619675 0.027450766936155398 -0.40308899835174045"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.2811879906619675 0.027450766936155398 -0.40308899835174045"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.6493018748404176 -0.5817877669361553 0.17911815351650745"/>
+		<axis xyz="0.8201628013612267 1.8756457952501192e-05 -0.5721302115004072"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_2">
+		<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-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.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-10.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-5.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_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/Safe/101605/mobility_v2.json b/assets/urdf/Safe/101605/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecfd14080da6a21bac1ee1baad7a75b01e719ba0
--- /dev/null
+++ b/assets/urdf/Safe/101605/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":2,"joint":"hinge","name":"door","parts":[{"id":1,"name":"door"}],"jointData":{"axis":{"origin":[-0.36811388417845015,0.5543369999999999,0.223970844835233],"direction":[0,-0.9999999999999999,0]},"limit":{"a":-53.64,"b":104.76,"noLimit":false}}},{"id":1,"parent":0,"joint":"hinge","name":"knob","parts":[{"id":2,"name":"switch"}],"jointData":{"axis":{"origin":[0.2811879906619675,-0.027450766936155398,0.40308899835174045],"direction":[0.8201628013612267,0.000018756457952501192,-0.5721302115004072]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":-1,"joint":"heavy","name":"base_body","parts":[{"id":3,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/101605/model_data.json b/assets/urdf/Safe/101605/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..7be5d18f1c7aadd5edff70bae9b314a3cad36936
--- /dev/null
+++ b/assets/urdf/Safe/101605/model_data.json
@@ -0,0 +1,158 @@
+{
+    "scale": 0.7,
+    "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": [
+                    [
+                        0.5735800266265869,
+                        0.8191499710083008,
+                        0.0,
+                        -0.8224800229072571
+                    ],
+                    [
+                        -0.8191499710083008,
+                        0.5735800266265869,
+                        0.0,
+                        0.025989999994635582
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0,
+                        -0.20000000298023224
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        0.5735800266265869,
+                        0.7423999905586243,
+                        -0.3461900055408478,
+                        -0.5259900093078613
+                    ],
+                    [
+                        -0.8191499710083008,
+                        0.5198400020599365,
+                        -0.24240000545978546,
+                        0.2203799933195114
+                    ],
+                    [
+                        -0.0,
+                        0.4226199984550476,
+                        0.9063100218772888,
+                        -0.21428999304771423
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 2,
+                "matrix": [
+                    [
+                        0.5735800266265869,
+                        -0.7094100117683411,
+                        -0.4095799922943115,
+                        -0.5142899751663208
+                    ],
+                    [
+                        -0.8191499710083008,
+                        -0.4967299997806549,
+                        -0.28679001331329346,
+                        0.22856999933719635
+                    ],
+                    [
+                        0.0,
+                        0.5,
+                        -0.8660299777984619,
+                        0.15714000165462494
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 3,
+                "matrix": [
+                    [
+                        0.5,
+                        -0.7848899960517883,
+                        0.3659999966621399,
+                        -0.8452500104904175
+                    ],
+                    [
+                        -0.8627300262451172,
+                        -0.4882600009441376,
+                        0.13151000440120697,
+                        -0.0033400000538676977
+                    ],
+                    [
+                        0.07547999918460846,
+                        -0.3815099895000458,
+                        -0.921280026435852,
+                        0.1725199967622757
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Safe/101605/result.json b/assets/urdf/Safe/101605/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dde04e2086df2af48982df15783364b75636e2b
--- /dev/null
+++ b/assets/urdf/Safe/101605/result.json
@@ -0,0 +1 @@
+[{"text": "Safe", "name": "Safe", "id": 0, "children": [{"text": "door", "name": "door", "id": 1, "objs": ["original-6", "original-1", "original-2"]}, {"text": "switch", "name": "switch", "id": 2, "objs": ["original-9", "original-8"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-4", "original-5", "original-11", "original-12", "original-10"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/101605/result_original.json b/assets/urdf/Safe/101605/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..efa4d1ae9762df265d02321fd2b54b81c5546074
--- /dev/null
+++ b/assets/urdf/Safe/101605/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Safe", "text": "Safe", "children": [{"id": 1, "name": "door", "text": "door", "objs": ["original-6", "original-1", "original-2"]}, {"id": 2, "name": "switch", "text": "switch", "objs": ["original-9", "original-8"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/101605/semantics.txt b/assets/urdf/Safe/101605/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7438bca407eebb952a37fa95cd63d21f97dea9a6
--- /dev/null
+++ b/assets/urdf/Safe/101605/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge door
+link_1 hinge knob
+link_2 heavy safe_body
diff --git a/assets/urdf/Safe/101605/textured_objs/original-1.mtl b/assets/urdf/Safe/101605/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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+++ b/assets/urdf/Safe/101605/textured_objs/original-1.mtl
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diff --git a/assets/urdf/Safe/101605/textured_objs/original-1.obj b/assets/urdf/Safe/101605/textured_objs/original-1.obj
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Safe/101605/textured_objs/original-1.obj
@@ -0,0 +1,214 @@
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diff --git a/assets/urdf/Safe/101605/textured_objs/original-10.mtl b/assets/urdf/Safe/101605/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dfdda401417f0173afcbc5f4b9fa6d6203877a2d
--- /dev/null
+++ b/assets/urdf/Safe/101605/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Safe/101605/textured_objs/original-10.obj b/assets/urdf/Safe/101605/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84ab5ce9d5c307677e154cc515fdc73bbb0445d4
--- /dev/null
+++ b/assets/urdf/Safe/101605/textured_objs/original-10.obj
@@ -0,0 +1,517 @@
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diff --git a/assets/urdf/Safe/101605/textured_objs/original-11.mtl b/assets/urdf/Safe/101605/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dfdda401417f0173afcbc5f4b9fa6d6203877a2d
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diff --git a/assets/urdf/Safe/101605/textured_objs/original-11.obj b/assets/urdf/Safe/101605/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0bd28997327b63489796feb1dcbb786719f80f3
--- /dev/null
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diff --git a/assets/urdf/Safe/101605/textured_objs/original-12.mtl b/assets/urdf/Safe/101605/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dfdda401417f0173afcbc5f4b9fa6d6203877a2d
--- /dev/null
+++ b/assets/urdf/Safe/101605/textured_objs/original-12.mtl
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diff --git a/assets/urdf/Safe/101605/textured_objs/original-12.obj b/assets/urdf/Safe/101605/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cfdf18912be8ac5ed9ac2e60e3d5c21afece80c
--- /dev/null
+++ b/assets/urdf/Safe/101605/textured_objs/original-12.obj
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diff --git a/assets/urdf/Safe/101605/textured_objs/original-2.mtl b/assets/urdf/Safe/101605/textured_objs/original-2.mtl
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index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/assets/urdf/Safe/101605/textured_objs/original-2.obj b/assets/urdf/Safe/101605/textured_objs/original-2.obj
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index 0000000000000000000000000000000000000000..5dd533ca3f8cde1d1101520685988e81dd7e6ff4
--- /dev/null
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diff --git a/assets/urdf/Safe/101605/textured_objs/original-8.mtl b/assets/urdf/Safe/101605/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Safe/101605/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
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+
diff --git a/assets/urdf/Safe/101605/textured_objs/original-8.obj b/assets/urdf/Safe/101605/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e36a5be1c6952223b704980dc6b375afb3c4efdb
--- /dev/null
+++ b/assets/urdf/Safe/101605/textured_objs/original-8.obj
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diff --git a/assets/urdf/Safe/101605/textured_objs/original-9.obj b/assets/urdf/Safe/101605/textured_objs/original-9.obj
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index 0000000000000000000000000000000000000000..feeac0113a16b1a8e33777c5eb98453b4a7265e9
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diff --git a/assets/urdf/Safe/101612/bounding_box.json b/assets/urdf/Safe/101612/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..af1a21b40444140c447e9eee97643e95af0e3900
--- /dev/null
+++ b/assets/urdf/Safe/101612/bounding_box.json
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+{"min": [-0.566532, -0.661534, -0.565517], "max": [0.54633, 0.562615, 0.658632]}
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diff --git a/assets/urdf/Safe/101612/grasp_poses.json b/assets/urdf/Safe/101612/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..618fc3205b0ca1510cf54436a1a426d2b335ee93
--- /dev/null
+++ b/assets/urdf/Safe/101612/grasp_poses.json
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+{
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+                "base": "base",
+                "description": ""
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+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Safe/101612/meta.json b/assets/urdf/Safe/101612/meta.json
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index 0000000000000000000000000000000000000000..dc076179690426f545c78541a42f59733ca6c13f
--- /dev/null
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+{"user_id": "KeplerSN", "model_cat": "Safe", "model_id": "976cf96169945398af7f76800034f73", "version": "1", "anno_id": "1612", "time_in_sec": "87"}
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diff --git a/assets/urdf/Safe/101612/mobility.urdf b/assets/urdf/Safe/101612/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..11eeb14025c0080c1d46287577e39105c8cafe35
--- /dev/null
+++ b/assets/urdf/Safe/101612/mobility.urdf
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+<?xml version="1.0" ?>
+<robot name="partnet_976cf96169945398af7f76800034f73">
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+		</visual>
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+			<geometry>
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+			<geometry>
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+		</collision>
+		<collision>
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+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
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+		</collision>
+		<collision>
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+	</link>
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+		<child link="link_0"/>
+		<parent link="link_3"/>
+		<limit lower="0.0" upper="3.141592653589793"/>
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+	<link name="link_1">
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+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lock-6">
+			<origin xyz="-0.21247145469496326 -0.00618408179674532 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
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+		</visual>
+		<visual name="lock-6">
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+			<geometry>
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+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.21247145469496326 -0.00618408179674532 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.21247145469496326 -0.00618408179674532 0"/>
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+	</link>
+	<joint name="joint_1" type="continuous">
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+		<child link="link_1"/>
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+	<link name="link_2">
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+		<collision>
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+		<child link="link_2"/>
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+		<limit lower="-1.5707963267948966" upper="-0.0"/>
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+	<link name="link_3">
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+			<geometry>
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+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<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-8.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-5.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-7.obj"/>
+			</geometry>
+		</collision>
+		<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-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Safe/101612/mobility_v2.json b/assets/urdf/Safe/101612/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..899e629573ec2176936b07c34e5f6586b48b91e8
--- /dev/null
+++ b/assets/urdf/Safe/101612/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":3,"joint":"hinge","name":"door","parts":[{"id":1,"name":"door"}],"jointData":{"axis":{"origin":[-0.455246,0,0.5473470114575845],"direction":[0,-1,0]},"limit":{"a":0,"b":180,"noLimit":false}}},{"id":1,"parent":0,"joint":"hinge","name":"knob","parts":[{"id":6,"name":"lock"}],"jointData":{"axis":{"origin":[0.21247145469496326,0.00618408179674532,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":0,"joint":"hinge","name":"handle","parts":[{"id":7,"name":"handle"}],"jointData":{"axis":{"origin":[0.35131183999792,0.006098277006755118,0.5473459999999999],"direction":[0,0,1]},"limit":{"a":90,"b":0,"noLimit":false}}},{"id":3,"parent":-1,"joint":"heavy","name":"base_body","parts":[{"id":8,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/101612/model_data.json b/assets/urdf/Safe/101612/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e76fac7e354b7e288d0a160c5338a3d37985cd1
--- /dev/null
+++ b/assets/urdf/Safe/101612/model_data.json
@@ -0,0 +1,65 @@
+{
+    "scale": 0.7,
+    "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": [
+                    [
+                        0.00033000000985339284,
+                        0.00033000000985339284,
+                        1.0,
+                        -0.6588600277900696
+                    ],
+                    [
+                        -0.007600000128149986,
+                        0.999970018863678,
+                        -0.00033000000985339284,
+                        -0.3461399972438812
+                    ],
+                    [
+                        -0.999970018863678,
+                        -0.007600000128149986,
+                        0.00033000000985339284,
+                        -0.09887000173330307
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Safe/101612/result.json b/assets/urdf/Safe/101612/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..529605828027ae8bed42f908e455754f45e287ec
--- /dev/null
+++ b/assets/urdf/Safe/101612/result.json
@@ -0,0 +1 @@
+[{"text": "Safe", "name": "Safe", "id": 0, "children": [{"text": "door", "name": "door", "id": 1, "objs": ["original-4", "original-16", "original-17", "original-12", "original-10"]}, {"text": "lock (other)", "name": "other", "id": 2, "children": [{"text": "other_leaf", "name": "lock", "id": 6, "objs": ["original-18", "original-19", "original-13"]}]}, {"text": "handle (other)", "name": "other", "id": 3, "children": [{"text": "other_leaf", "name": "handle", "id": 7, "objs": ["original-11", "original-15"]}]}, {"text": "base_body", "name": "base_body", "id": 8, "objs": ["original-3", "original-2", "original-8", "original-9", "original-5", "original-6", "original-7", "original-1", "original-14"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/101612/result_original.json b/assets/urdf/Safe/101612/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b62b19e5db6a5b61d67da084c8177c17b3d09da
--- /dev/null
+++ b/assets/urdf/Safe/101612/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Safe", "text": "Safe", "children": [{"id": 1, "name": "door", "text": "door", "objs": ["original-4", "original-16", "original-17", "original-12", "original-10"]}, {"id": 2, "name": "other", "text": "lock (other)", "children": [{"id": 6, "name": "other_leaf", "text": "other_leaf", "objs": ["original-18", "original-19", "original-13"]}]}, {"id": 3, "name": "other", "text": "handle (other)", "children": [{"id": 7, "name": "other_leaf", "text": "other_leaf", "objs": ["original-11", "original-15"]}]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/101612/semantics.txt b/assets/urdf/Safe/101612/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6a03a974d1fde3065dfe98354e7805550e5d17e9
--- /dev/null
+++ b/assets/urdf/Safe/101612/semantics.txt
@@ -0,0 +1,4 @@
+link_0 hinge door
+link_1 hinge knob
+link_2 hinge handle
+link_3 heavy safe_body
diff --git a/assets/urdf/Safe/101612/textured_objs/original-1.mtl b/assets/urdf/Safe/101612/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..00b70f40f8431207bf332a43032a1c4358d5e712
--- /dev/null
+++ b/assets/urdf/Safe/101612/textured_objs/original-1.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.6666666666666666 0.6666666666666666 0.6666666666666666 
+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/Safe/101612/textured_objs/original-1.obj b/assets/urdf/Safe/101612/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4aadc52b90304316a90b3ab14e110c3b7ac9e2f1
--- /dev/null
+++ b/assets/urdf/Safe/101612/textured_objs/original-1.obj
@@ -0,0 +1,145 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o 3dw.976cf96169945398af7f76800034f73/Model/Safe1/Safe/mesh1/mesh1-geometry/material_0/component_0#mesh1-geometry
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+vn 0.8944269883440347 0.4472140008114905 0
+vn 0 1 0
+vn 0 0.44721400081149026 0.8944269883440349
+usemtl material_0_0
+f 1/1/1 2/1/1 3/1/1
+f 4/1/1 5/1/1 6/1/1
+f 7/1/2 8/1/2 9/1/2
+f 10/1/3 11/1/3 12/1/3
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+f 49/1/8 50/1/8 51/1/8
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diff --git a/assets/urdf/Safe/101612/textured_objs/original-10.mtl b/assets/urdf/Safe/101612/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Safe/101612/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/Safe/101612/textured_objs/original-10.obj b/assets/urdf/Safe/101612/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d0caed8902af0d3960579767e1d3721270ec969
--- /dev/null
+++ b/assets/urdf/Safe/101612/textured_objs/original-10.obj
@@ -0,0 +1,434 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o 3dw.976cf96169945398af7f76800034f73/Model/Safe1/Safe/mesh1/mesh1-geometry/material_1/component_4#mesh1-geometry
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diff --git a/assets/urdf/Safe/101612/textured_objs/original-11.mtl b/assets/urdf/Safe/101612/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Safe/101612/textured_objs/original-11.mtl
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+newmtl material_0_0
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diff --git a/assets/urdf/Safe/101612/textured_objs/original-11.obj b/assets/urdf/Safe/101612/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76967b47e22800254356614c56b79a3f8ce0147d
--- /dev/null
+++ b/assets/urdf/Safe/101612/textured_objs/original-11.obj
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diff --git a/assets/urdf/Safe/101612/textured_objs/original-12.mtl b/assets/urdf/Safe/101612/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Safe/101612/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/assets/urdf/Safe/101612/textured_objs/original-12.obj b/assets/urdf/Safe/101612/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba47d597159d1791b602533bb2418a38b759decc
--- /dev/null
+++ b/assets/urdf/Safe/101612/textured_objs/original-12.obj
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diff --git a/assets/urdf/Safe/101612/textured_objs/original-13.mtl b/assets/urdf/Safe/101612/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
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diff --git a/assets/urdf/Safe/101612/textured_objs/original-13.obj b/assets/urdf/Safe/101612/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a893e9a575c998510c521f0322877af88ccf18d
--- /dev/null
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diff --git a/assets/urdf/Safe/101612/textured_objs/original-14.mtl b/assets/urdf/Safe/101612/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..57e37810cae8c39ca293099358f820fe38080553
--- /dev/null
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diff --git a/assets/urdf/Safe/101612/textured_objs/original-14.obj b/assets/urdf/Safe/101612/textured_objs/original-14.obj
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index 0000000000000000000000000000000000000000..4ccd1d74492c57e183e6deedb9ec95148a378845
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..cc1185026f7f57099c18489371a918dcc08d1c76
--- /dev/null
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diff --git a/assets/urdf/Safe/101612/textured_objs/original-15.obj b/assets/urdf/Safe/101612/textured_objs/original-15.obj
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index 0000000000000000000000000000000000000000..31f1f39b7aa7e73281c896790f892c3f04f9d72c
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diff --git a/assets/urdf/Safe/101612/textured_objs/original-19.mtl b/assets/urdf/Safe/101612/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..eb970ac8ce9d0019ded45029c476f61f8b68cdbe
--- /dev/null
+++ b/assets/urdf/Safe/101612/textured_objs/original-19.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Safe/101612/textured_objs/original-19.obj b/assets/urdf/Safe/101612/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d0a1af06e851365fa7b0ef2c4ca2d97e995ba83
--- /dev/null
+++ b/assets/urdf/Safe/101612/textured_objs/original-19.obj
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+# SSTK version 0.8.0
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diff --git a/assets/urdf/Safe/101612/textured_objs/original-2.mtl b/assets/urdf/Safe/101612/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..00b70f40f8431207bf332a43032a1c4358d5e712
--- /dev/null
+++ b/assets/urdf/Safe/101612/textured_objs/original-2.mtl
@@ -0,0 +1,14 @@
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diff --git a/assets/urdf/Safe/101612/textured_objs/original-2.obj b/assets/urdf/Safe/101612/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b519807f12f39ae7282d2b113921f98c299d254
--- /dev/null
+++ b/assets/urdf/Safe/101612/textured_objs/original-2.obj
@@ -0,0 +1,145 @@
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diff --git a/assets/urdf/Safe/101612/textured_objs/original-3.obj b/assets/urdf/Safe/101612/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..affa5f5ce37e1ed0fadea5f0dfc46d08314a5bf6
--- /dev/null
+++ b/assets/urdf/Safe/101612/textured_objs/original-3.obj
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diff --git a/assets/urdf/Safe/101612/textured_objs/original-4.mtl b/assets/urdf/Safe/101612/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..00b70f40f8431207bf332a43032a1c4358d5e712
--- /dev/null
+++ b/assets/urdf/Safe/101612/textured_objs/original-4.mtl
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diff --git a/assets/urdf/Safe/101612/textured_objs/original-4.obj b/assets/urdf/Safe/101612/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c477553a990b73673faf42fab598d98de952968b
--- /dev/null
+++ b/assets/urdf/Safe/101612/textured_objs/original-4.obj
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diff --git a/assets/urdf/Safe/101612/textured_objs/original-5.mtl b/assets/urdf/Safe/101612/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..00b70f40f8431207bf332a43032a1c4358d5e712
--- /dev/null
+++ b/assets/urdf/Safe/101612/textured_objs/original-5.mtl
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diff --git a/assets/urdf/Safe/101612/textured_objs/original-5.obj b/assets/urdf/Safe/101612/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5da92a4db3fae875324aea7c0881f660da1d0f12
--- /dev/null
+++ b/assets/urdf/Safe/101612/textured_objs/original-5.obj
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+v -0.555404 -0.550247 0.536217
+v -0.555404 -0.661534 0.491703
+vt 0 0
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+vn 0.8944269883440347 -0.4472140008114905 0
+vn -1 0 0
+vn 0 0 -1
+vn 0 -1 0
+vn 1 0 0
+vn 0 -0.44721400081149026 -0.8944269883440349
+vn -0.8944269883440347 0.4472140008114905 0
+vn 0 1 0
+vn 0 0.44721400081149026 0.8944269883440349
+usemtl material_0_0
+f 1/1/1 2/1/1 3/1/1
+f 4/1/2 5/1/2 6/1/2
+f 7/1/1 8/1/1 9/1/1
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diff --git a/assets/urdf/Safe/101612/textured_objs/original-6.mtl b/assets/urdf/Safe/101612/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Safe/101612/textured_objs/original-6.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/Safe/101612/textured_objs/original-6.obj b/assets/urdf/Safe/101612/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83bc109757491b092f1512beeb659cfc0c408552
--- /dev/null
+++ b/assets/urdf/Safe/101612/textured_objs/original-6.obj
@@ -0,0 +1,40 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
+o 3dw.976cf96169945398af7f76800034f73/Model/Safe1/Safe/mesh1/mesh1-geometry/material_1/component_0#mesh1-geometry
+v 0.546330 -0.550247 0.547346
+v 0.435044 -0.550247 0.536217
+v 0.435044 -0.550247 0.547346
+v 0.435044 -0.550247 0.547346
+v 0.435044 -0.550247 0.536217
+v 0.546330 -0.550247 0.547346
+v 0.435044 -0.550247 0.536217
+v 0.546330 -0.550247 0.547346
+v 0.535202 -0.550247 0.536217
+v 0.535202 -0.550247 0.536217
+v 0.546330 -0.550247 0.547346
+v 0.435044 -0.550247 0.536217
+v 0.535202 -0.550247 0.536217
+v 0.546330 -0.550247 0.547346
+v 0.535202 -0.550247 0.436060
+v 0.535202 -0.550247 0.436060
+v 0.546330 -0.550247 0.547346
+v 0.535202 -0.550247 0.536217
+v 0.535202 -0.550247 0.436060
+v 0.546330 -0.550247 0.547346
+v 0.546330 -0.550247 0.436060
+v 0.546330 -0.550247 0.436060
+v 0.546330 -0.550247 0.547346
+v 0.535202 -0.550247 0.436060
+vt 0 0
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1/1/1 2/1/1 3/1/1
+f 4/1/2 5/1/2 6/1/2
+f 7/1/1 8/1/1 9/1/1
+f 10/1/2 11/1/2 12/1/2
+f 13/1/1 14/1/1 15/1/1
+f 16/1/2 17/1/2 18/1/2
+f 19/1/1 20/1/1 21/1/1
+f 22/1/2 23/1/2 24/1/2
diff --git a/assets/urdf/Safe/101612/textured_objs/original-7.mtl b/assets/urdf/Safe/101612/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Safe/101612/textured_objs/original-7.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/Safe/101612/textured_objs/original-7.obj b/assets/urdf/Safe/101612/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4f1f317b5ccb069214ab4dc83536f34b7a47893
--- /dev/null
+++ b/assets/urdf/Safe/101612/textured_objs/original-7.obj
@@ -0,0 +1,40 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
+o 3dw.976cf96169945398af7f76800034f73/Model/Safe1/Safe/mesh1/mesh1-geometry/material_1/component_1#mesh1-geometry
+v 0.535202 -0.550247 -0.554388
+v 0.435044 -0.550247 -0.565517
+v 0.435044 -0.550247 -0.554388
+v 0.435044 -0.550247 -0.554388
+v 0.435044 -0.550247 -0.565517
+v 0.535202 -0.550247 -0.554388
+v 0.435044 -0.550247 -0.565517
+v 0.535202 -0.550247 -0.554388
+v 0.546330 -0.550247 -0.565517
+v 0.546330 -0.550247 -0.565517
+v 0.535202 -0.550247 -0.554388
+v 0.435044 -0.550247 -0.565517
+v 0.546330 -0.550247 -0.565517
+v 0.535202 -0.550247 -0.554388
+v 0.546330 -0.550247 -0.454231
+v 0.546330 -0.550247 -0.454231
+v 0.535202 -0.550247 -0.554388
+v 0.546330 -0.550247 -0.565517
+v 0.546330 -0.550247 -0.454231
+v 0.535202 -0.550247 -0.554388
+v 0.535202 -0.550247 -0.454231
+v 0.535202 -0.550247 -0.454231
+v 0.535202 -0.550247 -0.554388
+v 0.546330 -0.550247 -0.454231
+vt 0 0
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1/1/1 2/1/1 3/1/1
+f 4/1/2 5/1/2 6/1/2
+f 7/1/1 8/1/1 9/1/1
+f 10/1/2 11/1/2 12/1/2
+f 13/1/1 14/1/1 15/1/1
+f 16/1/2 17/1/2 18/1/2
+f 19/1/1 20/1/1 21/1/1
+f 22/1/2 23/1/2 24/1/2
diff --git a/assets/urdf/Safe/101612/textured_objs/original-8.mtl b/assets/urdf/Safe/101612/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Safe/101612/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/Safe/101612/textured_objs/original-8.obj b/assets/urdf/Safe/101612/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..346a83e43919a8440ae61795563225c27c7e2669
--- /dev/null
+++ b/assets/urdf/Safe/101612/textured_objs/original-8.obj
@@ -0,0 +1,40 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
+o 3dw.976cf96169945398af7f76800034f73/Model/Safe1/Safe/mesh1/mesh1-geometry/material_1/component_2#mesh1-geometry
+v -0.455246 -0.550247 -0.565517
+v -0.555404 -0.550247 -0.554388
+v -0.455246 -0.550247 -0.554388
+v -0.455246 -0.550247 -0.554388
+v -0.555404 -0.550247 -0.554388
+v -0.455246 -0.550247 -0.565517
+v -0.566532 -0.550247 -0.565517
+v -0.555404 -0.550247 -0.554388
+v -0.455246 -0.550247 -0.565517
+v -0.455246 -0.550247 -0.565517
+v -0.555404 -0.550247 -0.554388
+v -0.566532 -0.550247 -0.565517
+v -0.566532 -0.550247 -0.565517
+v -0.555404 -0.550247 -0.454231
+v -0.555404 -0.550247 -0.554388
+v -0.555404 -0.550247 -0.554388
+v -0.555404 -0.550247 -0.454231
+v -0.566532 -0.550247 -0.565517
+v -0.555404 -0.550247 -0.454231
+v -0.566532 -0.550247 -0.565517
+v -0.566532 -0.550247 -0.454231
+v -0.566532 -0.550247 -0.454231
+v -0.566532 -0.550247 -0.565517
+v -0.555404 -0.550247 -0.454231
+vt 0 0
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1/1/1 2/1/1 3/1/1
+f 4/1/2 5/1/2 6/1/2
+f 7/1/1 8/1/1 9/1/1
+f 10/1/2 11/1/2 12/1/2
+f 13/1/1 14/1/1 15/1/1
+f 16/1/2 17/1/2 18/1/2
+f 19/1/1 20/1/1 21/1/1
+f 22/1/2 23/1/2 24/1/2
diff --git a/assets/urdf/Safe/101612/textured_objs/original-9.mtl b/assets/urdf/Safe/101612/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Safe/101612/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/Safe/101612/textured_objs/original-9.obj b/assets/urdf/Safe/101612/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a246f7303787b3a037d3e824e3670b08a3971e2
--- /dev/null
+++ b/assets/urdf/Safe/101612/textured_objs/original-9.obj
@@ -0,0 +1,40 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
+o 3dw.976cf96169945398af7f76800034f73/Model/Safe1/Safe/mesh1/mesh1-geometry/material_1/component_3#mesh1-geometry
+v -0.555404 -0.550247 0.536217
+v -0.566532 -0.550247 0.547346
+v -0.455246 -0.550247 0.547346
+v -0.455246 -0.550247 0.547346
+v -0.566532 -0.550247 0.547346
+v -0.555404 -0.550247 0.536217
+v -0.555404 -0.550247 0.536217
+v -0.455246 -0.550247 0.547346
+v -0.455246 -0.550247 0.536217
+v -0.455246 -0.550247 0.536217
+v -0.455246 -0.550247 0.547346
+v -0.555404 -0.550247 0.536217
+v -0.566532 -0.550247 0.547346
+v -0.555404 -0.550247 0.536217
+v -0.566532 -0.550247 0.436060
+v -0.566532 -0.550247 0.436060
+v -0.555404 -0.550247 0.536217
+v -0.566532 -0.550247 0.547346
+v -0.555404 -0.550247 0.436060
+v -0.566532 -0.550247 0.436060
+v -0.555404 -0.550247 0.536217
+v -0.555404 -0.550247 0.536217
+v -0.566532 -0.550247 0.436060
+v -0.555404 -0.550247 0.436060
+vt 0 0
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1/1/1 2/1/1 3/1/1
+f 4/1/2 5/1/2 6/1/2
+f 7/1/1 8/1/1 9/1/1
+f 10/1/2 11/1/2 12/1/2
+f 13/1/1 14/1/1 15/1/1
+f 16/1/2 17/1/2 18/1/2
+f 19/1/1 20/1/1 21/1/1
+f 22/1/2 23/1/2 24/1/2
diff --git a/assets/urdf/Safe/101623/bounding_box.json b/assets/urdf/Safe/101623/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..50c68c96269b2fd33789e91e790e5fe9aa46cfda
--- /dev/null
+++ b/assets/urdf/Safe/101623/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.452432, -0.602039, -0.507747], "max": [0.425194, 0.477518, 1.036641]}
\ No newline at end of file
diff --git a/assets/urdf/Safe/101623/grasp_poses.json b/assets/urdf/Safe/101623/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..a24004a7848f5ea7f5e897933c27646ea50106d3
--- /dev/null
+++ b/assets/urdf/Safe/101623/grasp_poses.json
@@ -0,0 +1,101 @@
+{
+    "object_name": "101623",
+    "scale": 0.7,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.11829999834299088,
+                        0.9474200010299683,
+                        0.29732000827789307,
+                        -0.8985099792480469
+                    ],
+                    [
+                        0.2671400010585785,
+                        -0.3187499940395355,
+                        0.9094099998474121,
+                        -0.18634000420570374
+                    ],
+                    [
+                        0.9563699960708618,
+                        -0.02816000021994114,
+                        -0.290800005197525,
+                        0.006409999914467335
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        1.0,
+                        -0.0,
+                        0.0,
+                        -0.9714300036430359
+                    ],
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.15714000165462494
+                    ],
+                    [
+                        -0.0,
+                        -1.0,
+                        -0.0,
+                        -0.11428999900817871
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 2,
+                "matrix": [
+                    [
+                        0.7071099877357483,
+                        -0.7071099877357483,
+                        -0.0,
+                        -0.8142899870872498
+                    ],
+                    [
+                        -0.12279000133275986,
+                        -0.12279000133275986,
+                        0.9848099946975708,
+                        -0.2167699933052063
+                    ],
+                    [
+                        -0.6963599920272827,
+                        -0.6963599920272827,
+                        -0.17364999651908875,
+                        -0.12835000455379486
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Safe/101623/meta.json b/assets/urdf/Safe/101623/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2309ff526767b53f36c2b1a79db13d05b60d17b9
--- /dev/null
+++ b/assets/urdf/Safe/101623/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Safe", "model_id": "b903c984-cef7-466d-b2a9-b5967021c0a6", "version": "2", "anno_id": "1623", "time_in_sec": "102"}
\ No newline at end of file
diff --git a/assets/urdf/Safe/101623/mobility.urdf b/assets/urdf/Safe/101623/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1e334731d17ca33a636e5d09092cc2bb31d95f94
--- /dev/null
+++ b/assets/urdf/Safe/101623/mobility.urdf
@@ -0,0 +1,1956 @@
+<?xml version="1.0" ?>
+<robot name="partnet_b903c984-cef7-466d-b2a9-b5967021c0a6">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="switch-2">
+			<origin xyz="0.28301952490122073 0.0760349826982997 -0.7076751841358411"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.28301952490122073 0.0760349826982997 -0.7076751841358411"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.641584017035344 -0.4278789826982997 0.29858281472067877"/>
+		<axis xyz="0.9284995612947259 0 0.37133349522430864"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_1">
+		<visual name="door-5">
+			<origin xyz="-0.3585644921341233 -0.35184400000000005 -0.4090923694151623"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-5">
+			<origin xyz="-0.3585644921341233 -0.35184400000000005 -0.4090923694151623"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-5">
+			<origin xyz="-0.3585644921341233 -0.35184400000000005 -0.4090923694151623"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-5">
+			<origin xyz="-0.3585644921341233 -0.35184400000000005 -0.4090923694151623"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-5">
+			<origin xyz="-0.3585644921341233 -0.35184400000000005 -0.4090923694151623"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-5">
+			<origin xyz="-0.3585644921341233 -0.35184400000000005 -0.4090923694151623"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-5">
+			<origin xyz="-0.3585644921341233 -0.35184400000000005 -0.4090923694151623"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-5">
+			<origin xyz="-0.3585644921341233 -0.35184400000000005 -0.4090923694151623"/>
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+		<collision>
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+		<collision>
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+		<collision>
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+		<collision>
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+		<collision>
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+		<collision>
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+		<collision>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-157.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-179.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-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-129.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</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-143.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-151.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-155.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-164.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Safe/101623/mobility_v2.json b/assets/urdf/Safe/101623/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..285fe4a0d0885466e08ab6c9cd7a4b98f9cc40f0
--- /dev/null
+++ b/assets/urdf/Safe/101623/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "knob", "parts": [{"id": 2, "name": "switch", "children": []}], "jointData": {"axis": {"origin": [-0.28301952490122073, -0.0760349826982997, 0.7076751841358411], "direction": [0.9284995612947259, 0, 0.37133349522430864]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": 3, "joint": "hinge", "name": "door", "parts": [{"id": 5, "name": "door", "children": []}], "jointData": {"axis": {"origin": [0.3585644921341233, 0.35184400000000005, 0.4090923694151623], "direction": [0, -1, 0]}, "limit": {"a": 67.68, "b": -122.03999999999999, "noLimit": false}}}, {"id": 2, "parent": 1, "joint": "hinge", "name": "knob", "parts": [{"id": 6, "name": "switch", "children": []}], "jointData": {"axis": {"origin": [-0.19654578932570993, 0.15520437952130772, 0.49126368530826076], "direction": [-0.9284504140180082, 0, -0.37145636178397745]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 3, "parent": -1, "joint": "heavy", "name": "base_body", "parts": [{"id": 7, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/101623/model_data.json b/assets/urdf/Safe/101623/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d68766f866d5dc4166fbf9b43f1a700decea71a
--- /dev/null
+++ b/assets/urdf/Safe/101623/model_data.json
@@ -0,0 +1,127 @@
+{
+    "scale": 0.7,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
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+            1.0,
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+            1.0,
+            0.0
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+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
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+    ],
+    "init_qpos": [],
+    "grasp_parts": {
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+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
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+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        1.0,
+                        -0.0,
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+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
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+                ],
+                "base": "base",
+                "description": ""
+            },
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+                "matrix": [
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diff --git a/assets/urdf/Safe/101623/result.json b/assets/urdf/Safe/101623/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..68ce1f4978e55a16aa8b3f32c5b86bf003e897ea
--- /dev/null
+++ b/assets/urdf/Safe/101623/result.json
@@ -0,0 +1 @@
+[{"text": "Safe", "name": "Safe", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 2, "objs": ["original-31"]}, {"text": "door", "name": "door", "id": 5, "objs": ["original-18", "original-20", "original-29", "original-30", "original-25", "original-24", "original-26", "original-22", "original-23", "original-19"]}, {"text": "switch", "name": "switch", "id": 6, "objs": ["original-21"]}, {"text": "base_body", "name": "base_body", "id": 7, "objs": ["original-103", "original-100", "original-123", "original-152", "original-132", "original-36", "original-154", "original-126", "original-169", "original-119", "original-28", "original-124", "original-166", "original-96", "original-64", "original-134", "original-43", "original-71", "original-52", "original-83", "original-117", "original-110", "original-153", "original-107", "original-160", "original-104", "original-4", "original-3", "original-2", "original-130", "original-137", "original-139", "original-44", "original-112", "original-162", "original-106", "original-16", "original-86", "original-8", "original-173", "original-147", "original-109", "original-13", "original-9", "original-45", "original-35", "original-148", "original-172", "original-138", "original-156", "original-184", "original-93", "original-61", "original-144", "original-39", "original-120", "original-59", "original-5", "original-77", "original-114", "original-54", "original-150", "original-168", "original-63", "original-27", "original-159", "original-170", "original-87", "original-51", "original-55", "original-163", "original-50", "original-141", "original-111", "original-6", "original-178", "original-37", "original-48", "original-15", "original-116", "original-85", "original-177", "original-56", "original-76", "original-108", "original-175", "original-72", "original-99", "original-136", "original-127", "original-62", "original-75", "original-174", "original-133", "original-66", "original-182", "original-58", "original-145", "original-98", "original-67", "original-69", "original-11", "original-38", "original-68", "original-146", "original-80", "original-34", "original-70", "original-161", "original-74", "original-118", "original-91", "original-181", "original-12", "original-92", "original-183", "original-171", "original-142", "original-42", "original-79", "original-165", "original-102", "original-88", "original-115", "original-47", "original-95", "original-53", "original-7", "original-101", "original-180", "original-1", "original-84", "original-94", "original-78", "original-157", "original-179", "original-10", "original-14", "original-82", "original-129", "original-60", "original-90", "original-40", "original-143", "original-151", "original-46", "original-155", "original-164"]}]}]
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diff --git a/assets/urdf/Safe/101623/result_original.json b/assets/urdf/Safe/101623/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7b376b0241d131654d4905c5302ae9f3995e638
--- /dev/null
+++ b/assets/urdf/Safe/101623/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Safe", "text": "Safe", "children": [{"id": 2, "name": "switch", "text": "switch", "objs": ["original-31"]}, {"id": 5, "name": "door", "text": "door", "objs": ["original-18", "original-20", "original-29", "original-30", "original-25", "original-24", "original-26", "original-22", "original-23", "original-19"]}, {"id": 6, "name": "switch", "text": "switch", "objs": ["original-21"]}]}]
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+++ b/assets/urdf/Safe/101623/semantics.txt
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+link_0 hinge knob
+link_1 hinge door
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diff --git a/assets/urdf/Safe/101623/textured_objs/original-106.mtl b/assets/urdf/Safe/101623/textured_objs/original-106.mtl
new file mode 100644
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diff --git a/assets/urdf/Safe/101623/textured_objs/original-11.mtl b/assets/urdf/Safe/101623/textured_objs/original-11.mtl
new file mode 100644
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--- /dev/null
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diff --git a/assets/urdf/Safe/101623/textured_objs/original-123.obj b/assets/urdf/Safe/101623/textured_objs/original-123.obj
new file mode 100644
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--- /dev/null
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diff --git a/assets/urdf/Safe/102301/bounding_box.json b/assets/urdf/Safe/102301/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2ab6ed854636b27a52d0a1c50d66a313b7d51dc
--- /dev/null
+++ b/assets/urdf/Safe/102301/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.618557, -0.728798, -0.494898], "max": [0.626081, 0.605225, 0.705322]}
\ No newline at end of file
diff --git a/assets/urdf/Safe/102301/mobility.urdf b/assets/urdf/Safe/102301/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..79a279f52f8642ad79dc26c79127fe7bbc38f654
--- /dev/null
+++ b/assets/urdf/Safe/102301/mobility.urdf
@@ -0,0 +1,592 @@
+<?xml version="1.0" ?>
+<robot name="partnet_7026aa17-f192-4a98-9da2-bb9fd23919a2-0">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="-0.5303632187547144 -0.6052249999999999 -0.5574156098674753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.5303632187547144 -0.6052249999999999 -0.5574156098674753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.5303632187547144 -0.6052249999999999 -0.5574156098674753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.5303632187547144 -0.6052249999999999 -0.5574156098674753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.5303632187547144 -0.6052249999999999 -0.5574156098674753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.5303632187547144 -0.6052249999999999 -0.5574156098674753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.5303632187547144 -0.6052249999999999 -0.5574156098674753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.5303632187547144 -0.6052249999999999 -0.5574156098674753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.5303632187547144 -0.6052249999999999 -0.5574156098674753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.5303632187547144 -0.6052249999999999 -0.5574156098674753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.5303632187547144 -0.6052249999999999 -0.5574156098674753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.5303632187547144 -0.6052249999999999 -0.5574156098674753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5303632187547144 -0.6052249999999999 -0.5574156098674753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5303632187547144 -0.6052249999999999 -0.5574156098674753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5303632187547144 -0.6052249999999999 -0.5574156098674753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5303632187547144 -0.6052249999999999 -0.5574156098674753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5303632187547144 -0.6052249999999999 -0.5574156098674753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5303632187547144 -0.6052249999999999 -0.5574156098674753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5303632187547144 -0.6052249999999999 -0.5574156098674753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5303632187547144 -0.6052249999999999 -0.5574156098674753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5303632187547144 -0.6052249999999999 -0.5574156098674753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5303632187547144 -0.6052249999999999 -0.5574156098674753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5303632187547144 -0.6052249999999999 -0.5574156098674753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5303632187547144 -0.6052249999999999 -0.5574156098674753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.5303632187547144 0.6052249999999999 0.5574156098674753"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="0.0" upper="2.978229835603124"/>
+	</joint>
+	<link name="link_1">
+		<visual name="switch-4">
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-4">
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-4">
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-4">
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-4">
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-4">
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-4">
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-4">
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-4">
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-4">
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-4">
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-4">
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-4">
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-4">
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-4">
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-4">
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-4">
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-4">
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-4">
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.12214450412221162 -0.01672357913827558 -0.6349370000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.40821871463250275 -0.5885014208617243 0.07752139013252479"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<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-30.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-41.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.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-35.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-27.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-37.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-34.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-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.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/Safe/102301/mobility_v2.json b/assets/urdf/Safe/102301/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..1323680f04fe18ac3e10ae70528795d4043ee7d4
--- /dev/null
+++ b/assets/urdf/Safe/102301/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 2, "joint": "hinge", "name": "door", "parts": [{"id": 1, "name": "door", "children": []}], "jointData": {"axis": {"origin": [0.5303632187547144, 0.6052249999999999, 0.5574156098674753], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": 170.64, "noLimit": false}}}, {"id": 1, "parent": 0, "joint": "hinge", "name": "knob", "parts": [{"id": 4, "name": "switch", "children": []}], "jointData": {"axis": {"origin": [0.12214450412221162, 0.01672357913827558, 0.6349370000000001], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 2, "parent": -1, "joint": "heavy", "name": "base_body", "parts": [{"id": 5, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/102301/result.json b/assets/urdf/Safe/102301/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..25c3c2ce68c27aada2154fa4e35152bc91f519c7
--- /dev/null
+++ b/assets/urdf/Safe/102301/result.json
@@ -0,0 +1 @@
+[{"text": "Safe", "name": "Safe", "id": 0, "children": [{"text": "door", "name": "door", "id": 1, "objs": ["original-17", "original-16", "original-14", "original-18", "original-25", "original-48", "original-44", "original-49", "original-24", "original-47", "original-46", "original-45"]}, {"text": "switch", "name": "switch", "id": 4, "objs": ["original-22", "original-1", "original-5", "original-3", "original-2", "original-6", "original-4", "original-7", "original-21", "original-23", "original-20", "original-19", "original-15", "original-8", "original-10", "original-13", "original-12", "original-9", "original-11"]}, {"text": "base_body", "name": "base_body", "id": 5, "objs": ["original-29", "original-30", "original-36", "original-41", "original-28", "original-33", "original-35", "original-39", "original-27", "original-31", "original-37", "original-38", "original-34", "original-42", "original-32", "original-40"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/102301/result_original.json b/assets/urdf/Safe/102301/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..101671457bde9a4a39ed135ade432bd28c29b9a8
--- /dev/null
+++ b/assets/urdf/Safe/102301/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Safe", "text": "Safe", "children": [{"id": 1, "name": "door", "text": "door", "objs": ["original-17", "original-16", "original-14", "original-18", "original-25", "original-48", "original-44", "original-49", "original-24", "original-47", "original-46", "original-45"]}, {"id": 4, "name": "switch", "text": "switch", "objs": ["original-22", "original-1", "original-5", "original-3", "original-2", "original-6", "original-4", "original-7", "original-21", "original-23", "original-20", "original-19", "original-15", "original-8", "original-10", "original-13", "original-12", "original-9", "original-11"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/102301/semantics.txt b/assets/urdf/Safe/102301/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7438bca407eebb952a37fa95cd63d21f97dea9a6
--- /dev/null
+++ b/assets/urdf/Safe/102301/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge door
+link_1 hinge knob
+link_2 heavy safe_body
diff --git a/assets/urdf/Safe/102301/textured_objs/original-1.mtl b/assets/urdf/Safe/102301/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
+++ b/assets/urdf/Safe/102301/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.6666666666666666 0.6666666666666666 0.6666666666666666 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Safe/102309/bounding_box.json b/assets/urdf/Safe/102309/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf26a257c4b9bfddfe94256204eb2d35d20e315b
--- /dev/null
+++ b/assets/urdf/Safe/102309/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.393092, -0.900622, -0.312527], "max": [0.415194, 0.835287, 0.336889]}
\ No newline at end of file
diff --git a/assets/urdf/Safe/102309/grasp_poses.json b/assets/urdf/Safe/102309/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..f17534e939eb36d8d9a2777a723ee8f644b8cb60
--- /dev/null
+++ b/assets/urdf/Safe/102309/grasp_poses.json
@@ -0,0 +1,101 @@
+{
+    "object_name": "102309",
+    "scale": 0.7,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.21744999289512634,
+                        0.013650000095367432,
+                        0.9759799838066101,
+                        -0.3343999981880188
+                    ],
+                    [
+                        -0.8630899786949158,
+                        0.4696600139141083,
+                        0.1857299953699112,
+                        0.22732000052928925
+                    ],
+                    [
+                        -0.45583999156951904,
+                        -0.8827400207519531,
+                        0.1139099970459938,
+                        0.030470000579953194
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        -0.26840001344680786,
+                        -0.018470000475645065,
+                        0.963129997253418,
+                        -0.3370400071144104
+                    ],
+                    [
+                        0.9553300142288208,
+                        0.12328000366687775,
+                        0.2685900032520294,
+                        0.09291999787092209
+                    ],
+                    [
+                        -0.12370000034570694,
+                        0.9922000169754028,
+                        -0.015440000221133232,
+                        0.03977999836206436
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 2,
+                "matrix": [
+                    [
+                        -0.0057299998588860035,
+                        0.07184000313282013,
+                        0.9973999857902527,
+                        -0.3402700126171112
+                    ],
+                    [
+                        -0.08829999715089798,
+                        0.9934800267219543,
+                        -0.07207000255584717,
+                        0.16436000168323517
+                    ],
+                    [
+                        -0.9960799813270569,
+                        -0.08848000317811966,
+                        0.0006500000017695129,
+                        -0.08856000006198883
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Safe/102309/meta.json b/assets/urdf/Safe/102309/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..574fcfa1f270523f75358835e14e92070c2d23fd
--- /dev/null
+++ b/assets/urdf/Safe/102309/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Safe", "model_id": "d1a6d1ca-71ef-4552-a69d-f6d0c0aa495b", "version": "2", "anno_id": "2309", "time_in_sec": "134"}
\ No newline at end of file
diff --git a/assets/urdf/Safe/102309/mobility.urdf b/assets/urdf/Safe/102309/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d60e5988bc45a66cb9084c142d0914c2f0002c4b
--- /dev/null
+++ b/assets/urdf/Safe/102309/mobility.urdf
@@ -0,0 +1,408 @@
+<?xml version="1.0" ?>
+<robot name="partnet_d1a6d1ca-71ef-4552-a69d-f6d0c0aa495b">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="-0.38652082378489877 -0.7581 -0.30791247271290556"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.38652082378489877 -0.7581 -0.30791247271290556"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.38652082378489877 -0.7581 -0.30791247271290556"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.38652082378489877 -0.7581 -0.30791247271290556"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.38652082378489877 -0.7581 -0.30791247271290556"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.38652082378489877 -0.7581 -0.30791247271290556"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.38652082378489877 -0.7581 -0.30791247271290556"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.38652082378489877 -0.7581 -0.30791247271290556"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.38652082378489877 0.7581 0.30791247271290556"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="0.0" upper="3.078760800517997"/>
+	</joint>
+	<link name="link_1">
+		<visual name="switch-2">
+			<origin xyz="0.16865 0.005851 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0.16865 0.005851 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0.16865 0.005851 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0.16865 0.005851 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.16865 0.005851 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.16865 0.005851 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.16865 0.005851 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.16865 0.005851 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.5551708237848988 -0.763951 -0.30791247271290556"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<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-30.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-41.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-44.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-13.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-39.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-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-34.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-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.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>
+	<link name="link_3">
+		<visual name="switch-7">
+			<origin xyz="-0.0060734964051930955 0.0009258954775331831 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-7">
+			<origin xyz="-0.0060734964051930955 0.0009258954775331831 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-7">
+			<origin xyz="-0.0060734964051930955 0.0009258954775331831 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="outlier-8">
+			<origin xyz="-0.0060734964051930955 0.0009258954775331831 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0060734964051930955 0.0009258954775331831 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0060734964051930955 0.0009258954775331831 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0060734964051930955 0.0009258954775331831 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0060734964051930955 0.0009258954775331831 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="-0.38044732737970566 -0.7590258954775332 -0.30791247271290556"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_3"/>
+		<parent link="link_0"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Safe/102309/mobility_v2.json b/assets/urdf/Safe/102309/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..988e7fe4f77d8d56c6da44cd8ef1624a096d65d9
--- /dev/null
+++ b/assets/urdf/Safe/102309/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 2, "joint": "hinge", "name": "door", "parts": [{"id": 1, "name": "door", "children": []}], "jointData": {"axis": {"origin": [0.38652082378489877, 0.7581, 0.30791247271290556], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": 176.4, "noLimit": false}}}, {"id": 1, "parent": 0, "joint": "hinge", "name": "knob", "parts": [{"id": 2, "name": "switch", "children": []}], "jointData": {"axis": {"origin": [-0.16865, -0.005851, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 2, "parent": -1, "joint": "heavy", "name": "base_body", "parts": [{"id": 9, "name": "base_body", "children": []}], "jointData": {}}, {"id": 3, "parent": 0, "joint": "hinge", "name": "knob", "parts": [{"id": 7, "name": "switch", "children": []}, {"id": 8, "name": "outlier", "children": []}], "jointData": {"axis": {"origin": [0.0060734964051930955, -0.0009258954775331831, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/102309/model_data.json b/assets/urdf/Safe/102309/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..1467820fd92d609128c21d72f8d011a59aba84ef
--- /dev/null
+++ b/assets/urdf/Safe/102309/model_data.json
@@ -0,0 +1,127 @@
+{
+    "scale": 0.7,
+    "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": [
+                    [
+                        0.21744999289512634,
+                        0.013650000095367432,
+                        0.9759799838066101,
+                        -0.3343999981880188
+                    ],
+                    [
+                        -0.8630899786949158,
+                        0.4696600139141083,
+                        0.1857299953699112,
+                        0.22732000052928925
+                    ],
+                    [
+                        -0.45583999156951904,
+                        -0.8827400207519531,
+                        0.1139099970459938,
+                        0.030470000579953194
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        -0.26840001344680786,
+                        -0.018470000475645065,
+                        0.963129997253418,
+                        -0.3370400071144104
+                    ],
+                    [
+                        0.9553300142288208,
+                        0.12328000366687775,
+                        0.2685900032520294,
+                        0.09291999787092209
+                    ],
+                    [
+                        -0.12370000034570694,
+                        0.9922000169754028,
+                        -0.015440000221133232,
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+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 2,
+                "matrix": [
+                    [
+                        -0.0057299998588860035,
+                        0.07184000313282013,
+                        0.9973999857902527,
+                        -0.3402700126171112
+                    ],
+                    [
+                        -0.08829999715089798,
+                        0.9934800267219543,
+                        -0.07207000255584717,
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+                    ],
+                    [
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+                        -0.08848000317811966,
+                        0.0006500000017695129,
+                        -0.08856000006198883
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Safe/102309/result.json b/assets/urdf/Safe/102309/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7aa4901815a0089d4c31d7204bd8d40af8cae39
--- /dev/null
+++ b/assets/urdf/Safe/102309/result.json
@@ -0,0 +1 @@
+[{"text": "Safe", "name": "Safe", "id": 0, "children": [{"text": "door", "name": "door", "id": 1, "objs": ["original-9", "original-15", "original-12", "original-10"]}, {"text": "switch", "name": "switch", "id": 2, "objs": ["original-23", "original-24", "original-26", "original-25"]}, {"text": "switch", "name": "switch", "id": 7, "objs": ["original-21", "original-20", "original-19"]}, {"text": "outlier", "name": "outlier", "id": 8, "objs": ["original-18"]}, {"text": "base_body", "name": "base_body", "id": 9, "objs": ["original-29", "original-30", "original-36", "original-41", "original-4", "original-3", "original-44", "original-16", "original-13", "original-45", "original-35", "original-39", "original-5", "original-6", "original-31", "original-34", "original-7", "original-40", "original-46"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/102309/result_original.json b/assets/urdf/Safe/102309/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6220c0d96e2cd67bf66d3529c8abdb15dc630e6
--- /dev/null
+++ b/assets/urdf/Safe/102309/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Safe", "text": "Safe", "children": [{"id": 1, "name": "door", "text": "door", "objs": ["original-9", "original-15", "original-12", "original-10"]}, {"id": 2, "name": "switch", "text": "switch", "objs": ["original-23", "original-24", "original-26", "original-25"]}, {"id": 7, "name": "switch", "text": "switch", "objs": ["original-21", "original-20", "original-19"]}, {"id": 8, "name": "outlier", "text": "outlier", "objs": ["original-18"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/102309/semantics.txt b/assets/urdf/Safe/102309/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..507f4157960b5863e5ebb6362ed23e6b55504ae3
--- /dev/null
+++ b/assets/urdf/Safe/102309/semantics.txt
@@ -0,0 +1,4 @@
+link_0 hinge door
+link_1 hinge knob
+link_2 heavy safe_body
+link_3 hinge knob
diff --git a/assets/urdf/Safe/102309/textured_objs/original-10.mtl b/assets/urdf/Safe/102309/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..041ddd31593bf50a03eed647c4b66808020b1198
--- /dev/null
+++ b/assets/urdf/Safe/102309/textured_objs/original-10.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_1.jpg
+
diff --git a/assets/urdf/Safe/102309/textured_objs/original-10.obj b/assets/urdf/Safe/102309/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14c3848746769eef62b25102b59547ac780e1d5f
--- /dev/null
+++ b/assets/urdf/Safe/102309/textured_objs/original-10.obj
@@ -0,0 +1,79 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o #ID81
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+vn 0 -1 0
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diff --git a/assets/urdf/Safe/102309/textured_objs/original-12.mtl b/assets/urdf/Safe/102309/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e6a83e2fe1f8a5900aea73092d5f638f9bb76bb3
--- /dev/null
+++ b/assets/urdf/Safe/102309/textured_objs/original-12.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_4.jpg
+
diff --git a/assets/urdf/Safe/102309/textured_objs/original-12.obj b/assets/urdf/Safe/102309/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa465a7e64f6290da0e298e06c35f697758e140f
--- /dev/null
+++ b/assets/urdf/Safe/102309/textured_objs/original-12.obj
@@ -0,0 +1,63 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
+o group_5/ID91#ID91
+v 0.415194 -0.589509 0.300655
+v 0.282835 -0.675236 0.300655
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diff --git a/assets/urdf/Safe/102309/textured_objs/original-13.mtl b/assets/urdf/Safe/102309/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/assets/urdf/Safe/102309/textured_objs/original-13.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/Safe/102309/textured_objs/original-13.obj b/assets/urdf/Safe/102309/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d03a1d5a93b5646599aa866cef4143585a14d4fb
--- /dev/null
+++ b/assets/urdf/Safe/102309/textured_objs/original-13.obj
@@ -0,0 +1,245 @@
+# SSTK version 0.8.0
+# 13
+mtllib original-13.mtl
+o instance_0/Component_51/ID106#ID106
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+vn 0 -1 0
+vn 0 1 0
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diff --git a/assets/urdf/Safe/102309/textured_objs/original-7.mtl b/assets/urdf/Safe/102309/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7c8e350c197df3d77251bf120b65b97296472de2
--- /dev/null
+++ b/assets/urdf/Safe/102309/textured_objs/original-7.mtl
@@ -0,0 +1,16 @@
+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 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_2.jpg
+
diff --git a/assets/urdf/Safe/102309/textured_objs/original-7.obj b/assets/urdf/Safe/102309/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..162888875e188cd5b6bf3a60d44d356536398088
--- /dev/null
+++ b/assets/urdf/Safe/102309/textured_objs/original-7.obj
@@ -0,0 +1,46 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
+o #ID53
+v -0.337349 -0.767350 -0.256784
+v 0.359450 -0.767350 0.300655
+v 0.359450 -0.767350 -0.256784
+v -0.337349 -0.767350 0.300655
+v -0.337349 -0.767350 0.300655
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+v 0.359450 -0.767350 -0.256784
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+v -0.337349 -0.767350 -0.256784
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+v 0.359450 0.779543 -0.256784
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+vt 0.9879541 0.4869667
+vt 0.01264407 0.07089588
+vt 0.9879541 0.07089588
+vt 0.01264407 0.4869667
+vt 19.65272 3.03255
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+vt 20.87185 3.03255
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+vt 0.3219735 0.1026031
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+vt 0.9177448 0.9520555
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+vn 0 1 0
+vn 4.241456038159552e-8 1.4192062497532381e-9 1
+vn 0 -1 0
+vn -4.241456038159552e-8 -1.4192062497532381e-9 -1
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diff --git a/assets/urdf/Safe/102309/textured_objs/original-9.mtl b/assets/urdf/Safe/102309/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f47aa35f607d1b92bfa9b354bb3a7c6ce17e238a
--- /dev/null
+++ b/assets/urdf/Safe/102309/textured_objs/original-9.mtl
@@ -0,0 +1,16 @@
+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 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_3.jpg
+
diff --git a/assets/urdf/Safe/102309/textured_objs/original-9.obj b/assets/urdf/Safe/102309/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83a20cc63b78ab9424baf1f02e48e225dd15f029
--- /dev/null
+++ b/assets/urdf/Safe/102309/textured_objs/original-9.obj
@@ -0,0 +1,28 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
+o #ID68
+v 0.359450 -0.767350 0.300655
+v -0.337349 0.779543 0.300655
+v -0.337349 -0.767350 0.300655
+v 0.359450 0.779543 0.300655
+v 0.359450 0.779543 0.300655
+v 0.359450 -0.767350 0.300655
+v -0.337349 0.779543 0.300655
+v -0.337349 -0.767350 0.300655
+vt 0.9960121 0.002365675
+vt 0.005239176 0.9969575
+vt 0.005239176 0.002365675
+vt 0.9960121 0.9969575
+vt 0.9177448 0.9520555
+vt 0.9177448 0.1026031
+vt 0.3219735 0.9520555
+vt 0.3219735 0.1026031
+vn 4.241456038159552e-8 0 1
+vn -4.241456038159552e-8 0 -1
+usemtl material_0_0
+f 5/5/2 6/6/2 7/7/2
+f 8/8/2 7/7/2 6/6/2
+usemtl material_1_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
diff --git a/assets/urdf/Safe/102381/bounding_box.json b/assets/urdf/Safe/102381/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..edddf4ae96ca35e0cf51447747f30138266fd49f
--- /dev/null
+++ b/assets/urdf/Safe/102381/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.388987, -0.889379, -0.357967], "max": [0.377566, 0.814073, 0.377925]}
\ No newline at end of file
diff --git a/assets/urdf/Safe/102381/grasp_poses.json b/assets/urdf/Safe/102381/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..b60aaca6bc848d5c583bce00fca6b4df522fe72e
--- /dev/null
+++ b/assets/urdf/Safe/102381/grasp_poses.json
@@ -0,0 +1,101 @@
+{
+    "object_name": "102381",
+    "scale": 0.7,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.9063100218772888,
+                        0.4226199984550476,
+                        0.0,
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+                    ],
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+                    ],
+                    [
+                        0.42100998759269714,
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+                        0.08715000003576279,
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+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        0.9063100218772888,
+                        0.4226199984550476,
+                        -0.0,
+                        -0.37143000960350037
+                    ],
+                    [
+                        0.10937999933958054,
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+                        -0.9659299850463867,
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+                    ],
+                    [
+                        -0.40821999311447144,
+                        0.8754299879074097,
+                        -0.2588199973106384,
+                        0.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 2,
+                "matrix": [
+                    [
+                        0.9659299850463867,
+                        0.2588199973106384,
+                        0.0,
+                        -0.3677299916744232
+                    ],
+                    [
+                        0.2578299939632416,
+                        -0.9622499942779541,
+                        0.08715999871492386,
+                        0.11482000350952148
+                    ],
+                    [
+                        0.0225600004196167,
+                        -0.0841900035738945,
+                        -0.9961900115013123,
+                        0.07022999972105026
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Safe/102381/meta.json b/assets/urdf/Safe/102381/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2576e63fdd328489cedd264aaa90930403039e8d
--- /dev/null
+++ b/assets/urdf/Safe/102381/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Safe", "model_id": "ee769a6a-a53e-4f17-84c7-f4e8028a70ab", "version": "2", "anno_id": "2381", "time_in_sec": "437"}
\ No newline at end of file
diff --git a/assets/urdf/Safe/102381/mobility.urdf b/assets/urdf/Safe/102381/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cf43bc7c74f86ee8339c942f876667728deaccfb
--- /dev/null
+++ b/assets/urdf/Safe/102381/mobility.urdf
@@ -0,0 +1,768 @@
+<?xml version="1.0" ?>
+<robot name="partnet_ee769a6a-a53e-4f17-84c7-f4e8028a70ab">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="-0.29951780758484137 -0.5670720000000002 -0.34738145598447095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.29951780758484137 -0.5670720000000002 -0.34738145598447095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.29951780758484137 -0.5670720000000002 -0.34738145598447095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.29951780758484137 -0.5670720000000002 -0.34738145598447095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.29951780758484137 -0.5670720000000002 -0.34738145598447095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.29951780758484137 -0.5670720000000002 -0.34738145598447095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.29951780758484137 -0.5670720000000002 -0.34738145598447095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.29951780758484137 -0.5670720000000002 -0.34738145598447095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.29951780758484137 -0.5670720000000002 -0.34738145598447095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.29951780758484137 -0.5670720000000002 -0.34738145598447095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.29951780758484137 -0.5670720000000002 -0.34738145598447095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.29951780758484137 -0.5670720000000002 -0.34738145598447095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.29951780758484137 -0.5670720000000002 -0.34738145598447095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.29951780758484137 -0.5670720000000002 -0.34738145598447095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.29951780758484137 -0.5670720000000002 -0.34738145598447095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.29951780758484137 -0.5670720000000002 -0.34738145598447095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.29951780758484137 -0.5670720000000002 -0.34738145598447095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.29951780758484137 -0.5670720000000002 -0.34738145598447095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.29951780758484137 -0.5670720000000002 -0.34738145598447095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.29951780758484137 -0.5670720000000002 -0.34738145598447095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.29951780758484137 -0.5670720000000002 -0.34738145598447095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.29951780758484137 -0.5670720000000002 -0.34738145598447095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.29951780758484137 -0.5670720000000002 -0.34738145598447095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.29951780758484137 -0.5670720000000002 -0.34738145598447095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.29951780758484137 -0.5670720000000002 -0.34738145598447095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.29951780758484137 -0.5670720000000002 -0.34738145598447095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.29951780758484137 0.5670720000000002 0.34738145598447095"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_3"/>
+		<limit lower="0.0" upper="2.9670597283903604"/>
+	</joint>
+	<link name="link_1">
+		<visual name="switch-2">
+			<origin xyz="0.1334695 -0.009191571842105267 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0.1334695 -0.009191571842105267 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0.1334695 -0.009191571842105267 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0.1334695 -0.009191571842105267 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0.1334695 -0.009191571842105267 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.1334695 -0.009191571842105267 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.1334695 -0.009191571842105267 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.1334695 -0.009191571842105267 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.1334695 -0.009191571842105267 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.1334695 -0.009191571842105267 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.4329873075848414 -0.557880428157895 -0.34738145598447095"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_2">
+		<visual name="switch-5">
+			<origin xyz="0.0057105 -0.3241695 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-5">
+			<origin xyz="0.0057105 -0.3241695 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-5">
+			<origin xyz="0.0057105 -0.3241695 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-5">
+			<origin xyz="0.0057105 -0.3241695 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-5">
+			<origin xyz="0.0057105 -0.3241695 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-5">
+			<origin xyz="0.0057105 -0.3241695 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-5">
+			<origin xyz="0.0057105 -0.3241695 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-5">
+			<origin xyz="0.0057105 -0.3241695 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-5">
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+			<geometry>
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+			<geometry>
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+			<geometry>
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+			<geometry>
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+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="-0.3052283075848414 -0.24290250000000024 -0.34738145598447095"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_2"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_3">
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		</visual>
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+		<visual name="base_body-6">
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+		</visual>
+		<visual name="base_body-6">
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+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
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+		<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-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Safe/102381/mobility_v2.json b/assets/urdf/Safe/102381/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1c6b400f6da92d0ab44732f3ee6882806e900b4
--- /dev/null
+++ b/assets/urdf/Safe/102381/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 3, "joint": "hinge", "name": "door", "parts": [{"id": 1, "name": "door"}], "jointData": {"axis": {"origin": [0.29951780758484137, 0.5670720000000002, 0.34738145598447095], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": 170, "noLimit": false}}}, {"id": 1, "parent": 0, "joint": "hinge", "name": "knob", "parts": [{"id": 2, "name": "switch"}], "jointData": {"axis": {"origin": [-0.1334695, 0.009191571842105267, 0], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 170, "noLimit": true}}}, {"id": 2, "parent": 0, "joint": "hinge", "name": "knob", "parts": [{"id": 5, "name": "switch"}], "jointData": {"axis": {"origin": [-0.0057105, 0.3241695, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 170, "noLimit": true}}}, {"id": 3, "parent": -1, "joint": "heavy", "name": "base_body", "parts": [{"id": 6, "name": "base_body"}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": false}}}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/102381/model_data.json b/assets/urdf/Safe/102381/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fe003866ed2f8223e4fa323d563dfd1c0f331b5
--- /dev/null
+++ b/assets/urdf/Safe/102381/model_data.json
@@ -0,0 +1,127 @@
+{
+    "scale": 0.7,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
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+            0.0,
+            0.0,
+            1.0
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+    ],
+    "init_qpos": [],
+    "grasp_parts": {
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+                "base": "base",
+                "description": ""
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+                "matrix": [
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+                "base": "base",
+                "description": ""
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+                "matrix": [
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+                "base": "base",
+                "description": ""
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+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Safe/102381/result.json b/assets/urdf/Safe/102381/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c596b44402ad052b31b45d6156d283a59b3d1bd
--- /dev/null
+++ b/assets/urdf/Safe/102381/result.json
@@ -0,0 +1 @@
+[{"text": "Safe", "name": "Safe", "id": 0, "children": [{"text": "door", "name": "door", "id": 1, "objs": ["original-9", "original-22", "original-23", "original-4", "original-2", "original-5", "original-6", "original-30", "original-31", "original-12", "original-8", "original-29", "original-3"]}, {"text": "switch", "name": "switch", "id": 2, "objs": ["original-15", "original-13", "original-18", "original-17", "original-14"]}, {"text": "switch", "name": "switch", "id": 5, "objs": ["original-28", "original-27", "original-64", "original-65", "original-66", "original-63", "original-62", "original-32", "original-33", "original-34", "original-35", "original-36", "original-37", "original-38", "original-39", "original-40", "original-41", "original-42", "original-43", "original-44", "original-45", "original-46", "original-47", "original-48", "original-49", "original-50", "original-51", "original-52", "original-53", "original-54", "original-57", "original-26", "original-56", "original-55", "original-61", "original-60", "original-59", "original-58", "original-67"]}, {"text": "base_body", "name": "base_body", "id": 6, "objs": ["original-21", "original-24", "original-20", "original-10"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/102381/result_original.json b/assets/urdf/Safe/102381/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b31c5feed17b5e9adccbdd003ea035cbb4415eb
--- /dev/null
+++ b/assets/urdf/Safe/102381/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Safe", "text": "Safe", "children": [{"id": 1, "name": "door", "text": "door", "objs": ["original-9", "original-22", "original-23", "original-4", "original-2", "original-5", "original-6", "original-30", "original-31", "original-12", "original-8", "original-29", "original-3"]}, {"id": 2, "name": "switch", "text": "switch", "objs": ["original-15", "original-13", "original-18", "original-17", "original-14"]}, {"id": 5, "name": "switch", "text": "switch", "objs": ["original-28", "original-27", "original-64", "original-65", "original-66", "original-63", "original-62", "original-32", "original-33", "original-34", "original-35", "original-36", "original-37", "original-38", "original-39", "original-40", "original-41", "original-42", "original-43", "original-44", "original-45", "original-46", "original-47", "original-48", "original-49", "original-50", "original-51", "original-52", "original-53", "original-54", "original-57", "original-26", "original-56", "original-55", "original-61", "original-60", "original-59", "original-58", "original-67"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Safe/102381/semantics.txt b/assets/urdf/Safe/102381/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a58834b3a6802856125674ff4e5cd7016d753eec
--- /dev/null
+++ b/assets/urdf/Safe/102381/semantics.txt
@@ -0,0 +1,4 @@
+link_0 hinge door
+link_1 hinge knob
+link_2 hinge knob
+link_3 heavy safe_body
diff --git a/assets/urdf/Safe/102381/textured_objs/original-10.mtl b/assets/urdf/Safe/102381/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..778c25b5a09d9681ca6e177481eaee8136fee5b8
--- /dev/null
+++ b/assets/urdf/Safe/102381/textured_objs/original-10.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_2.jpg
+
diff --git a/assets/urdf/Safe/102381/textured_objs/original-10.obj b/assets/urdf/Safe/102381/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d608e5f00614008a010bafb93e0aad864db53db
--- /dev/null
+++ b/assets/urdf/Safe/102381/textured_objs/original-10.obj
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diff --git a/assets/urdf/Safe/102381/textured_objs/original-13.obj b/assets/urdf/Safe/102381/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..564ee67cef5befca223a0c83b5bd124248c6e8df
--- /dev/null
+++ b/assets/urdf/Safe/102381/textured_objs/original-13.obj
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diff --git a/assets/urdf/Safe/102381/textured_objs/original-27.obj b/assets/urdf/Safe/102381/textured_objs/original-27.obj
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index 0000000000000000000000000000000000000000..6febd5dbd3d0584a8f06c298a24f7dc25b034d49
--- /dev/null
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diff --git a/assets/urdf/Safe/102381/textured_objs/original-31.obj b/assets/urdf/Safe/102381/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fc5547a5362b50a6413c96c65c2d762abba7a3b
--- /dev/null
+++ b/assets/urdf/Safe/102381/textured_objs/original-31.obj
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diff --git a/assets/urdf/Safe/102381/textured_objs/original-40.obj b/assets/urdf/Safe/102381/textured_objs/original-40.obj
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+++ b/assets/urdf/Safe/102381/textured_objs/original-44.obj
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+++ b/assets/urdf/Safe/102381/textured_objs/original-46.obj
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